CN115848361A - Obstacle avoidance control method and device, vehicle and storage medium - Google Patents
Obstacle avoidance control method and device, vehicle and storage medium Download PDFInfo
- Publication number
- CN115848361A CN115848361A CN202310076408.6A CN202310076408A CN115848361A CN 115848361 A CN115848361 A CN 115848361A CN 202310076408 A CN202310076408 A CN 202310076408A CN 115848361 A CN115848361 A CN 115848361A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- obstacle
- obstacle avoidance
- target
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The embodiment of the invention provides an obstacle avoidance control method, an obstacle avoidance control device, a vehicle and a storage medium, wherein the method comprises the following steps: when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information; determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path; and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle. By using the method, the obstacle avoidance path is actively planned before the obstacle is collided, and when the obstacle is avoided according to the planned track, the rear wheel steering system is used for enabling the rear wheel and the front wheel of the vehicle to rotate reversely, so that the turning radius of the vehicle is reduced, the vehicle can be actively avoided in a short time under the condition that the vehicle is close to the front obstacle, and the front vehicle or the pedestrian is prevented from being collided. The personal safety of drivers and passengers and pedestrians is guaranteed, the operation burden of the driver is relieved, and the risk of vehicle damage is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an obstacle avoidance control method and device, a vehicle and a storage medium.
Background
The obstacle avoidance is an important component of an automobile active safety system and is also an indispensable function in the automatic driving technology. In the prior art, most of control methods related to vehicle obstacle avoidance sense that a collision risk exists between a vehicle and a front obstacle through sensors such as a camera and a radar, prompt a driver through signal prompt, buzzing sound or steering wheel vibration and the like, and avoid collision with the obstacle through the driver by adopting a braking or steering mode according to own experience. However, in a scene where obstacles such as ghost probes appear suddenly, the distance between a vehicle and the obstacles is often very short, a driver cannot avoid the obstacles in a short time, or other casualties are caused by hurry in the direction due to panic, so that driving safety is affected.
Disclosure of Invention
The embodiment of the invention provides an obstacle avoidance control method, an obstacle avoidance control device, a vehicle and a storage medium, which realize active avoidance in a short time under the condition that the obstacle is close to a front obstacle and avoid impacting the front vehicle or pedestrian.
In a first aspect, an embodiment of the present invention provides an obstacle avoidance control method, including:
when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information;
determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle.
In a second aspect, an embodiment of the present invention provides an obstacle avoidance control device, including:
the route determination module is used for determining a target obstacle avoidance route of the vehicle according to the state information of the vehicle and the front obstacle information when the vehicle enters an emergency obstacle avoidance state;
the corner determining module is used for determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and the obstacle avoidance control module is used for controlling the vehicle to avoid the obstacle according to the target front wheel rotating angle and the target rear wheel rotating angle.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
a vehicle body;
the camera, the millimeter wave radar and the ultrasonic radar are mounted on the vehicle body;
a controller in communication connection with the camera, the millimeter wave radar, and the ultrasonic radar, the controller comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the obstacle avoidance control method provided by the embodiment of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute the obstacle avoidance control method according to the embodiment of the first aspect when executed by a computer processor.
The embodiment of the invention provides an obstacle avoidance control method, an obstacle avoidance control device, a vehicle and a storage medium, wherein the method comprises the following steps: when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information; determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path; and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle. According to the technical scheme, the obstacle avoidance path is planned actively before the obstacle is collided with the obstacle, and when the obstacle is avoided according to the planned track, the rear wheel steering system is utilized to enable the rear wheel and the front wheel of the vehicle to rotate reversely, so that the turning radius of the vehicle is reduced, the vehicle can be actively avoided in a short time under the condition that the vehicle is close to the obstacle in the front, and the vehicle or the pedestrian in the front is prevented from being collided. The personal safety of drivers and passengers and pedestrians is guaranteed, the operation burden of the driver is relieved, and the risk of vehicle damage is reduced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an obstacle avoidance control method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another obstacle avoidance control method according to a second embodiment of the present invention;
fig. 2a is a flowchart illustrating an implementation of an obstacle avoidance control method in an application scenario according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an obstacle avoidance control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "original", "target", and the like in the description and claims of the present invention and the drawings described above are used for distinguishing similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the prior art, most of researches on vehicle obstacle avoidance control focus on using a brake system or a front wheel steering system, and a driver takes emergency measures according to vehicle alarm prompts. The invention researches the Emergency obstacle avoidance control of the vehicle, mostly monitors the front target of the vehicle in real time through various sensors such as a radar and a camera, reminds the driver of the vehicle to take measures in modes such as voice prompt or steering wheel vibration when the monitored vehicle approaches an obstacle and has collision risk, and also can actively take Emergency Braking measures through a Braking system for the vehicle with an automatic Emergency Braking system (AEB). The problem to be solved is how to sense an obstacle in front of a vehicle in advance, deal with an emergency such as a ghost probe, and actively control the vehicle to avoid the obstacle when the front obstacle is close to the front obstacle.
Example one
Fig. 1 is a schematic flow chart of an obstacle avoidance control method according to an embodiment of the present invention, where the method is applicable to a situation where a vehicle makes an emergency obstacle avoidance when an obstacle suddenly appears, and the method may be executed by an obstacle avoidance control device, which may be implemented in the form of hardware and/or software and may be configured in the vehicle. As shown in fig. 1, the obstacle avoidance control method provided in this embodiment may specifically include the following steps:
s101, when the vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information.
