CN116974286A

CN116974286A - Obstacle avoidance method, device, equipment and medium for adjusting unmanned vehicle following control point

Info

Publication number: CN116974286A
Application number: CN202311085716.1A
Authority: CN
Inventors: 蔡庆佳; 蔡礼松; 张硕; 钱永强
Original assignee: Shanghai Mooe Robot Technology Co ltd
Current assignee: Shanghai Mooe Robot Technology Co ltd
Priority date: 2023-08-25
Filing date: 2023-08-25
Publication date: 2023-10-31

Abstract

The embodiment of the invention discloses an obstacle avoidance method, device, equipment and medium for adjusting a following control point of an unmanned vehicle. Wherein the method comprises the following steps: determining attitude angle information of the unmanned vehicle and following track information of the unmanned vehicle; according to the following track information and the attitude angle information, determining predicted attitude angle information of the unmanned vehicle at each following track point; performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where obstacle collision occurs; and adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track. According to the technical scheme, the operation area of the unmanned vehicle can be adjusted by dynamically adjusting the following control point, so that the unmanned vehicle is prevented from avoiding obstacle and stopping for a long time, the working efficiency of the unmanned vehicle is improved, and the operation cost is reduced.

Description

Obstacle avoidance method, device, equipment and medium for adjusting unmanned vehicle following control point

Technical Field

The invention relates to the technical field of unmanned vehicle control, in particular to an obstacle avoidance method, device, equipment and medium for adjusting a following control point of an unmanned vehicle.

Background

In the field of unmanned vehicle control, a fixed vehicle control point is generally selected, for example, a geometric center point is fixedly selected as a control point for tracking by the unmanned vehicle, and the selected control point is controlled to move along a target track. In this case, the required operating area of the drone is unchanged during the movement along the fixed road. When the running area is occupied by the obstacle, the unmanned vehicle can avoid the obstacle and park according to a set obstacle avoidance method until the obstacle leaves the running area.

In the related art, the obstacle in the running area of the vehicle is cleared manually, so that the obstacle avoidance and parking frequency of the unmanned vehicle is reduced, and the cost is obviously increased. In addition, unmanned vehicles avoid obstacle for a long time to park, so that the working efficiency of the vehicles can be reduced, and the operation cost is increased.

Disclosure of Invention

The invention provides an obstacle avoidance method, device, equipment and medium for adjusting a following control point of an unmanned vehicle, which can be used for adjusting the running area of the unmanned vehicle by dynamically adjusting the following control point, avoiding long-time obstacle avoidance and parking of the unmanned vehicle, improving the working efficiency of the unmanned vehicle and reducing the operation cost.

According to an aspect of the present invention, there is provided an obstacle avoidance method for adjusting a following control point of an unmanned vehicle, the method comprising:

Determining attitude angle information of an unmanned vehicle and following track information of the unmanned vehicle; wherein the following track information comprises position information of a plurality of following track points;

according to the following track information and the attitude angle information, determining predicted attitude angle information of the unmanned vehicle at each following track point;

performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where obstacle collision occurs;

and adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track.

According to another aspect of the present invention, there is provided an obstacle avoidance apparatus for adjusting a following control point of an unmanned vehicle, comprising:

the unmanned vehicle information determining module is used for determining the attitude angle information of the unmanned vehicle and the following track information of the unmanned vehicle; wherein the following track information comprises position information of a plurality of following track points;

the predicted attitude angle information determining module is used for determining predicted attitude angle information of the unmanned vehicle at each following track point according to the following track information and the attitude angle information;

The target following track point determining module is used for detecting obstacle collision according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where the obstacle collision occurs;

the current following control point adjusting module is used for adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

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 method of adjusting the unmanned vehicle following control point according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the obstacle avoidance method of adjusting a following control point of an unmanned vehicle according to any one of the embodiments of the present invention when executed.

According to the technical scheme, attitude angle information of the unmanned vehicle and following track information of the unmanned vehicle are determined; the following track information comprises position information of a plurality of following track points; according to the following track information and the attitude angle information, determining predicted attitude angle information of the unmanned vehicle at each following track point; performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where obstacle collision occurs; and adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track. According to the technical scheme, the operation area of the unmanned vehicle can be adjusted by dynamically adjusting the following control point, so that the unmanned vehicle is prevented from avoiding obstacle and stopping for a long time, the working efficiency of the unmanned vehicle is improved, and the operation cost is reduced.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart of a method for adjusting obstacle avoidance of an unmanned vehicle following a control point according to a first embodiment of the present invention;

fig. 2 is a flowchart of a method for adjusting an obstacle avoidance method of an unmanned vehicle following a control point according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an obstacle avoidance device for adjusting a following control point of an unmanned vehicle according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device for implementing an obstacle avoidance method for adjusting a following control point of an unmanned vehicle according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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.

Example 1

Fig. 1 is a flowchart of a method for adjusting an obstacle avoidance method for an unmanned vehicle following control point according to an embodiment of the present invention, where the method may be performed by an obstacle avoidance device for an unmanned vehicle following control point, and the obstacle avoidance device for an unmanned vehicle following control point may be implemented in hardware and/or software, and the obstacle avoidance device for an unmanned vehicle following control point may be configured in an electronic device with data processing capability. As shown in fig. 1, the method includes:

S110, determining attitude angle information of the unmanned vehicle and following track information of the unmanned vehicle; the following track information comprises position information of a plurality of following track points.

