CN109582021B - Intelligent vehicle obstacle avoidance method and device and computer readable storage medium - Google Patents
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Abstract
The invention provides an intelligent vehicle obstacle avoidance method, which comprises the following steps: acquiring the longitudinal distance between the vehicle and a front obstacle vehicle; when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value, setting an emergency brake obstacle avoidance driving mode; when the longitudinal distance is greater than a preset emergency brake obstacle avoidance threshold and not greater than a preset lane changing obstacle avoidance threshold, detecting whether an obstacle vehicle exists in a side preset range of the vehicle; when the situation that the obstacle vehicle exists in the preset range on the side of the vehicle is detected, setting the following cruising driving mode; when the situation that no obstacle vehicle exists in the side preset range of the vehicle is detected, setting a lane changing and obstacle avoiding driving mode; when the longitudinal distance is greater than a preset lane changing obstacle avoiding threshold and not greater than a preset following cruise threshold, setting a following cruise driving mode; and when the longitudinal distance is greater than a preset following cruise threshold value, setting the tracking driving mode. The method can ensure the obstacle avoidance performance in a complex traffic road scene and simultaneously meet the requirements of comfort and high driving efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to an intelligent vehicle obstacle avoidance method, an intelligent vehicle obstacle avoidance device and a computer readable storage medium.
Background
The intelligent vehicle obstacle avoidance system is an important system for safety control of the intelligent vehicle. When the vehicle encounters an obstacle, the automatic driving vehicle can acquire the information of the obstacle and the dynamic state quantity of the vehicle according to the traffic environment sensor and control the intelligent vehicle chassis system to execute corresponding actions, so that the motion state of the vehicle is controlled, and obstacle avoidance actions are realized. The automobile can avoid obstacles by the following three methods: emergency braking obstacle avoidance, automatic vehicle following obstacle avoidance, lane changing obstacle avoidance. The three methods have characteristics and are respectively suitable for different traffic conditions. The emergency braking obstacle avoidance adopts an active braking mode, when an obstacle is encountered, a braking system is controlled to execute high-strength braking to avoid collision with the obstacle, and the obstacle avoidance strategy is an effective obstacle avoidance method for the emergent obstacle, but the emergency braking brings strong impact, so that the riding comfort of passengers is reduced; the method comprises the steps that forward radar information is collected through automatic vehicle following and obstacle avoidance, an expected vehicle following distance is calculated according to the relative speed and the relative distance of a vehicle and a front vehicle, a vehicle driving system and a braking system are controlled to move longitudinally, and normal driving of the vehicle is guaranteed on the premise of obstacle avoidance; the lane changing and obstacle avoiding strategy judges whether the side lane meets the lane changing condition according to the relative position and the relative speed between the front obstacles, controls a vehicle steering system to change the lane and avoid the obstacle, and improves the running efficiency of the vehicle. However, in the prior art, only a single obstacle avoidance strategy is used for obstacle avoidance control of the vehicle, but it is difficult to ensure obstacle avoidance performance in a complex traffic road scene: obstacle avoidance, comfort and high driving efficiency.
Disclosure of Invention
The present invention is directed to solve the above problems in the prior art, and provides an intelligent vehicle obstacle avoidance method, an intelligent vehicle obstacle avoidance apparatus, and a computer-readable storage medium for solving the disadvantages in the prior art.
Specifically, the embodiment of the invention provides an intelligent vehicle obstacle avoidance method, wherein an emergency brake obstacle avoidance threshold, a lane changing obstacle avoidance threshold and a vehicle following cruising threshold are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold, the lane changing obstacle avoidance threshold and the vehicle following cruising threshold are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; the intelligent vehicle obstacle avoidance method comprises the following steps:
acquiring the longitudinal distance between the vehicle and a front obstacle vehicle;
when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value, setting the vehicle as an emergency brake obstacle avoidance driving mode;
when the longitudinal distance is greater than a preset emergency brake obstacle avoidance threshold and not greater than a preset lane changing obstacle avoidance threshold, detecting whether an obstacle vehicle exists in a side preset range of the vehicle; when the situation that the obstacle vehicle exists in the preset range on the side of the vehicle is detected, setting the vehicle as a following cruising driving mode; when the situation that no obstacle exists in the side preset range of the vehicle is detected, setting the vehicle as a lane-changing obstacle-avoiding driving mode;
when the longitudinal distance is greater than a preset lane changing obstacle avoiding threshold and not greater than a preset following cruise threshold, setting the vehicle as a following cruise driving mode;
and when the longitudinal distance is greater than a preset following cruise threshold value, setting the vehicle in a tracking driving mode.