The application scenario of the embodiment can be understood as how to deal with emergencies such as "ghost probes" when the vehicle encounters emergencies such as "ghost probes" suddenly appearing on pedestrians, vehicles and the like during the driving process. The emergency obstacle avoidance state can be understood as a state that the vehicle enters the automatic obstacle avoidance state. When the situation that the vehicle meets an obstacle and needs to avoid the obstacle urgently is detected, if the current environment meets the obstacle avoiding condition of the vehicle, the vehicle is triggered to enter the urgently obstacle avoiding state. It is required to know that when the vehicle enters the emergency obstacle avoidance state, the vehicle can carry out autonomous obstacle avoidance, and the operation and control of a driver are not required. The state information of the vehicle may include the current position of the host vehicle, the vehicle speed, and the like, and may be acquired from a control system of the vehicle itself. A front obstacle may be understood as a pedestrian, a vehicle or another object obstructing the normal travel of the vehicle. The front obstacle information may be specifically understood as information such as the speed, acceleration, longitudinal distance from the host vehicle, and lateral distance of the front obstacle.
It can be understood that whether the vehicle enters the emergency obstacle avoidance state needs to detect the environmental information around the vehicle in real time so as to automatically judge whether the vehicle needs to enter the emergency obstacle avoidance state at the current moment. In order to monitor the information of the surrounding environment of the vehicle, sensor modules are required to be installed at different positions on the vehicle. The sensor module may include a camera, a millimeter wave radar, and an ultrasonic radar. The camera can be used for collecting image information of the surrounding environment, and the sensor module can be used for measuring information of objects in the surrounding environment, determining related information of obstacles and the like. Illustratively, the sensor module comprises a forward sensor module and a lateral sensor module, the forward sensor module is composed of a camera mounted on the front vehicle window glass and a millimeter wave radar mounted on a front bumper, and the forward sensor module is used for collecting the information of a front obstacle and monitoring the speed, the acceleration, the longitudinal distance and the transverse distance of a front vehicle or a person in real time. The side sensor module consists of millimeter wave radars and ultrasonic radars on the left side and the right side of the vehicle, and can obtain the speed, the acceleration, the longitudinal distance and the transverse distance between the vehicle and the vehicle, the longitudinal distance and the transverse distance between the vehicle and the side and rear vehicles or people on the two sides and the side and rear sides.
In this embodiment, the surrounding environment information is monitored in real time, if an obstacle appears in front of the vehicle, the time for the vehicle to collide with the obstacle in front needs to be determined according to the state information of the vehicle and the information of the obstacle in front, and if the time for the vehicle to collide with the obstacle in front is smaller than a preset threshold, it is determined that the vehicle and the obstacle in front have a collision risk, and an active emergency obstacle avoidance measure needs to be taken. And after determining that active emergency obstacle avoidance measures need to be taken, judging whether enough obstacle avoidance spaces exist on two sides of a lane where the vehicle is located, and if the obstacle avoidance spaces exist, triggering the vehicle to enter an emergency obstacle avoidance state.
In this embodiment, after the vehicle enters the emergency obstacle avoidance state, the obstacle avoidance driving path of the vehicle needs to be planned, so that the vehicle drives according to the planned path to achieve obstacle avoidance. In this embodiment, a path where the vehicle performs the emergency obstacle avoidance planning is recorded as a target obstacle avoidance path. The determination method of the target obstacle avoidance path can be expressed as follows: acquiring state information of a vehicle, wherein the state information of the vehicle comprises the current position of the vehicle; meanwhile, the sensor module arranged on the vehicle can acquire the information of the front obstacle, wherein the information of the front obstacle comprises the position of the front obstacle; determining the transverse distance of the vehicle for avoiding the front obstacle so as not to generate collision danger according to the current position of the vehicle and the position of the front obstacle; according to the current position of the vehicle and the transverse position needing to be moved, the target position needing to be reached by the vehicle can be determined, fitting is carried out based on the current position and the target position, and an ideal obstacle avoidance track, namely an obstacle avoidance path of the vehicle can be obtained.
S102, determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path.
In this embodiment, after a target obstacle avoidance path of a vehicle is determined, the electric power steering system and the rear wheel steering system are considered to cooperatively perform front and rear wheel steering, and the rear wheels and the front wheels rotate in opposite directions to form a smaller vehicle turning radius, so that rubbing with a front obstacle is avoided. It is necessary to know that the rear wheel steering system rotates the rear wheels and the front wheels in the opposite directions, so that the turning radius of the vehicle is greatly reduced, and the vehicle can avoid in a condition that the distance between the vehicle and the front obstacle is short. The current heading angle of the vehicle is extracted from the state information of the vehicle. Meanwhile, determining a course angle which needs to be reached by the vehicle in the obstacle avoidance process according to the target obstacle avoidance path. And determining the course angle deviation according to the current course angle of the vehicle and the course angle which needs to be reached by the vehicle. After the course angle deviation is determined, the steering wheel angle of the vehicle can be determined according to the course angle deviation and by combining the relationship between the course angle and the steering wheel angle of the vehicle.
As described above, after the steering wheel angle of the vehicle is known, the front wheel angle of the vehicle, which is referred to as a target front wheel angle in the present embodiment, can be determined based on the vehicle steering gear ratio that characterizes the relationship between the steering wheel angle and the front wheel angle of the vehicle. Further, a target rear wheel steering angle of the vehicle, which is referred to as a target rear wheel steering angle in the present embodiment, may be determined based on the target front wheel steering angle and a proportionality coefficient of the front wheel steering angle and the rear wheel steering angle. The proportional coefficient of the front wheel corner and the rear wheel corner is negative, and the rear wheel and the front wheel rotate reversely, so that the turning radius of the vehicle is reduced, and the scratch and rub with front vehicles, pedestrians and the like is avoided.
And S103, controlling the vehicle to avoid the obstacle according to the target front wheel corner and the target rear wheel corner.
Specifically, the electric power steering system and the rear wheel steering system cooperatively execute front wheel steering and rear wheel steering, and the vehicle runs in a steering mode according to a target front wheel turning angle and a target rear wheel turning angle, so that the vehicle can avoid an obstacle path according to a target, and the vehicle is prevented from colliding with an obstacle.