In this embodiment, first, the attitude angle information θ of the current following control point of the unmanned vehicle is determined _vehicle As the attitude angle information of the unmanned vehicle, and determining the following track information of the unmanned vehicle. The current following control point may refer to a following control point of the unmanned vehicle at the current moment. For example, the rear wheel center point or the geometric center point of the unmanned vehicle may be set as the following control point. The following track information comprises position information of a plurality of following track points. Specifically, the following track may be composed of several following track points P _{traj_i} The position information of each following track point can be expressed by a coordinate form.

S120, according to the following track information and the gesture angle information, the predicted gesture angle information of the unmanned vehicle at each following track point is determined.

In this embodiment, after determining the attitude angle information and the following track information of the unmanned vehicle, the predicted attitude angle information of the unmanned vehicle at each following track point may be determined according to the following track information and the attitude angle information. The predicted attitude angle information may refer to attitude angle information obtained by prediction when the unmanned vehicle reaches each following track point.

In this embodiment, optionally, determining, according to the following track information and the attitude angle information, predicted attitude angle information of the unmanned vehicle at each following track point includes: determining control point coordinate information of a current following control point of the unmanned vehicle under a vehicle body coordinate system; the vehicle body coordinate system determines the transverse axis direction according to the attitude angle information of the unmanned vehicle, and takes the geometric center point of the unmanned vehicle as the origin of the coordinate system; determining the attitude angle information of a first following track point according to the attitude angle information of the unmanned vehicle; determining the position information of the current following control point corresponding to the candidate following track point according to the position information of the candidate following track point, the coordinate information of the control point and the attitude angle information of the candidate following track point based on the following formula;

wherein, (x) _{traj_i} ，y _{traj_i} ) For the position information of the candidate following track point, (x) _{traj_rear_i} ，y _{traj_rear_i} ) For the position information of the current following control point corresponding to the candidate following track point, (L) _cx ，L _cy ) For controlling point coordinate information, θ _{traj_i} The attitude angle information of the candidate following track point is obtained;

determining predicted attitude angle information of a next following track point according to the position information of a current following control point corresponding to the candidate following track point and the position information of the next following track point based on the following formula; Wherein θ _{traj_i+1} Predicted attitude angle information for the next following track point.

In this embodiment, when determining the predicted attitude angle information of the unmanned vehicle at each following track point, it is first necessary to establish a vehicle body coordinate system. The vehicle body coordinate system takes the geometric center point of the unmanned vehicle as the origin of the coordinate system and takes the attitude angle information theta of the unmanned vehicle _vehicle The corresponding direction is the horizontal axis direction. Then determining the coordinate information of the control point of the current following control point of the unmanned vehicle under the vehicle body coordinate system, and marking as (L) _cx ，L _cy ). Attitude angle information theta of unmanned vehicle _vehicle As the first following track point P _{traj_1} Attitude angle information θ of (2) _{traj_1} . The first track point P is followed _{traj_1} Position information (x) _{traj_1} ，y _{traj_1} ) Control point coordinate information (L _{cx_1} ，L _{cy_1} ) And attitude angle information θ _{traj_1} Substituting into the calculation formula of the position information of the current following control point, P can be determined _{traj_1} Position information (x _{traj_rear_1} ，y _{traj_rear_1} ). And then P is added _{traj_1} Corresponding position information of current following control pointRest (x) _{traj_rear_1} ，y _{traj_rear_1} ) And a second following track point P _{traj_2} Position information (x) _{traj_2} ，y _{traj_2} ) Substituting the calculated value into the calculation formula of the predicted attitude angle information of the next following track point to determine P _{traj_2} Predicted attitude angle information θ of (a) _{traj_2} . And then P is as follows _{traj_2} Position information (x) _{traj_2} ，y _{traj_2} ) Control point coordinate information (L _{cx_2} ，L _{cy_2} ) Predicted attitude angle information θ _{traj_2} Substituting into the calculation formula of the position information of the current following control point, P can be determined _{traj_2} Position information (x _{traj_rear_2} ，y _{traj_rear_2} ). And then P is added _{traj_2} Position information (x _{traj_rear_2} ，y _{traj_rear_2} ) And a third following track point P _{traj_3} Position information (x) _{traj_3} ，y _{traj_3} ) Substituting the calculated information into the calculation formula of the predicted attitude angle information of the next following track point to determine P _{traj_3} Predicted attitude angle information θ of (a) _{traj_3} . The loop iteration is performed in the above manner, so that the position information of the current following control point corresponding to each candidate following track point and the predicted attitude angle information of the next following track point can be determined in sequence.

According to the scheme, through the arrangement, the predicted attitude angle information of the unmanned vehicle at each following track point can be rapidly and accurately determined through a preset formula on the basis of the vehicle body coordinate system according to the following track information and the attitude angle information.

S130, performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where the obstacle collision occurs.