As a further improvement of the above technical solution, the method further comprises:
detecting whether an obstacle vehicle exists in a preset range in front of the vehicle;
when no obstacle vehicle exists in a preset range in front of the vehicle, setting the vehicle in a tracking driving mode; when the obstacle vehicle exists in the front preset range of the vehicle, the longitudinal distance between the vehicle and the front obstacle vehicle is acquired.
As a further improvement of the above technical solution, the method further comprises:
collecting and recording the driving behavior of a driver on a driving route, and establishing an intelligent vehicle tracking driving database;
and tracking the transverse running of the vehicle based on a pre-aiming driver model, performing longitudinal dynamics control based on a closed-loop speed controller of the deviation, and calculating an emergency brake obstacle avoidance threshold, a lane change obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
As a further improvement of the above technical scheme, the intelligent vehicle is provided with a forward radar detector and a lateral radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a front preset range or not and acquires the longitudinal distance between the intelligent vehicle and the front obstacle vehicle through a front radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a lateral preset range through a lateral radar detector.
As a further improvement of the above technical solution, the lateral radar detector is disposed on the left side of the vehicle.
The embodiment of the invention provides an intelligent vehicle obstacle avoidance device, wherein an emergency brake obstacle avoidance threshold value, a lane changing obstacle avoidance threshold value and a vehicle following cruising threshold value are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold value, the lane changing obstacle avoidance threshold value and the vehicle following cruising threshold value are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; obstacle device is kept away to intelligence car includes:
the vehicle distance measuring module is used for acquiring the longitudinal distance between the vehicle and a front obstacle vehicle;
the detection and judgment module is used for detecting whether an obstacle vehicle exists in a preset range on the side of the vehicle;
the obstacle avoidance decision module is used for setting the vehicle as an emergency brake obstacle avoidance driving mode when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value;
the obstacle avoidance decision module is further used for setting the vehicle as a following cruise driving mode when the longitudinal distance is greater than a preset emergency brake obstacle avoidance threshold and is not greater than a preset lane change obstacle avoidance threshold and the detection judgment module detects that an obstacle exists in a side preset range of the vehicle; when the detection and judgment module detects that no obstacle vehicle exists in the side preset range of the vehicle, setting the vehicle to be in a lane-changing obstacle-avoiding driving mode;
the obstacle avoidance decision module is further used for setting the vehicle as a following cruise driving mode when the longitudinal distance is greater than a preset lane changing obstacle avoidance threshold and not greater than a preset following cruise threshold;
and the obstacle avoidance decision module is also used for setting the vehicle to be in a tracking driving mode when the longitudinal distance is greater than a preset vehicle following cruise threshold value.
As a further improvement of the above technical solution, the detection and judgment module is further configured to detect whether an obstacle vehicle exists within a preset range in front of the vehicle; the obstacle avoidance decision module is further used for setting the vehicle in a tracking driving mode when the detection and judgment module detects that no obstacle exists in the preset range in front of the vehicle.
As a further improvement of the above technical solution, the method further comprises: the data acquisition module is used for acquiring and recording the driving behavior of a driver on a driving route and establishing an intelligent vehicle tracking driving database; and the threshold calculation module is used for tracking the transverse running of the vehicle based on the preview driver model, performing longitudinal dynamics control based on a closed-loop speed controller of the deviation, and calculating an emergency brake obstacle avoidance threshold, a lane changing obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
As a further improvement of the technical scheme, the detection judgment module and the vehicle distance measurement module adopt radar detectors for detection and sensing.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed, the method for avoiding an obstacle of an intelligent vehicle is implemented.