The embodiment of the invention provides an obstacle avoidance control method, which comprises the following steps: when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information; determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path; and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle. According to the technical scheme, the obstacle avoidance path is planned actively before the obstacle is collided with the obstacle, and when the obstacle is avoided according to the planned track, the rear wheel steering system is utilized to enable the rear wheel and the front wheel of the vehicle to rotate reversely, so that the turning radius of the vehicle is reduced, the vehicle can be actively avoided in a short time under the condition that the vehicle is close to the obstacle in the front, and the vehicle or the pedestrian in the front is prevented from being collided. The personal safety of drivers and passengers and pedestrians is guaranteed, the operation burden of the driver is relieved, and the risk of vehicle damage is reduced.
As an alternative embodiment of the present invention, on the basis of the above embodiment, before the vehicle enters the emergency obstacle avoidance state, the method further includes: and determining whether to trigger an emergency obstacle avoidance state of the vehicle according to the state information of the vehicle, the information of the front obstacle and the information around the vehicle.
The state information of the vehicle may include information such as a speed of the vehicle, a current position of the vehicle, and the like, and the state information of the vehicle may be acquired from a control system of the vehicle. The front obstacle information includes information such as speed, acceleration, position, lateral distance and longitudinal distance from the host vehicle of the front obstacle, and the front obstacle information can be collected based on a front sensor module installed on the host vehicle. The peripheral information of the vehicle can be collected based on a side sensor module arranged on the vehicle, the side sensor module is composed of millimeter wave radars and ultrasonic radars on the left side and the right side of the vehicle, and the side sensor module can obtain the speed, the acceleration, the longitudinal distance and the transverse distance between the vehicle and the vehicle or people on the two sides and behind the vehicle.
In this optional embodiment, whether the vehicle and the obstacle ahead have a collision risk is determined according to the current position and the current speed of the vehicle and the position and the speed of the obstacle ahead. If the collision risk exists, whether enough obstacle avoidance spaces exist on two sides of a lane where the vehicle is located needs to be further judged according to the surrounding information of the vehicle, and if the enough obstacle avoidance spaces exist, the vehicle is triggered to enter an emergency obstacle avoidance state. It needs to be known that if the surrounding space has no proper avoidance space or path, the vehicle is controlled to warn the driver of the vehicle through an alarm prompt tone, and a high-order brake lamp of the vehicle is lightened to remind the driver of the vehicle behind to keep a safe distance.
Further, determining whether to trigger an emergency obstacle avoidance state according to the state information of the vehicle, the front obstacle information, and the surrounding information of the vehicle may be expressed as:
a1, detecting front obstacle information and surrounding information of the vehicle on a running path through a vehicle-mounted sensor.
Wherein, on-vehicle sensor includes camera, millimeter wave radar and ultrasonic radar. Illustratively, a camera mounted on the front window glass and a millimeter wave radar mounted on a front bumper are used for collecting front obstacle information, and monitoring the speed, the acceleration, the longitudinal distance and the transverse distance of a front vehicle or a person to the vehicle in real time as the front obstacle information. The millimeter wave radar and the ultrasonic radar are arranged on the left side and the right side of the vehicle, so that the speed, the acceleration, the longitudinal distance and the transverse distance between the vehicle or a person on the two sides and the side rear can be obtained and used as the surrounding information of the vehicle.
b1, determining whether the vehicle and the front obstacle have collision risks or not according to the state information of the vehicle and the front obstacle information.
Specifically, the estimated collision time of the vehicle and the front obstacle can be determined according to the state information of the vehicle and the information of the front obstacle, and whether the vehicle and the front obstacle have the collision risk or not can be determined based on the estimated collision time.
Further, the step of determining whether the vehicle and the front obstacle have the collision risk or not according to the state information of the vehicle and the front obstacle information may be expressed as:
and b11, determining the estimated collision time of the vehicle and the front obstacle according to the state information of the vehicle and the front obstacle information.
The state information of the vehicle includes a current position of the vehicle and a traveling speed of the vehicle, and the front obstacle information includes a position and a moving speed of the front obstacle. And determining the distance between the current position of the vehicle and the position of the front obstacle according to the current position of the vehicle and the position of the front obstacle. And calculating the estimated collision time of the vehicle and the front obstacle according to the distance between the vehicle and the front obstacle, the running speed of the vehicle and the running speed of the front obstacle.
And b12, if the estimated collision time is less than or equal to the set time threshold, determining that the vehicle and the front obstacle have collision risks.
The set time threshold may be understood as a time for the driver to brake the vehicle by stepping on the brake or the like until the vehicle stops. It will also be appreciated that by setting the time threshold the driver can control the vehicle to stop to avoid a scratch between the vehicle and a preceding obstacle. Specifically, if the estimated collision time is less than or equal to the set time threshold, it indicates that the collision between the vehicle and the front obstacle is earlier than the braking of the driver, so that the vehicle is prevented from colliding with the front obstacle, and therefore it is determined that there is a collision risk between the vehicle and the front obstacle.
b13, if the estimated collision time is larger than the set time threshold, determining that the vehicle and the front obstacle have no collision risk.
Specifically, if the estimated collision time is greater than the set time threshold, it indicates that the driver brakes to prevent the vehicle from colliding with the front obstacle earlier than the vehicle collides with the front obstacle, and thus it is determined that there is no collision risk between the vehicle and the front obstacle.
And c1, if the emergency obstacle avoidance state does not exist, the emergency obstacle avoidance state of the vehicle is not triggered.
Specifically, if there is no collision risk between the vehicle and the obstacle ahead, the emergency obstacle avoidance state of the vehicle does not need to be triggered.
And d1, otherwise, judging whether the vehicle meets the obstacle avoidance condition or not according to the surrounding information of the vehicle.