In this embodiment, after the predicted attitude angle information of each following track point of the unmanned aerial vehicle is determined, obstacle collision detection may be performed according to the following track information and the predicted attitude angle information of each following track point of the unmanned aerial vehicle, so as to determine whether the unmanned aerial vehicle collides with an obstacle in the running process, and if the unmanned aerial vehicle collides, then the target following track point where the obstacle collides is determined. The target following track point may refer to a following track point where an obstacle collision occurs in the following track.

In this embodiment, optionally, the obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point includes: determining vehicle frame boundary information of the unmanned vehicle at each following track point according to the position information of each following track point, the predicted attitude angle information of each following track point and the mechanical dimension parameter of the unmanned vehicle; and performing obstacle collision detection according to the overlapping result of the vehicle frame boundary information and the obstacle convex hull information.

In this embodiment, when the obstacle collision is detected, from the current following track point, the boundary information of the vehicle frame of the unmanned vehicle at each following track point is determined according to the position information of each following track point, the predicted attitude angle information of each following track point and the mechanical dimension parameter of the unmanned vehicle. Specifically, by (x) _{traj_i} ，y _{traj_i} ) As the position of the unmanned vehicle following the track point, the position is represented by theta _{traj_i} As the attitude angle of the unmanned vehicle, a vehicle frame polygon is constructed according to the mechanical dimension parameter of the unmanned vehicle, thereby determining the vehicle frame boundary information of the unmanned vehicle at each following track point. Wherein the mechanical dimension parameter can be used to characterize the relative positional relationship of the following control point and the drone.

Then determining obstacle information comprising a plurality of obstacle convex hulls each consisting of a plurality of ordered vertices P _{obs_i} The position coordinates of the vertices can be expressed as (x) _{obs_i} ，y _{obs_i} ) Wherein i is more than or equal to 1 and N is more than or equal to _obs ，N _obs Is the number of convex hull vertices. And then, performing obstacle collision detection according to the overlapping result of the vehicle frame boundary information and the obstacle convex hull information. Specifically, if the boundary information of the vehicle frame corresponding to each following track point is not overlapped with the convex hull information of all the obstacles, the unmanned vehicle is indicated not to collide with the obstacles in the running process, namely, the unmanned vehicle is pressedThe following control is carried out according to the current following control point, so that the unmanned vehicle can safely pass, and the following control point does not need to be adjusted at the moment; if the boundary information of the vehicle frame corresponding to a certain following track point is overlapped with the convex hull information of a certain obstacle, the situation that the unmanned vehicle collides with the obstacle when running to the following track point is indicated, and at the moment, the following control point needs to be adjusted.

According to the scheme, through the arrangement, according to the overlapping result of the vehicle frame body boundary information and the obstacle convex hull information, obstacle collision detection can be rapidly and accurately carried out.

And S140, adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track.

In this embodiment, a Frenet coordinate system is established in advance, the coordinate system being established with the unmanned vehicle as an origin, with a tangential direction of a road center line as a vertical axis, and with a normal direction of the road center line as a horizontal axis. Under the Frenet coordinate system, the distance between the left and right vertexes of the convex hull of the obstacle and the following track can be determined, the relative position relationship between the obstacle and the following track can be determined according to the distance relationship between the left and right vertexes and the following track, and meanwhile, the distance between the left and right boundaries of the unmanned vehicle and the following track can be determined, so that the current following control point of the unmanned vehicle at the target following track point is adjusted, collision between the unmanned vehicle and the obstacle is avoided, and safe operation of the unmanned vehicle is ensured.

Specifically, if the distance between the left vertex of the convex hull and the following track is greater than the distance between the right vertex of the convex hull and the following track, and the distance between the left vertex of the convex hull and the following track is greater than or equal to the distance between the left vertex and the right vertex of the convex hull, it indicates that the obstacle is located on the left side of the following track, and at this time, the current following control point at the target following track point needs to be adjusted to enable the unmanned vehicle to travel to the right side of the following track. If the distance between the left vertex of the convex hull and the following track is smaller than the distance between the right vertex of the convex hull and the following track, and the distance between the right vertex of the convex hull and the following track is larger than or equal to the distance between the left vertex and the right vertex of the convex hull, the obstacle is positioned on the right side of the following track, and at the moment, the current following control point at the target following track point needs to be adjusted to enable the unmanned vehicle to run to the left side of the following track. If the distances between the left and right vertexes of the convex hull and the following track are smaller than the distances between the left and right vertexes of the convex hull, the obstacle is positioned on the following track, and at the moment, the distance between the left and right vertexes of the convex hull and the following track can be adjusted according to the distance relation.

According to the technical scheme, attitude angle information of the unmanned vehicle and following track information of the unmanned vehicle are determined; the following track information comprises position information of a plurality of following track points; according to the following track information and the attitude angle information, determining predicted attitude angle information of the unmanned vehicle at each following track point; performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where obstacle collision occurs; and adjusting the current following control point of the unmanned vehicle at the target following track point according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track. According to the technical scheme, the running area of the unmanned vehicle can be adjusted by dynamically adjusting the following control point, so that the unmanned vehicle is prevented from avoiding obstacle parking for a long time, the following track information which is planned to be finished is not required to be changed, the working efficiency of the unmanned vehicle is further improved, and the running cost is reduced.