Compared with the prior art, the technical scheme provided by the invention at least has the following beneficial effects: the obstacle avoidance performance can be guaranteed in a complex traffic road scene, and the comfort and the driving efficiency are simultaneously met.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of an intelligent vehicle obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an intelligent vehicle obstacle avoidance device according to an embodiment of the present invention.
Description of the main element symbols:
100-vehicle distance measuring module; 200-a detection judgment module; 300-obstacle avoidance decision module; 400-a data acquisition module; 500-threshold calculation module.
Detailed Description
Various embodiments of the present disclosure will be described more fully hereinafter. The present disclosure is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the scope of the disclosure to the specific embodiments disclosed herein, but rather, the disclosure is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the disclosure.
Hereinafter, the term "includes" or "may include" used in various embodiments of the present disclosure indicates the presence of the disclosed functions, operations, or elements, and does not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the present disclosure, the terms "comprising," "having," and their derivatives, are intended to be only representative of the particular features, integers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to one or more other features, integers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the disclosure, the expression "at least one of a or/and B" includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.
Expressions (such as "first", "second", and the like) used in various embodiments of the present disclosure may modify various constituent elements in the various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present disclosure.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The term "user" used in various embodiments of the present disclosure may indicate a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).
The terminology used in the various embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the present disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present disclosure belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined in various embodiments of the present disclosure.
Example 1
As shown in fig. 1, an embodiment of the present invention provides an intelligent vehicle obstacle avoidance method, where an emergency brake obstacle avoidance threshold, a lane change obstacle avoidance threshold, and a vehicle following cruise threshold are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold, the lane change obstacle avoidance threshold, and the vehicle following cruise threshold are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; the intelligent vehicle obstacle avoidance method comprises the following steps:
s101, acquiring the longitudinal distance between the vehicle and the front obstacle vehicle.
The longitudinal distance between the vehicle and the front obstacle vehicle can be obtained by arranging a front radar detector in front of the intelligent vehicle. And a lateral radar detector arranged on the side of the intelligent vehicle can be used for detecting whether an obstacle vehicle exists in the lateral direction of the vehicle.
And S102, when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value, setting the vehicle as an emergency brake obstacle avoidance driving mode.
When the current radar detects a vehicle with a front obstacle and the distance between the two vehicles is less than or equal to the emergency brake obstacle avoidance threshold value or an obstacle suddenly appears in the range of less than or equal to the emergency brake obstacle avoidance threshold value, an emergency brake obstacle avoidance driving mode is adopted, and a braking system executes forced emergency brake to emergently avoid the obstacle.
S103, when the longitudinal distance is larger than a preset emergency brake obstacle avoidance threshold and not larger than a preset lane changing obstacle avoidance threshold, detecting whether an obstacle vehicle exists in a side preset range of the vehicle; when the situation that the obstacle vehicle exists in the preset range on the side of the vehicle is detected, setting the vehicle as a following cruising driving mode; and when the situation that no obstacle exists in the side preset range of the vehicle is detected, setting the vehicle as a lane-changing obstacle-avoiding driving mode.
The current radar detector detects a preceding vehicle obstacle vehicle, the distance between the two vehicles is less than or equal to the lane changing obstacle avoiding threshold value, the distance between the two vehicles is greater than the emergency brake obstacle avoiding threshold value, the lateral radar detector detects that the obstacle vehicle exists in a lateral lane, a following cruise driving mode is adopted, tracking data in a tracking driver database of the intelligent vehicle is tracked by the corner of a transverse control steering wheel, the longitudinal dynamics control driving system and the braking system are adaptive to follow the preceding vehicle, the expected following vehicle distance is guaranteed to be followed by the relative distance, and the relative speed tends to zero.