Specifically, if it is monitored that the vehicle and the front obstacle have collision risks, whether the vehicle meets obstacle avoidance conditions or not needs to be judged according to surrounding information of the vehicle. The condition that the vehicle meets the obstacle avoidance condition means that the surrounding position of the vehicle has enough space and path for the vehicle to avoid. It can be understood that the vehicle cannot scratch or rub obstacles on two sides or other positions in order to avoid the obstacles in front during avoidance. Therefore, the vehicle can be guaranteed to meet the obstacle avoidance condition when enough space is available around the vehicle.
e1, if so, triggering an emergency obstacle avoidance state of the vehicle.
Specifically, if there is enough space around the vehicle to satisfy the obstacle avoidance condition, the emergency obstacle avoidance state of the vehicle is triggered.
And f1, if the distance between the vehicle and the rear vehicle is not satisfied, carrying out obstacle avoidance early warning prompt to remind a driver of the vehicle of needing to avoid the obstacle urgently, and lightening a high-level brake lamp of the vehicle to remind the rear vehicle of keeping a safe distance from the vehicle.
Specifically, if there is not enough space around the vehicle and the obstacle avoidance condition is not met, obstacle avoidance early warning prompt is carried out to remind a driver of the vehicle of needing to avoid an obstacle urgently, and a high-level brake lamp of the vehicle is lightened to remind a rear vehicle of keeping a safe distance from the vehicle.
The optional embodiment embodies when the vehicle enters an emergency obstacle avoidance state, realizes real-time monitoring and obstacle sensing by judging whether collision risk exists when the vehicle runs in front of an obstacle and whether obstacle avoidance conditions are met when the vehicle runs in front of the obstacle, and enters the emergency obstacle avoidance state of automatic driving when the conditions are met, reduces the operation burden of a driver, reduces the risk of vehicle damage, and ensures the personal safety of drivers and passengers and pedestrians.
As an alternative embodiment of the present invention, on the basis of the above embodiment, before the vehicle enters the emergency obstacle avoidance state, the method further includes:
and a2, starting an acousto-optic device in the vehicle to perform vehicle obstacle avoidance triggering reminding so as to remind a driver of the vehicle that the vehicle is about to enter an emergency obstacle avoidance state.
Specifically, the driver of the vehicle is reminded through modes of voice, instrument indicating lamps and the like, and the vehicle enters an automatic driving emergency obstacle avoidance state.
And b2, activating a high-level brake lamp of the vehicle to remind a driver of the rear vehicle of decelerating or keeping a safe distance.
Specifically, a high-mount brake lamp is activated to remind a driver of a rear vehicle to decelerate or maintain a safe vehicle distance.
c2, activating a steering indicator lamp of the vehicle to remind a driver of the vehicle behind that the vehicle is steering.
Specifically, the turn indicator is activated to alert the driver of the vehicle behind that the vehicle is turning.
The optional embodiment refines the reminding of the vehicle and the rear vehicle through voice or an indicator light before the vehicle enters the emergency obstacle avoidance state, and guarantees the safety of the vehicle and the rear vehicle through the reminding operation.
As an optional embodiment of the present invention, on the basis of the above embodiment, after the vehicle completes emergency obstacle avoidance, the method further includes: and starting an acousto-optic device in the vehicle to remind the obstacle avoidance end of the vehicle so that a driver of the vehicle takes over the vehicle again.
Specifically, when the vehicle travels to an adjacent safe lane from the lane and the vehicle direction is adjusted according to an ideal obstacle avoidance track, the driver is reminded to take over the vehicle again through the modes of voice, instrument indicating lamps and the like.
The optional embodiment details that the vehicle driver is reminded to take over the vehicle again after the vehicle finishes the emergency obstacle avoidance, so that the interaction between the human body and the vehicle is realized, and the experience of a user is improved.
Example two
Fig. 2 is a schematic flow chart of another obstacle avoidance control method according to a second embodiment of the present invention, which is a further optimization of the second embodiment, in which a target obstacle avoidance path of the vehicle is further determined according to the state information of the vehicle and the front obstacle information, and a target front wheel rotation angle and a target rear wheel rotation angle of the vehicle during obstacle avoidance are further determined according to the target obstacle avoidance path.
As shown in fig. 2, the second embodiment provides an obstacle avoidance control method, which specifically includes the following steps:
s201, when the vehicle enters an emergency obstacle avoidance state, extracting the current position of the vehicle from the state information of the vehicle, and extracting the current position of an obstacle from the obstacle information in front.
Specifically, when the vehicle enters an emergency obstacle avoidance state, the current position of the vehicle is extracted from the state information of the vehicle, and the current position of the obstacle is extracted from the obstacle information in front.
S202, determining the transverse moving distance required by the vehicle to avoid the front obstacle according to the current position of the vehicle and the current position of the obstacle.
When an obstacle appears in front of the vehicle, the vehicle needs to travel to two sides of a lane where the vehicle is located in order to avoid the obstacle in front. It is also understood that the vehicle should be moved a corresponding distance in the lateral direction to avoid a collision of the vehicle with an obstacle. Specifically, the current position of the vehicle and the current position of the obstacle are subtracted, and the transverse moving distance required by the vehicle to avoid the obstacle in front is determined.
And S203, determining the target position of the vehicle according to the current position and the transverse movement distance of the vehicle.
Specifically, the coordinates of the target position of the vehicle are calculated based on the coordinates of the current position of the vehicle and the lateral movement distance that needs to be moved. The target position is a position coordinate when the vehicle is shifted to an adjacent lane and the vehicle body is aligned.
And S204, determining a target obstacle avoidance path of the vehicle according to the current position and the target position of the vehicle.
Specifically, the coordinates of the current position of the vehicle and the coordinates of the target position are fitted to obtain an ideal obstacle avoidance track of the vehicle as a target obstacle avoidance path of the vehicle.