Example two

Fig. 2 is a flowchart of a method for adjusting an obstacle avoidance method of an unmanned vehicle following a control point according to a second embodiment of the present invention, where the method is optimized based on the foregoing embodiment. The concrete optimization is as follows: according to the distance between the obstacle and the following track and the distance between the unmanned vehicle and the following track, the current following control point of the unmanned vehicle at the target following track point is adjusted, and the method comprises the following steps: determining the distance between the obstacle and the following track and the position relationship between the obstacle and the following track according to the distance between the obstacle and the following track; determining the distance of the unmanned vehicle according to the distance between the unmanned vehicle and the following track; determining an unmanned vehicle adjusting distance and an adjusting direction according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance; and adjusting the current following control point of the unmanned aerial vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle.

As shown in fig. 2, the method of this embodiment specifically includes the following steps:

s210, determining attitude angle information of the unmanned vehicle and following track information of the unmanned vehicle; the following track information comprises position information of a plurality of following track points.

S220, according to the following track information and the gesture angle information, the predicted gesture angle information of the unmanned vehicle at each following track point is determined.

S230, performing obstacle collision detection according to the following track information and the predicted attitude angle information of the unmanned vehicle at each following track point, and determining a target following track point where the obstacle collision occurs.

The specific implementation of S210-S230 may be referred to in the detailed description of S110-S130, and will not be described herein.

S240, determining the distance of the obstacle and the position relationship between the obstacle and the following track according to the distance between the obstacle and the following track.

The obstacle distance comprises an upper obstacle distance limit and a lower obstacle distance limit, and the position relationship between the obstacle and the following track comprises that the obstacle is positioned on the left side of the track, the obstacle is positioned on the right side of the track and the obstacle is positioned on the track.

In this embodiment, in the Frenet coordinate system, the distance between each vertex of the convex hull of the obstacle and the following track may be determined, the minimum distance is found therefrom as the lower limit of the obstacle distance, and the maximum distance is found as the upper limit of the obstacle distance, thereby determining the obstacle distance. The lower limit of the obstacle distance and the upper limit of the obstacle distance are respectively marked as L in the ordinate range (with positive and negative) under the Frenet coordinate system _{obs_min} And L _{obs_max} . If satisfy 0<L _{obs_min} <L _{obs_max} Indicating that the obstacle is located on the left side of the trajectory; if satisfy L _{obs_min} <L _{obs_max} <0, then it indicates that the obstacle is on the right side of the track; if satisfy L _{obs_min} <0<L _{obs_max} Indicating that the obstacle is located on the railOn the track, the positional relationship between the obstacle and the following track can be determined thereby.

S250, determining the distance of the unmanned vehicle according to the distance between the unmanned vehicle and the following track.

The unmanned vehicle distance comprises a left boundary distance of the unmanned vehicle and a right boundary distance of the unmanned vehicle.

In this embodiment, in the Frenet coordinate system, the distance between the left and right boundaries of the unmanned vehicle and the following track may be determined, the distance between the left boundary of the unmanned vehicle and the following track is taken as the left boundary distance of the unmanned vehicle, and the distance between the right boundary of the unmanned vehicle and the following track is taken as the right boundary distance of the unmanned vehicle. In the ordinate range (with positive and negative) under the Frenet coordinate system, the left boundary distance and the right boundary distance of the unmanned vehicle are respectively marked as L _{vehicle_left} And L _{vehicle_right} From this, the drone distance can be determined.

S260, determining the adjustment distance and the adjustment direction of the unmanned vehicle according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance.

In this embodiment, after determining the positional relationship between the obstacle and the following track, the obstacle distance, and the unmanned vehicle distance, the unmanned vehicle adjustment distance and adjustment direction may be further determined. Optionally, determining the adjustment distance and the adjustment direction of the unmanned vehicle according to the position relationship between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance includes: if the obstacle is positioned on the left side of the track, determining the adjustment direction of the unmanned vehicle to be adjusted towards the right side of the track, and determining the adjustment distance of the unmanned vehicle according to the lower limit of the distance between the obstacle and the left boundary distance of the unmanned vehicle and the preset safety distance; if the obstacle is positioned on the right side of the track, determining the adjustment direction of the unmanned vehicle to be adjusted towards the left side of the track, and determining the adjustment distance of the unmanned vehicle according to the upper limit of the distance of the obstacle, the right boundary distance of the unmanned vehicle and the preset safety distance; if the obstacle is positioned on the track, determining the adjustment distance and the adjustment direction of the unmanned vehicle according to the comparison result of the upper limit of the distance of the obstacle and the lower limit of the distance of the obstacle.

In this embodiment, if the obstacle is located on the left side of the track, the adjustment direction of the unmanned vehicle can be determinedAnd adjusting the direction to the right of the track, and determining the adjustment distance of the unmanned vehicle according to the lower limit of the distance between the obstacle and the left boundary distance of the unmanned vehicle and the preset safety distance. The preset safety distance may be a preset safety distance reference value, and may be specifically set according to actual requirements. Exemplary, the first formula L can be used _{adjust_N} ＝L _{obs_min} -L _{vehicle_left} -d _safe And determining the adjustment distance of the unmanned vehicle. Wherein L is _{adjust_N} Distance d is adjusted for unmanned vehicle _safe Is a preset safety distance. If the obstacle is positioned on the right side of the track, the adjustment direction of the unmanned vehicle can be determined to be adjusted to the left side of the track, and the adjustment distance of the unmanned vehicle is determined according to the upper limit of the distance of the obstacle, the right boundary distance of the unmanned vehicle and the preset safety distance. Exemplary, the second formula L can be used _{adjust_N} ＝L _{obs_max} -L _{vehicle_right} +d _safe And determining the adjustment distance of the unmanned vehicle.