The method comprises the steps that a front vehicle obstacle vehicle is detected by a current direction radar detector, the distance between the two vehicles is smaller than or equal to a lane changing obstacle avoiding threshold value, the distance between the two vehicles is larger than an emergency brake obstacle avoiding threshold value, and the lateral direction radar detector does not detect that the obstacle vehicle exists in a lateral lane, a lane changing obstacle avoiding driving mode is adopted, a path planning module locally plans a lane changing track according to track information of an intelligent vehicle tracking driver database, a transverse control steering wheel turns to track an expected path planned again, and a longitudinal dynamics control module controls a driving system and a braking system to track corresponding planned longitudinal speeds.
And S104, when the longitudinal distance is larger than a preset lane changing obstacle avoiding threshold and not larger than a preset following cruise threshold, setting the vehicle as a following cruise driving mode.
When the front radar detector detects a front obstacle vehicle, the distance between the two vehicles is smaller than or equal to a following cruising threshold value, and the running speed of the obstacle vehicle is larger than a lane changing obstacle avoiding threshold value, a following cruising driving mode is adopted, a steering wheel is controlled transversely to track the track data in an intelligent vehicle tracking driver database, a longitudinal dynamics control driving system and a braking system are controlled to adaptively follow the front vehicle, the expected following distance is ensured to be followed by the relative distance, and the relative speed tends to zero.
And S105, when the longitudinal distance is larger than a preset following cruise threshold value, setting the vehicle in a tracking driving mode.
When the front radar detector detects a front obstacle vehicle, but the distance between the two vehicles is greater than a following vehicle cruising threshold value, a tracking driving mode is adopted, the steering wheel is controlled transversely to track the tracking data in the tracking driver database of the intelligent vehicle, and the longitudinal dynamics control drive system and the brake system track the speed data in the driver database. Wherein, S102 to S105 do not have the sequence.
The intelligent vehicle obstacle avoidance method further comprises the following steps:
detecting whether an obstacle vehicle exists in a preset range in front of the vehicle;
when no obstacle vehicle exists in a preset range in front of the vehicle, setting the vehicle in a tracking driving mode; when the obstacle vehicle exists in the front preset range of the vehicle, the longitudinal distance between the vehicle and the front obstacle vehicle is acquired.
When the front radar detector does not detect a front obstacle, a tracking driving mode is adopted, the steering wheel turning angle is controlled transversely to track the tracking data in the intelligent vehicle tracking driver database, and the longitudinal dynamics control driving system and the braking system track the speed data in the driver database.
The intelligent vehicle obstacle avoidance method further comprises the following steps:
the method comprises the following steps of collecting and recording the driving behavior of a driver on a driving route, wherein the driving behavior comprises the following steps: the longitudinal and transverse tracks and the running speed of the vehicle; establishing an intelligent vehicle tracking driving database; and tracking the transverse running of the vehicle based on a pre-aiming driver model, performing longitudinal dynamics control based on a closed-loop speed controller of the deviation, and calculating an emergency brake obstacle avoidance threshold, a lane change obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
The intelligent vehicle is provided with a forward radar detector and a lateral radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a front preset range or not and acquires the longitudinal distance between the intelligent vehicle and the front obstacle vehicle through a front radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a lateral preset range through a lateral radar detector. Because the overtaking of the vehicles in China is carried out on the left side. Therefore, the lateral radar detector is disposed on the left side of the vehicle.
Example 2
As shown in fig. 2, an embodiment of the present invention provides an intelligent vehicle obstacle avoidance device, where an emergency brake obstacle avoidance threshold, a lane changing obstacle avoidance threshold, and a following vehicle cruising threshold are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold, the lane changing obstacle avoidance threshold, and the following vehicle cruising threshold are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; obstacle device is kept away to intelligence car includes:
the vehicle distance measuring module 100 is used for acquiring the longitudinal distance between the vehicle and the front obstacle vehicle by the vehicle distance measuring module 100;
the detection and judgment module 200 is used for detecting whether an obstacle vehicle exists in a preset range on the side of the vehicle or not by the detection and judgment module 200;
the obstacle avoidance decision module 300, the obstacle avoidance decision module 300 is configured to set the vehicle as an emergency brake obstacle avoidance driving mode when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold;
the obstacle avoidance decision module 300 is further configured to set the vehicle as a following cruise driving mode when the detection and judgment module 200 detects that there is an obstacle in the preset range at the side of the vehicle when the longitudinal distance is greater than the preset emergency brake obstacle avoidance threshold and is not greater than the preset lane change obstacle avoidance threshold; when the detection and judgment module 200 detects that there is no obstacle vehicle in the preset range at the side of the vehicle, the vehicle is set to the lane-changing obstacle-avoiding driving mode.