S205, extracting the current heading angle of the vehicle from the state information of the vehicle.
Specifically, the current heading angle of the vehicle is extracted from the state information of the vehicle.
And S206, determining a target course angle of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path.
Specifically, according to the target obstacle avoidance track of the vehicle, the course angle of the vehicle in the obstacle avoidance process is determined and recorded as the target course angle.
And S207, determining course angle deviation according to the current course angle and the target course angle.
Specifically, the difference is made between the current course angle and the target course angle, and the deviation of the navigation line angle is calculated.
And S208, determining the steering wheel angle of the vehicle according to the deviation of the heading angle.
Specifically, the course angle deviation is input into a control model of the vehicle, and the steering wheel angle of the vehicle is obtained. It should be noted that the input parameters of the control model of the vehicle include, but are not limited to, heading angle deviation, and may also include other parameters that need to participate in the calculation.
And S209, determining a target front wheel steering angle and a target rear wheel steering angle of the vehicle according to the steering wheel steering angle.
Wherein, the steering transmission ratio refers to the ratio of the steering degree of the steering wheel and the steering degree of the wheels. The steering gear ratio is a known quantity and can be directly obtained. Specifically, the front wheel steering angle of the vehicle is calculated according to the steering wheel steering angle and the steering transmission ratio of the vehicle. And calculating the rear wheel steering angle according to the proportionality coefficient of the front wheel steering angle and the rear wheel steering angle.
Further, determining a target front wheel steering angle and a target rear wheel steering angle of the vehicle based on the steering wheel steering angle, includes:
and a3, dividing the steering wheel angle of the vehicle by the steering transmission ratio of the vehicle to determine the target front wheel steering angle of the vehicle.
Specifically, the target front wheel angle of the vehicle is calculated by dividing the steering wheel angle of the vehicle by the steering gear ratio of the vehicle.
And b3, determining the target rear wheel steering angle of the vehicle according to the target front wheel steering angle multiplied by the proportional coefficient of the front wheel steering angle and the rear wheel steering angle.
Wherein, the proportionality coefficient of the front wheel corner and the rear wheel corner is a negative number. Rear wheel steering angleThe value delta R For turning angle delta of front wheel F And the product of the rear wheel steering angle proportionality coefficient k and the rear wheel steering angle proportionality coefficient k is a negative value, and the rear wheels and the front wheels rotate in opposite directions, so that the turning radius of the vehicle is reduced, and the scraping and rubbing with the front vehicle are avoided. The relationship between the rear wheel steering angle value and the front wheel steering angle value may be expressed as:
δ R ＝kδ F wherein, in the process,
δ F is the angle of rotation of the front wheel, delta R To rear wheel steering angle, k 1 、k 2 Respectively front and rear axle cornering stiffness, a and b respectively are a front wheel base and a rear wheel base, L is a vehicle wheel base, L = a + b, m is a vehicle mass, u is a vehicle speed, and k is a rear wheel steering angle proportionality coefficient.
Specifically, the target front wheel steering angle is multiplied by a proportionality coefficient of the front wheel steering angle and the rear wheel steering angle to obtain a target rear wheel steering angle of the vehicle.
And S210, controlling the vehicle to avoid the obstacle according to the target front wheel corner and the target rear wheel corner.
The method specifically comprises the steps of determining a target obstacle avoidance path of the vehicle according to state information of the vehicle and front obstacle information, determining target front and rear wheel rotating angles of the vehicle in an obstacle avoidance process according to the target obstacle avoidance path, and avoiding collision with obstacles or personnel by judging collision risks of the obstacles in advance and using a rear wheel steering system to avoid actively. The rear wheel steering system enables the rear wheels and the front wheels to rotate reversely, so that the turning radius of the vehicle is greatly reduced, the vehicle can avoid under the condition that the distance between the vehicle and a front obstacle is short, the personal safety of drivers and passengers is guaranteed, the operation burden of the driver is reduced, and the risk of vehicle damage is reduced.
In order to more clearly express the obstacle avoidance control method provided by the embodiment of the present invention, the obstacle avoidance control of an obstacle that suddenly appears in a certain practical application scene is taken as an example for description. For example, fig. 2a is a flowchart illustrating an execution process of an obstacle avoidance control method in an application scenario according to a second embodiment of the present invention, and as shown in fig. 2a, the execution process of the obstacle avoidance control method specifically includes:
s1, detecting front obstacle information and surrounding information of a vehicle on a running path through a vehicle-mounted sensor.
And S2, determining the estimated collision time of the vehicle and the front obstacle according to the state information of the vehicle and the information of the front obstacle.
And S3, if the estimated collision time is less than or equal to the set time threshold, determining that the vehicle and the front obstacle have collision risks.
And S4, if the estimated collision time is larger than the set time threshold, determining that the vehicle and the front obstacle have no collision risk.
And S5, if the vehicle and the front obstacle do not have collision risk, the emergency obstacle avoidance state of the vehicle is not triggered.
And S6, if the vehicle and the front obstacle have collision risks, judging whether the vehicle meets obstacle avoidance conditions or not according to the surrounding information of the vehicle, if not, executing the step S7, and if so, executing the steps S8-S23.
And S7, carrying out obstacle avoidance early warning prompt to remind a driver of the vehicle of urgent obstacle avoidance, and lightening a high-level brake lamp of the vehicle to remind a rear vehicle of keeping a safe distance from the vehicle.
S8, starting an acousto-optic device in the vehicle to perform vehicle obstacle avoidance triggering reminding so as to remind a driver of the vehicle that the vehicle is about to enter an emergency obstacle avoidance state;
s9, activating a high-position brake lamp of the vehicle to remind a driver of the vehicle behind to decelerate or keep a safe distance;
and S10, activating a steering indicator lamp of the vehicle to remind a driver of the vehicle behind that the vehicle is steering.