If the obstacle is positioned on the track, the adjustment distance and the adjustment direction of the unmanned vehicle can be determined according to the comparison result of the upper limit of the distance of the obstacle and the lower limit of the distance of the obstacle. For example, the drone adjustment distance may be determined according to a third formula, which is expressed as follows:

wherein, if L _{adjust_N} >0, determining the adjustment direction of the unmanned vehicle to be adjusted to the left side of the track; if L _{adjust_N} <And 0, determining the adjustment direction of the unmanned vehicle to be adjusted to the right side of the track.

Through such setting, this scheme can be according to the positional relationship between barrier and the follow orbit, barrier distance and unmanned vehicles distance, confirm unmanned vehicles adjustment distance and adjustment direction fast accurately.

S270, adjusting the current following control point of the unmanned aerial vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle.

In this embodiment, after determining the adjustment distance and adjustment direction of the unmanned vehicle, the following steps may be performedAnd further adjusting the current following control point of the unmanned vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned vehicle. Optionally, according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle, adjusting a current following control point of the unmanned aerial vehicle at the target following track point includes: based on the following formula, determining a longitudinal adjustment distance of the unmanned vehicle in the longitudinal axis direction under a vehicle body coordinate system and a transverse adjustment distance in the transverse axis direction according to the unmanned vehicle adjustment distance, the curvature of the target following track point, the unmanned vehicle orientation angle and the track orientation angle; the vehicle body coordinate system determines the transverse axis direction according to the attitude angle information of the unmanned vehicle; Wherein L is _{adjust_x} To adjust the distance longitudinally, L _{adjust_y} For the lateral adjustment of the distance, k is the curvature at the target following track point, Δθ is the angular difference between the unmanned vehicle orientation angle and the track orientation angle, L _{adjust_N} Adjusting the distance for the unmanned vehicle; determining a longitudinal adjustment direction and a transverse adjustment direction according to the longitudinal adjustment distance and the transverse adjustment distance; and adjusting the current following control point of the unmanned vehicle at the target following track point according to the longitudinal adjustment distance, the transverse adjustment distance, the longitudinal adjustment direction and the transverse adjustment direction.

In this embodiment, when adjusting the current following control point of the unmanned vehicle at the target following track point, the distance L is first adjusted according to the unmanned vehicle _{adjust_N} Determining a longitudinal adjustment distance L of the unmanned aerial vehicle in the longitudinal axis direction under a vehicle body coordinate system, wherein the curvature k of the target following track point and the angle difference delta theta between the unmanned aerial vehicle orientation angle and the track orientation angle _{adjust_x} And a lateral adjustment distance L in the lateral axis direction _{adjust_y} . Then adjust the distance L according to the longitudinal direction _{adjust_x} And a lateral adjustment distance L _{adjust_y} A longitudinal adjustment direction and a lateral adjustment direction are determined. Specifically, if L _{adjust_x} >0, determining the longitudinal adjustment direction as longitudinal forward adjustment; if L _{adjust_x} <0, determining the longitudinal adjustment direction as longitudinal backward adjustment; if L _{adjust_x} =0, then it indicates that the vehicle is in the longitudinal directionNo adjustment is needed. If L _{adjust_y} >0, determining the transverse adjustment direction as transverse left adjustment; if L _{adjust_y} <0, determining the transverse adjustment direction as transverse right adjustment; if L _{adjust_y} =0, then this indicates that the drone does not need to be adjusted in the lateral direction.

And the current following control point of the unmanned vehicle at the target following track point can be adjusted according to the longitudinal adjustment distance, the transverse adjustment distance, the longitudinal adjustment direction and the transverse adjustment direction. Optionally, adjusting the current following control point of the unmanned vehicle at the target following track point according to the longitudinal adjustment distance and the transverse adjustment distance, and the longitudinal adjustment direction and the transverse adjustment direction includes: if the following track of the unmanned vehicle is a nonlinear track, based on the following formula, longitudinally adjusting the corresponding first weight, the corresponding second weight of the track curvature and the longitudinal adjustment distance according to the pose of the vehicle, and determining a longitudinal adjustment value of the following control point;wherein L is _{cx_new} For adjusting value longitudinally, w _a Is the first weight, w _k For the second weight, k is the curvature at the target follow track point, L _{adjust_x} For longitudinal adjustment of the distance; determining the current following control point of the updated unmanned vehicle at the target following track point according to the longitudinal adjustment value and the longitudinal adjustment direction, and detecting obstacle collision; if the obstacle collision occurs, continuously updating the current following control point of the updated unmanned vehicle at the target following track point according to the transverse adjustment distance and the transverse adjustment direction, and detecting the obstacle collision; and determining the current following control point of the unmanned vehicle after the unmanned vehicle is adjusted at the target following track point according to the obstacle collision detection result.