The obstacle avoidance decision module 300 is further configured to set the vehicle as a following cruise driving mode when the longitudinal distance is greater than a preset lane change obstacle avoidance threshold and not greater than a preset following cruise threshold.
The obstacle avoidance decision module 300 is further configured to set the vehicle to a tracking driving mode when the longitudinal distance is greater than a preset following cruise threshold.
The detection and judgment module 200 is further configured to detect whether an obstacle vehicle exists within a preset range in front of the vehicle; the obstacle avoidance decision module 300 is further configured to set the vehicle as a tracking driving mode when the detection and determination module 200 detects that there is no obstacle vehicle in the preset range in front of the vehicle.
As a further improvement of the above technical solution, the method further comprises: the data acquisition module 400 is used for acquiring and recording the driving behavior of a driver on a driving route and establishing an intelligent vehicle tracking driving database; the threshold calculation module 500 is used for tracking the transverse running of the vehicle based on the preview driver model, performing longitudinal dynamics control based on a closed-loop speed controller of deviation, and calculating an emergency brake obstacle avoidance threshold, a lane change obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
The detection judgment module and the vehicle distance measurement module adopt radar detectors for detection and sensing.
The embodiment of the invention provides a computer-readable storage medium, which stores a computer program, and implements the intelligent vehicle obstacle avoidance method in embodiment 1 when the computer program is executed.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above-mentioned invention numbers are merely for description and do not represent the merits of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present invention, however, the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. An intelligent vehicle obstacle avoidance method is characterized in that an emergency brake obstacle avoidance threshold, a lane changing obstacle avoidance threshold and a following vehicle cruising threshold are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold, the lane changing obstacle avoidance threshold and the following vehicle cruising threshold are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; the intelligent vehicle obstacle avoidance method comprises the following steps:
acquiring the longitudinal distance between the vehicle and a front obstacle vehicle;
when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value, setting the vehicle as an emergency brake obstacle avoidance driving mode;
when the longitudinal distance is greater than a preset emergency brake obstacle avoidance threshold and not greater than a preset lane changing obstacle avoidance threshold, detecting whether an obstacle vehicle exists in a side preset range of the vehicle; when the situation that the obstacle vehicle exists in the preset range on the side of the vehicle is detected, setting the vehicle as a following cruising driving mode; when the situation that no obstacle exists in the side preset range of the vehicle is detected, setting the vehicle as a lane-changing obstacle-avoiding driving mode;
when the longitudinal distance is greater than a preset lane changing obstacle avoiding threshold and not greater than a preset following cruise threshold, setting the vehicle as a following cruise driving mode;
and when the longitudinal distance is greater than a preset following cruise threshold value, setting the vehicle in a tracking driving mode.
2. The intelligent vehicle obstacle avoidance method according to claim 1, further comprising:
detecting whether an obstacle vehicle exists in a preset range in front of the vehicle;
when no obstacle vehicle exists in a preset range in front of the vehicle, setting the vehicle in a tracking driving mode; when the obstacle vehicle exists in the front preset range of the vehicle, the longitudinal distance between the vehicle and the front obstacle vehicle is acquired.
3. The intelligent vehicle obstacle avoidance method according to claim 1, further comprising:
collecting and recording the driving behavior of a driver on a driving route, and establishing an intelligent vehicle tracking driving database;
and tracking the transverse running of the vehicle based on a pre-aiming driver model, performing longitudinal dynamics control based on a closed-loop speed controller of the deviation, and calculating an emergency brake obstacle avoidance threshold, a lane change obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
4. The intelligent vehicle obstacle avoidance method according to claim 1, wherein the intelligent vehicle is provided with a forward radar detector and a lateral radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a front preset range or not and acquires the longitudinal distance between the intelligent vehicle and the front obstacle vehicle through a front radar detector; the intelligent vehicle acquires whether an obstacle vehicle exists in a lateral preset range through a lateral radar detector.