It should be noted that the execution sequence of steps S8-S10 is not particularly limited.
And S11, triggering an emergency obstacle avoidance state of the vehicle.
And S12, when the vehicle enters an emergency obstacle avoidance state, extracting the current position of the vehicle from the state information of the vehicle, and extracting the current position of an obstacle from the obstacle information in front.
And S13, determining the transverse moving distance required by the vehicle to avoid the front obstacle according to the current position of the vehicle and the current position of the obstacle.
And S14, determining the target position of the vehicle according to the current position and the transverse moving distance of the vehicle.
And S15, determining a target obstacle avoidance path of the vehicle according to the current position and the target position of the vehicle.
And S16, extracting the current course angle of the vehicle from the state information of the vehicle.
And S17, determining a target course angle of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path.
And S18, determining course angle deviation according to the current course angle and the target course angle.
And S19, determining the steering wheel angle of the vehicle according to the heading angle deviation.
And S20, dividing the steering wheel angle of the vehicle by the steering transmission ratio of the vehicle to determine the target front wheel steering angle of the vehicle.
And S21, determining the target rear wheel steering angle of the vehicle according to the target front wheel steering angle multiplied by the proportional coefficient of the front wheel steering angle and the rear wheel steering angle.
And S22, controlling the vehicle to avoid the obstacle according to the target front wheel corner and the target rear wheel corner.
And S23, after the vehicle finishes the emergency obstacle avoidance, starting an acousto-optic device in the vehicle to remind the vehicle of obstacle avoidance ending so that a driver of the vehicle takes over the vehicle again.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an obstacle avoidance control device according to a third embodiment of the present invention, where the device is suitable for a situation where a vehicle performs emergency obstacle avoidance when an obstacle suddenly appears, and the obstacle avoidance control device may be configured in the vehicle, as shown in fig. 3, and includes: a path determining module 31, a corner determining module 32 and an obstacle avoidance control module 33; wherein the content of the first and second substances,
the route determining module 31 is configured to determine a target obstacle avoidance route of the vehicle according to the state information of the vehicle and the information of the obstacle ahead when the vehicle enters an emergency obstacle avoidance state;
the corner determining module 32 is configured to determine a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and the obstacle avoidance control module 33 is used for controlling the vehicle to avoid obstacles according to the target front wheel corner and the target rear wheel corner.
The embodiment of the invention provides an obstacle avoidance control device, which comprises: the route determining module is used for determining a target obstacle avoidance route of the vehicle according to the state information of the vehicle and the front obstacle information when the vehicle enters an emergency obstacle avoidance state; the corner determining module is used for determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path; and the obstacle avoidance control module is used for controlling the vehicle to avoid obstacles according to the target front wheel corner and the target rear wheel corner. According to the technical scheme, the obstacle avoidance path is planned actively before the obstacle is collided, and when the obstacle is avoided according to the planned track, the rear wheel steering system is utilized to enable the rear wheels and the front wheels of the vehicle to rotate reversely, so that the turning radius of the vehicle is reduced, the vehicle can be actively avoided in a short time under the condition that the vehicle is close to the front obstacle, and the front vehicle or the pedestrian is prevented from being collided. The personal safety of drivers and passengers and pedestrians is guaranteed, the operation burden of the driver is reduced, and the risk of vehicle damage is reduced.
Optionally, the apparatus further includes an obstacle avoidance triggering module, configured to:
and determining whether to trigger an emergency obstacle avoidance state of the vehicle according to the state information of the vehicle, the information of the front obstacle and the information around the vehicle.
Optionally, the obstacle avoidance triggering module is specifically configured to:
detecting front obstacle information and surrounding information of the vehicle on a driving path through a vehicle-mounted sensor;
determining whether the vehicle and the front obstacle have collision risks or not according to the state information of the vehicle and the information of the front obstacle;
if the emergency obstacle avoidance state does not exist, the emergency obstacle avoidance state of the vehicle is not triggered;
otherwise, judging whether the vehicle meets the obstacle avoidance condition or not according to the surrounding information of the vehicle;
if so, triggering an emergency obstacle avoidance state of the vehicle;
if the distance between the vehicle and the vehicle is not met, obstacle avoidance early warning prompt is carried out to remind a driver of the vehicle of needing to avoid the obstacle urgently, and a high-level brake lamp of the vehicle is lightened to remind a rear vehicle of keeping a safe distance from the vehicle.
Optionally, the obstacle avoidance triggering module is configured to execute the step of determining whether there is a collision risk between the vehicle and the obstacle ahead according to the state information of the vehicle and the obstacle ahead information, and includes:
determining the estimated collision time of the vehicle and the front obstacle according to the state information of the vehicle and the front obstacle information;
if the estimated collision time is less than or equal to the set time threshold, determining that the vehicle and the front obstacle have collision risks;
and if the estimated collision time is larger than the set time threshold, determining that the vehicle and the front obstacle have no collision risk.
Optionally, the path determining module 31 is specifically configured to:
extracting the current position of the vehicle from the state information of the vehicle, and extracting the current position of an obstacle from the obstacle information in front;
determining the transverse moving distance required by the vehicle to avoid the front obstacle according to the current position of the vehicle and the current position of the obstacle;
determining the target position of the vehicle according to the current position and the transverse moving distance of the vehicle;
and determining a target obstacle avoidance path of the vehicle according to the current position of the vehicle and the target position.
Optionally, the rotation angle determining module 32 may include:
a current course angle extraction unit for extracting a current course angle of the vehicle from the state information of the vehicle;
the target course angle determining unit is used for determining a target course angle of the vehicle in the obstacle avoiding process according to the target obstacle avoiding path;
the deviation determining unit is used for determining the deviation of the course angle according to the current course angle and the target course angle;
the steering wheel corner determining unit is used for determining the steering wheel corner of the vehicle according to the course angle deviation;
and a wheel turning angle determination unit for determining a target front wheel turning angle and a target rear wheel turning angle of the vehicle based on the steering wheel turning angle.