In this embodiment, when adjusting the current following control point of the unmanned vehicle at the target following track point, it is necessary to determine whether the following track of the unmanned vehicle is a straight track. If the following track of the unmanned vehicle is a straight track, the unmanned vehicle is preferably adjusted in the transverse direction, and then is considered to be adjusted in the longitudinal direction. Wherein the transverse adjustment distance is L _{adjust_y} ＝L _{adjust_N} . If the following track of the unmanned vehicle is a nonlinear track (namely, a track corresponding to a curve), the unmanned vehicle is preferentially adjusted in the longitudinal direction, and then is considered to be adjusted in the transverse direction. Specifically, first, a first weight w corresponding to longitudinal adjustment of the vehicle pose is determined _a Second weight w corresponding to track curvature _k And the curvature k at the target following track point, and according to w _a 、w _k K and longitudinal adjustment distance L _{adjust_x} Determining a longitudinal adjustment value L of a following control point _{cx_new} . Wherein the first weight w _a And a second weight w _k Can be set according to actual requirements.

And then determining the current following control point of the updated unmanned vehicle at the target following track point according to the longitudinal adjustment value and the longitudinal adjustment direction, and detecting the collision of the obstacle. It should be noted that, in order to avoid that the actual vehicle body of the unmanned vehicle deviates too far from the following track after the following control point is adjusted, the control point coordinate information (L _cx ，L _cy ) The value range of (2) is preset. For example, it is possible to set the following control point in the longitudinal direction not to exceed the front 2m of the vehicle head or not to exceed the rear 2m of the vehicle tail, that isThe transverse following control point is not more than 1.5m on the left and right sides of the car body, namely +.>Wherein L is _vehicle For vehicle length D _vehicle Is the vehicle width.

Therefore, when determining the current following control point of the updated unmanned vehicle at the target following track point, it is necessary to first determine the longitudinal adjustment value L _{cx_new} Whether or not to lie in L _cx Is within the range of the value of (2). If L _{cx_new} At L _cx Within the value range of (2), P is _{c_new} (L _{cx_new} ，L _cy ) And taking the updated current following control point of the unmanned vehicle at the target following track point as the updated current following control point, and performing obstacle collision detection based on the updated current following control point. If an obstacle collidesThe detection result is that no obstacle collision occurs, and the unmanned vehicle can use the updated current following control point P _{c_new} (L _{cx_new} ，L _cy ) Track following control is performed to avoid the obstacle. If the obstacle collision detection result is that an obstacle collision occurs, the updated current following control point of the unmanned vehicle at the target following track point needs to be continuously updated according to the transverse adjustment distance and the transverse adjustment direction, and the obstacle collision detection is performed. If L _{cx_new} Not located at L _cx In the range of the value of (2), obstacle collision detection is not needed, and the updated current following control point of the unmanned vehicle at the target following track point is continuously updated directly according to the transverse adjustment distance and the transverse adjustment direction, and the obstacle collision detection is carried out.

When the updated current following control point of the unmanned vehicle at the target following track point is continuously updated according to the transverse adjustment distance and the transverse adjustment direction, the transverse adjustment value of the following control point is determined according to the transverse adjustment distance. Exemplary, can be represented by formula L _{cy_new} ＝-L _{adjust_y} Determining a lateral adjustment value L following the control point _{cy_new} . Then judging the transverse adjustment value L _{cy_new} Whether or not to lie in L _cy Is within the range of the value of (2). If L _{cy_new} At L _cy Within the value range of (2), P is _{c_new} (L _{cx_new} ，L _{cy_new} ) And taking the updated current following control point of the unmanned vehicle at the target following track point as the updated current following control point, and performing obstacle collision detection based on the updated current following control point. If the obstacle collision detection result indicates that the obstacle collision does not occur, the unmanned vehicle can use the updated current following control point P _{c_new} (L _{cx_new} ，L _{cy_new} ) Track following control is performed to avoid the obstacle. If the obstacle collision detection result is that an obstacle collision occurs, the method indicates that the vehicle is in L _cx And L _cy The following control points can not be adjusted in the constraint range anyway so that the unmanned vehicle can avoid the obstacle, and the unmanned vehicle is required to avoid the obstacle to park at the moment. If L _{cy_new} Not located at L _cy Within the range of the value of (2), also indicated in L _cx And L _cy The unmanned vehicle cannot avoid the obstacle no matter how the following control points are adjusted in the constraint range, and the unmanned vehicle is required to avoid the obstacle to park at the moment.

According to the scheme, through the arrangement, the adjustment strategy of the following control point is divided into two types of longitudinal adjustment and transverse adjustment, the proper adjustment strategy can be selected according to the following track, the distance between the obstacle and the like, the position of the new following control point is calculated, when the safety is confirmed through collision detection, the vehicle can slowly adjust the following control point from the current position to the new position, the running area of the vehicle is also slowly changed, and therefore the effect that the vehicle avoids the obstacle and smoothly runs is achieved on the basis that the following track of the vehicle is not required to be changed.