5. The intelligent vehicle obstacle avoidance method according to claim 4, wherein the lateral radar detector is arranged on the left side of the vehicle.
6. An intelligent vehicle obstacle avoidance device is characterized in that an emergency brake obstacle avoidance threshold value, a lane changing obstacle avoidance threshold value and a following vehicle cruising threshold value are preset in an intelligent vehicle, and the emergency brake obstacle avoidance threshold value, the lane changing obstacle avoidance threshold value and the following vehicle cruising threshold value are sequentially increased; the intelligent vehicle has a tracking driving mode, an emergency braking obstacle avoidance driving mode, a following cruising driving mode and a lane changing obstacle avoidance driving mode; obstacle device is kept away to intelligence car includes:
the vehicle distance measuring module is used for acquiring the longitudinal distance between the vehicle and a front obstacle vehicle;
the detection and judgment module is used for detecting whether an obstacle vehicle exists in a preset range on the side of the vehicle;
the obstacle avoidance decision module is used for setting the vehicle as an emergency brake obstacle avoidance driving mode when the longitudinal distance is not greater than a preset emergency brake obstacle avoidance threshold value;
the obstacle avoidance decision module is further used for setting the vehicle as a following cruise driving mode when the longitudinal distance is greater than a preset emergency brake obstacle avoidance threshold and is not greater than a preset lane change obstacle avoidance threshold and the detection judgment module detects that an obstacle exists in a side preset range of the vehicle; when the detection and judgment module detects that no obstacle vehicle exists in the side preset range of the vehicle, setting the vehicle to be in a lane-changing obstacle-avoiding driving mode;
the obstacle avoidance decision module is further used for setting the vehicle as a following cruise driving mode when the longitudinal distance is greater than a preset lane changing obstacle avoidance threshold and not greater than a preset following cruise threshold;
and the obstacle avoidance decision module is also used for setting the vehicle to be in a tracking driving mode when the longitudinal distance is greater than a preset vehicle following cruise threshold value.
7. The intelligent vehicle obstacle avoidance device of claim 6, wherein the detection and judgment module is further configured to detect whether an obstacle vehicle exists within a preset range in front of the vehicle; the obstacle avoidance decision module is further used for setting the vehicle in a tracking driving mode when the detection and judgment module detects that no obstacle exists in the preset range in front of the vehicle.
8. The intelligent vehicle obstacle avoidance device of claim 6, further comprising: the data acquisition module is used for acquiring and recording the driving behavior of a driver on a driving route and establishing an intelligent vehicle tracking driving database; and the threshold calculation module is used for tracking the transverse running of the vehicle based on the preview driver model, performing longitudinal dynamics control based on a closed-loop speed controller of the deviation, and calculating an emergency brake obstacle avoidance threshold, a lane changing obstacle avoidance threshold and a following cruise threshold of the intelligent vehicle.
9. The intelligent vehicle obstacle avoidance device of claim 6, wherein the detection and judgment module and the vehicle distance measurement module are both detected and sensed by radar detectors.
10. A computer-readable storage medium, characterized in that it stores a computer program, which when executed implements the intelligent vehicle obstacle avoidance method of any one of claims 1 to 5.
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| CN110579765B (en) * | 2019-09-19 | 2021-08-03 | 中国第一汽车股份有限公司 | Obstacle information determination method, obstacle information determination device, vehicle, and storage medium |
| CN112644481B (en) * | 2019-10-10 | 2023-05-30 | 北京京东乾石科技有限公司 | Emergency danger avoiding method and device for automatic driving |
| CN110989622B (en) * | 2019-12-25 | 2022-06-03 | 腾讯科技（深圳）有限公司 | Automatic driving control method, device, storage medium and computer equipment |
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