Optionally, the wheel rotation angle determining unit is specifically configured to:
dividing the steering wheel angle of the vehicle by the steering gear ratio of the vehicle to determine a target front wheel steering angle of the vehicle;
and determining a target rear wheel steering angle of the vehicle according to the target front wheel steering angle multiplied by a proportional coefficient of the front wheel steering angle and the rear wheel steering angle, wherein the proportional coefficient of the front wheel steering angle and the rear wheel steering angle is a negative number.
Optionally, the apparatus further includes a first reminding module, specifically configured to, before the vehicle enters the emergency obstacle avoidance state:
starting an acousto-optic device in the vehicle to perform vehicle obstacle avoidance triggering reminding so as to remind a driver of the vehicle that the vehicle is about to enter an emergency obstacle avoidance state;
activating a high-mount brake lamp of the vehicle to remind a driver of a rear vehicle to decelerate or maintain a safe vehicle distance;
a turn indicator light of the vehicle is activated to alert a driver of a vehicle behind that the vehicle is turning.
Optionally, the apparatus further includes a second reminding module, specifically configured to: and when the vehicle finishes the emergency obstacle avoidance, starting an acousto-optic device in the vehicle to remind the vehicle of obstacle avoidance ending so that a driver of the vehicle takes over the vehicle again.
The obstacle avoidance control device provided by the embodiment of the invention can execute the obstacle avoidance control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, a vehicle according to a fourth embodiment of the present invention includes: a vehicle body (not shown in the drawings); a camera 1 mounted on a vehicle body; a millimeter wave radar 2 mounted on the vehicle body; an ultrasonic radar 3 mounted on the vehicle body; and the controller 4 is in communication connection with the camera 1, the millimeter wave radar 2 and the ultrasonic radar 3.
The controller 4 includes: one or more processors 41 and storage 42; the processor 41 in the controller 4 may be one or more, and one processor 41 is taken as an example in fig. 4; storage 42 is used to store one or more programs; the one or more programs are executed by the one or more processors 41, so that the one or more processors 41 implement the obstacle avoidance control method according to any one of the embodiments of the present invention.
The processor 41 and the storage device 42 in the controller 4 may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The storage device 42 in the controller 4 is used as a computer-readable storage medium for storing one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the obstacle avoidance control method according to one or two embodiments of the present invention (for example, the modules in the obstacle avoidance control device shown in fig. 3 include the path determination module 31, the rotation angle determination module 32, and the obstacle avoidance control module 33). The processor 41 executes various functional applications and data processing of the controller 4 by running software programs, instructions and modules stored in the storage device 42, that is, implements the obstacle avoidance control method in the above method embodiment.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the controller 4, and the like. Further, the storage 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 42 may further include memory located remotely from the processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the controller 4. The output device 44 may include a display device such as a display screen.
And, when the one or more programs included in the above-mentioned controller 4 are executed by the one or more processors 41, the programs perform the following operations:
when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information;
determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used, when executed by a processor, to execute an obstacle avoidance control method, where the method includes:
when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information;
determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and controlling the vehicle to avoid the obstacle according to the target front wheel turning angle and the target rear wheel turning angle.
Optionally, the program may be further configured to execute the obstacle avoidance control method according to any embodiment of the present invention when executed by the processor.
Computer storage media for embodiments of the present invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An obstacle avoidance control method is characterized by comprising the following steps:
when a vehicle enters an emergency obstacle avoidance state, determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information;
determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and controlling the vehicle to avoid the obstacle according to the target front wheel corner and the target rear wheel corner.
2. The method of claim 1, further comprising, prior to the vehicle entering an emergency obstacle avoidance state:
and determining whether to trigger an emergency obstacle avoidance state of the vehicle according to the state information of the vehicle, the information of the front obstacle and the information around the vehicle.
3. The method of claim 2, wherein determining whether to trigger an emergency obstacle avoidance state based on the state information of the vehicle, the obstacle ahead information, and the surrounding information of the vehicle comprises:
detecting front obstacle information of a vehicle on a driving path and surrounding information of the vehicle through an on-vehicle sensor;
determining whether the vehicle and the front obstacle have collision risks or not according to the state information of the vehicle and the information of the front obstacle;
if not, not triggering the emergency obstacle avoidance state of the vehicle;
otherwise, judging whether the vehicle meets an obstacle avoidance condition or not according to the surrounding information of the vehicle;
if so, triggering an emergency obstacle avoidance state of the vehicle;
if the distance between the vehicle and the vehicle is not met, carrying out obstacle avoidance early warning prompt to remind a driver of the vehicle of needing to avoid the obstacle urgently, and lightening a high-level brake lamp of the vehicle to remind a rear vehicle of keeping a safe distance from the vehicle.
4. The method of claim 3, wherein determining whether the vehicle is at risk of collision with the front obstacle based on the state information of the vehicle and the front obstacle information comprises:
determining the estimated collision time of the vehicle and the front obstacle according to the state information of the vehicle and the information of the front obstacle;
if the estimated collision time is less than or equal to a set time threshold, determining that the vehicle and the front obstacle have collision risks;
and if the estimated collision time is larger than a set time threshold, determining that the vehicle and the front obstacle have no collision risk.
5. The method of claim 1, wherein determining the target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information comprises:
extracting the current position of the vehicle from the state information of the vehicle, and extracting the current position of an obstacle from the front obstacle information;
determining the transverse moving distance required by the vehicle to avoid the front obstacle according to the current position of the vehicle and the current position of the obstacle;
determining a target position of the vehicle according to the current position of the vehicle and the transverse movement distance;
and determining a target obstacle avoidance path of the vehicle according to the current position of the vehicle and the target position.