According to the technical scheme of the embodiment of the invention, the distance between the obstacle and the following track and the position relationship between the obstacle and the following track are determined; determining the distance of the unmanned vehicle according to the distance between the unmanned vehicle and the following track; determining an unmanned vehicle adjusting distance and an adjusting direction according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance; and adjusting the current following control point of the unmanned aerial vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle. According to the technical scheme, the operation area of the unmanned vehicle can be adjusted by dynamically adjusting the following control point, so that the unmanned vehicle is prevented from avoiding obstacle and stopping for a long time, the working efficiency of the unmanned vehicle is improved, the operation cost is reduced, the current following control point of the unmanned vehicle at the target following track point is quickly and accurately adjusted according to the adjustment distance and the adjustment direction of the unmanned vehicle, and the adjustment efficiency and the accuracy of the following control point are ensured.

Example III

Fig. 3 is a schematic structural diagram of an obstacle avoidance device for adjusting a following control point of an unmanned vehicle according to a third embodiment of the present invention, where the obstacle avoidance device may execute the obstacle avoidance method for adjusting a following control point of an unmanned vehicle according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 3, the apparatus includes:

the unmanned vehicle information determining module 310 is configured to determine attitude angle information of an unmanned vehicle and following track information of the unmanned vehicle; wherein the following track information comprises position information of a plurality of following track points;

the predicted attitude angle information determining module 320 is configured to determine predicted attitude angle information of the unmanned vehicle at each following track point according to the following track information and the attitude angle information;

the target following track point determining module 330 is configured to perform obstacle collision detection according to the following track information and predicted attitude angle information of the unmanned vehicle at each following track point, and determine a target following track point where an obstacle collision occurs;

the current following control point adjustment module 340 is configured to adjust a current following control point of the drone at the target following track point according to a distance between the obstacle and the following track and a distance between the drone and the following track.

Optionally, the current following control point adjustment module 340 includes:

an obstacle information determination unit configured to determine an obstacle distance and a positional relationship between the obstacle and the following track according to a distance between the obstacle and the following track;

the unmanned vehicle distance determining unit is used for determining the unmanned vehicle distance according to the distance between the unmanned vehicle and the following track;

the unmanned vehicle adjustment information determining unit is used for determining an unmanned vehicle adjustment distance and an adjustment direction according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance;

the current following control point adjusting unit is used for adjusting the current following control point of the unmanned aerial vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle.

Optionally, the obstacle distance includes an upper obstacle distance limit and a lower obstacle distance limit; the unmanned vehicle distance comprises an unmanned vehicle left boundary distance and an unmanned vehicle right boundary distance; the positional relationship between the obstacle and the following track includes the obstacle being located on the left side of the track, the obstacle being located on the right side of the track, and the obstacle being located on the track;

correspondingly, the unmanned vehicle adjustment information determining unit is used for:

If the obstacle is positioned on the left side of the track, determining the adjustment direction of the unmanned vehicle to be adjusted towards the right side of the track, and determining the adjustment distance of the unmanned vehicle according to the lower limit of the distance between the obstacle and the left boundary distance of the unmanned vehicle and the preset safety distance;

if the obstacle is positioned on the right side of the track, determining the adjustment direction of the unmanned vehicle to be adjusted towards the left side of the track, and determining the adjustment distance of the unmanned vehicle according to the upper limit of the distance between the obstacle and the right boundary distance of the unmanned vehicle and the preset safety distance;

and if the obstacle is positioned on the track, determining the adjustment distance and the adjustment direction of the unmanned vehicle according to the comparison result of the upper limit of the distance of the obstacle and the lower limit of the distance of the obstacle.

Optionally, the current following control point adjusting unit includes:

a transverse axis direction determining subunit, configured to determine a longitudinal adjustment distance of the unmanned vehicle in a longitudinal axis direction under a vehicle body coordinate system and a transverse adjustment distance in a transverse axis direction according to the unmanned vehicle adjustment distance, the curvature at the target following track point, the unmanned vehicle orientation angle, and the track orientation angle based on the following formula; the vehicle body coordinate system determines the transverse axis direction according to the attitude angle information of the unmanned vehicle;

wherein L is _{adjust_x} To adjust the distance longitudinally, L _{adjust_y} For transversely adjusting the distance, k is the curvature of the target following track point, delta theta is the angle difference between the unmanned vehicle orientation angle and the track orientation angle, L _{adjust_N} Adjusting a distance for the unmanned vehicle;

an adjustment direction determining subunit, configured to determine a longitudinal adjustment direction and a lateral adjustment direction according to the longitudinal adjustment distance and the lateral adjustment distance;

and the current following control point adjusting subunit is used for adjusting the current following control point of the unmanned vehicle at the target following track point according to the longitudinal adjusting distance, the transverse adjusting distance, the longitudinal adjusting direction and the transverse adjusting direction.

Optionally, the current following control point adjustment subunit is configured to:

if the following track of the unmanned vehicle is a nonlinear track, based on the following formula, longitudinally adjusting a corresponding first weight, a corresponding second weight of track curvature and the longitudinal adjustment distance according to the pose of the vehicle, and determining a longitudinal adjustment value of a following control point;

wherein L is _{cx_new} For adjusting value longitudinally, w _a Is the first weight, w _k For the second weight, k is the curvature at the target following track point, L _{adjust_x} For longitudinal adjustment of the distance;

determining a current following control point of the updated unmanned vehicle at the target following track point according to the longitudinal adjustment value and the longitudinal adjustment direction, and detecting obstacle collision;

If the obstacle collision occurs, continuously updating the current following control point of the updated unmanned vehicle at the target following track point according to the transverse adjustment distance and the transverse adjustment direction, and detecting the obstacle collision;

and determining the current following control point of the unmanned vehicle after the adjustment at the target following track point according to the obstacle collision detection result.

Optionally, the predicted attitude angle information determining module 320 is configured to:

determining control point coordinate information of the current following control point of the unmanned vehicle under a vehicle body coordinate system; the vehicle body coordinate system determines the transverse axis direction according to the attitude angle information of the unmanned vehicle, and takes the geometric center point of the unmanned vehicle as the origin of the coordinate system;

determining the attitude angle information of a first following track point according to the attitude angle information of the unmanned vehicle;

determining the position information of the current following control point corresponding to the candidate following track point according to the position information of the candidate following track point, the coordinate information of the control point and the attitude angle information of the candidate following track point based on the following formula;

wherein, (x) _{traj_i} ，y _{traj_i} ) For the position information of the candidate following track point, (x) _{traj_rear_i} ，y _{traj_rear_i} ) For the position information of the current following control point corresponding to the candidate following track point, (L) _cx ，L _cy ) For the control point coordinate information, θ _{traj_i} The attitude angle information of the candidate following track point is obtained;

determining predicted attitude angle information of a next following track point according to the position information of a current following control point corresponding to the candidate following track point and the position information of the next following track point based on the following formula;

wherein θ _{traj_i+1} Predicted attitude angle information for the next following track point.

Optionally, the target following track point determining module 330 is configured to:

determining vehicle frame boundary information of the unmanned vehicle at each following track point according to the position information of each following track point, the predicted attitude angle information of each following track point and the mechanical dimension parameter of the unmanned vehicle;

and detecting obstacle collision according to the overlapping result of the vehicle frame boundary information and the obstacle convex hull information.

The obstacle avoidance device for adjusting the following control point of the unmanned vehicle provided by the embodiment of the invention can execute the obstacle avoidance method for adjusting the following control point of the unmanned vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as adjusting the obstacle avoidance method of the drone following the control point.

In some embodiments, the obstacle avoidance method of adjusting the drone vehicle following control point may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more of the steps of the obstacle avoidance method described above to adjust the unmanned vehicle following control point may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the obstacle avoidance method of adjusting the drone following control point in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems-on-chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An obstacle avoidance method for adjusting a following control point of an unmanned vehicle, the method comprising:

2. The method of claim 1, wherein adjusting a current following control point of the drone at the target following track point based on a distance between the obstacle and the following track and a distance between the drone and the following track, comprises:

determining the distance between the obstacle and the following track and the position relationship between the obstacle and the following track according to the distance between the obstacle and the following track;

determining the distance between the unmanned vehicle and the following track according to the distance between the unmanned vehicle and the following track;

determining an unmanned vehicle adjusting distance and an adjusting direction according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance;

and adjusting the current following control point of the unmanned aerial vehicle at the target following track point according to the adjustment distance and the adjustment direction of the unmanned aerial vehicle.

3. The method of claim 2, wherein the obstacle distance comprises an upper obstacle distance limit and a lower obstacle distance limit; the unmanned vehicle distance comprises an unmanned vehicle left boundary distance and an unmanned vehicle right boundary distance; the positional relationship between the obstacle and the following track includes the obstacle being located on the left side of the track, the obstacle being located on the right side of the track, and the obstacle being located on the track;

correspondingly, determining the adjustment distance and the adjustment direction of the unmanned vehicle according to the position relation between the obstacle and the following track, the obstacle distance and the unmanned vehicle distance comprises the following steps:

4. The method of claim 2, wherein adjusting the current following control point of the drone at the target following trajectory point according to the drone adjustment distance and adjustment direction, comprises:

determining a longitudinal adjustment distance of the unmanned vehicle in the longitudinal axis direction under a vehicle body coordinate system and a transverse adjustment distance in the transverse axis direction according to the unmanned vehicle adjustment distance, the curvature of the target following track point, the unmanned vehicle orientation angle and the track orientation angle based on the following formula; the vehicle body coordinate system determines the transverse axis direction according to the attitude angle information of the unmanned vehicle;

determining a longitudinal adjustment direction and a transverse adjustment direction according to the longitudinal adjustment distance and the transverse adjustment distance;

and adjusting the current following control point of the unmanned vehicle at the target following track point according to the longitudinal adjustment distance, the transverse adjustment distance, the longitudinal adjustment direction and the transverse adjustment direction.

5. The method of claim 4, wherein adjusting the current following control point of the drone at the target following trajectory point based on the longitudinal adjustment distance and the lateral adjustment distance, and the longitudinal adjustment direction and the lateral adjustment direction, comprises:

6. The method of claim 1, wherein determining predicted attitude angle information for the drone at each following track point based on the following track information and the attitude angle information comprises:

7. The method according to claim 1, wherein performing obstacle collision detection based on the following track information and predicted attitude angle information of the unmanned vehicle at each following track point, comprises:

8. An obstacle avoidance device for adjusting a following control point of an unmanned vehicle, the device comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the obstacle avoidance method of adjusting the unmanned vehicle following control point of any of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the obstacle avoidance method of adjusting a vehicle following control point of any one of claims 1 to 7 when executed.