6. The method according to claim 1, wherein the determining a target front wheel turning angle and a target rear wheel turning angle of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path comprises:
extracting the current course angle of the vehicle from the state information of the vehicle;
determining a target course angle of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
determining course angle deviation according to the current course angle and the target course angle;
determining the steering wheel angle of the vehicle according to the course angle deviation;
and determining a target front wheel steering angle and a target rear wheel steering angle of the vehicle according to the steering wheel steering angle.
7. The method of claim 6, wherein determining a target front wheel steering angle and a target rear wheel steering angle for the vehicle based on the steering wheel steering angle comprises:
dividing a steering wheel angle of the vehicle by a steering gear ratio of the vehicle to determine a target front wheel steering angle of the vehicle;
and determining a target rear wheel steering angle of the vehicle according to the target front wheel steering angle multiplied by a proportional coefficient of the front wheel steering angle and the rear wheel steering angle, wherein the proportional coefficient of the front wheel steering angle and the rear wheel steering angle is a negative number.
8. The method of claim 1, further comprising, prior to the vehicle entering an emergency obstacle avoidance state:
starting an acousto-optic device in a vehicle to perform vehicle obstacle avoidance triggering reminding so as to remind a driver of the vehicle that the vehicle is about to enter an emergency obstacle avoidance state;
activating a high-mount stop lamp of the vehicle to remind a driver of a rear vehicle to decelerate or maintain a safe vehicle distance;
activating a turn indicator light of the vehicle to alert a driver of a rear vehicle that the vehicle is turning.
9. The method of claim 1, further comprising, after the vehicle completes an emergency obstacle avoidance:
and starting a sound and light device in the vehicle to remind the obstacle avoidance end of the vehicle so that a driver of the vehicle takes over the vehicle again.
10. An obstacle avoidance control device, comprising:
the route determination module is used for determining a target obstacle avoidance route of the vehicle according to the state information of the vehicle and the front obstacle information when the vehicle enters an emergency obstacle avoidance state;
the corner determining module is used for determining a target front wheel corner and a target rear wheel corner of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path;
and the obstacle avoidance control module is used for controlling the vehicle to avoid the obstacle according to the target front wheel rotating angle and the target rear wheel rotating angle.
11. A vehicle, characterized by comprising:
a vehicle body;
the camera, the millimeter wave radar and the ultrasonic radar are mounted on the vehicle body;
a controller in communication connection with the camera, the millimeter wave radar, and the ultrasonic radar, the controller comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the obstacle avoidance control method of any one of claims 1 to 9.
12. A storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the obstacle avoidance control method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310076408.6A CN115848361A (en) | 2023-01-28 | 2023-01-28 | Obstacle avoidance control method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310076408.6A CN115848361A (en) | 2023-01-28 | 2023-01-28 | Obstacle avoidance control method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115848361A true CN115848361A (en) | 2023-03-28 |
Family
ID=85657732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310076408.6A Pending CN115848361A (en) | 2023-01-28 | 2023-01-28 | Obstacle avoidance control method and device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115848361A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116483096A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Vehicle formation control method, system, cloud platform and storage medium |
-
2023
- 2023-01-28 CN CN202310076408.6A patent/CN115848361A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116483096A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Vehicle formation control method, system, cloud platform and storage medium |
| CN116483096B (en) * | 2023-06-25 | 2023-09-22 | 中国第一汽车股份有限公司 | Vehicle formation control method, system, cloud platform and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109817021B (en) | Method and device for avoiding traffic participants in roadside blind areas of laser radar | |
| JP6800899B2 (en) | Risk-based driver assistance for approaching intersections with limited visibility | |
| JP6934544B2 (en) | Determining future direction of travel using wheel posture | |
| US11040726B2 (en) | Alarm system of autonomous driving vehicles (ADVs) | |
| CN111775940B (en) | Automatic channel changing method, device, equipment and storage medium | |
| US9212926B2 (en) | In-vehicle path verification | |
| RU2628350C2 (en) | Device and method for assessing risks of accident for moving vehicle | |
| CN102806912B (en) | For the Fast Collision Detection technology of the autonomous vehicle that connects and hand-propelled vehicle | |
| US9352683B2 (en) | Traffic density sensitivity selector | |
| US11518380B2 (en) | System and method for predicted vehicle incident warning and evasion | |
| US11332132B2 (en) | Method of handling occlusions at intersections in operation of autonomous vehicle | |
| JP7222879B2 (en) | Transportation hazard early warning methods, devices, equipment and media | |
| CN112172835B (en) | Vehicle early warning method, device, equipment and storage medium | |
| US9612596B2 (en) | Hands-off steering wheel governed by pedestrian detection | |
| CN111231972B (en) | Warning method based on driving behavior habit, vehicle and storage medium | |
| CN110588648A (en) | Method and device for identifying collision danger during vehicle running, vehicle and storage medium | |
| CN109318899B (en) | Curve driving method, device, equipment and storage medium for automatic driving vehicle | |
| CN115848361A (en) | Obstacle avoidance control method and device, vehicle and storage medium | |
| US20200339112A1 (en) | System and method for remote operator assisted driving through collision avoidance | |
| JP5349078B2 (en) | Forward vehicle lateral movement warning device | |
| CN113911111B (en) | Vehicle collision detection method, system, electronic device and storage medium | |
| CN113602263A (en) | Vehicle avoidance method and device, vehicle-mounted equipment and storage medium | |
| CN112703140A (en) | Control method and control device | |
| CN110371025A (en) | Method, system, equipment and the storage medium of the preposition collision detection for operating condition of overtaking other vehicles | |
| KR101956693B1 (en) | Apparatus and method for controlling vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |