CN115571164A - Obstacle avoidance method and system based on automatic driving - Google Patents
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- B60W30/095—Predicting travel path or likelihood of collision
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- B60W2552/00—Input parameters relating to infrastructure
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Abstract
The invention provides an obstacle avoidance method based on automatic driving, which comprises the following steps: acquiring driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane; recognizing the state of an obstacle according to driving environment data of a driving lane; the state of the obstacle comprises a static state, an obstacle avoidance planning path is established based on a Bezier curve for 3 times, and the obstacle avoidance planning path comprises a collision avoidance path curve; and controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve. The method plans the obstacle avoidance path of the static obstacle by adopting the Bezier curve, is simple and feasible, is easy for vehicle tracking, and has good driving comfort and safety. The obstacle avoidance route planning method is simple, the planning efficiency of the obstacle avoidance route is improved, the data processing time is reduced, and the response speed of the automatic driving vehicle to the static obstacle avoidance is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an obstacle avoidance method and system based on automatic driving.
Background
With the development of artificial intelligence technology and the continuous progress of the vehicle industry, the automatic driving technology of the vehicle is more mature. The automatic driving, also called unmanned driving, refers to a technology that a driver does not need to drive a vehicle, but a controller automatically and safely operates the vehicle through the cooperation of artificial intelligence, visual calculation, radar, a monitoring device, a global positioning system and the like so as to drive the vehicle to run on a road.
During automatic driving, the vehicle may encounter various static obstacles and dynamic obstacles, and the static obstacles may refer to obstacles that are always kept in a certain position, such as: stone pillars, houses, etc.; a dynamic obstacle may refer to an obstacle having a certain moving speed, for example: pedestrians, other vehicles in motion, and the like. The existing obstacle avoidance path planning scheme is too complex, and the driving comfort of an automatic driving vehicle is not considered when the obstacle is avoided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an obstacle avoidance method and system based on automatic driving, the obstacle avoidance path planning method is simple and feasible, the vehicle tracking is easy, and the driving comfort and safety are good according to the obstacle avoidance path.
In a first aspect, the invention provides an obstacle avoidance method based on automatic driving, which includes the following steps:
acquiring driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane;
recognizing the state of the obstacle according to the driving environment data of the driving lane;
the state of the obstacle comprises a static state, an obstacle avoidance planning path is established based on a Bezier curve for 3 times, and the obstacle avoidance planning path comprises a collision avoidance path curve;
and controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
Optionally, the specific method for establishing the obstacle avoidance path curve based on the 3-time bezier curve includes: establishing a collision avoidance path curve based on the Bezier curve for 3 times;
the specific method for respectively establishing the collision avoidance path curves based on the 3-time Bezier curve comprises the following steps:
establishing a parameter equation of a Bezier curve for 3 times of the collision avoidance path;
solving the parameter equation of the Bezier curve for 3 times to obtain the coordinates of the first three control points, setting the fourth control point on the road central line, and determining the coordinate of the fourth control point;
and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
Optionally, after the step of respectively establishing collision avoidance path curves based on 3 bezier curves, establishing a safe distance model is further included.
Optionally, the formula for establishing the safe distance model is as follows:
d＝vt 1 +d 0
wherein d is a reserved safety distance d 0 The minimum safe distance of the obstacle in the time domain for the target vehicle to stop emergently, v is the vehicle speed, t 1 Is the barrier risk factor, t 1 ∈[0,1]。
Optionally, the obstacle avoidance planning path further includes a lane change path curve, and the determination method of the lane change path curve is: and rotating the collision avoidance path curve by 180 degrees by taking the fourth control point as a central point to obtain a lane change path curve.
In a second aspect, the present invention provides an obstacle avoidance system based on automatic driving, including: the system comprises a sensing module, an identification module, a path planning module and a driving control module;
the sensing module is used for acquiring driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane;
the recognition module is used for recognizing the state of the obstacle according to the driving environment data of the driving lane;
the path planning module is used for establishing an obstacle avoidance planning path based on 3 Bezier curves when the obstacle is in a static state, and the obstacle avoidance planning path comprises an obstacle avoidance path curve;
and the driving control module is used for controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
Optionally, the path planning module includes a collision avoidance path planning unit, and the obstacle avoidance path planning unit is configured to establish a parameter equation of a 3-time bezier curve of the collision avoidance path;
solving the parameter equation of the Bezier curve for 3 times to obtain the coordinates of the first three control points, setting the fourth control point on the road central line, and determining the coordinate of the fourth control point;
and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
Optionally, the path planning module further comprises a safe distance model establishing unit, and the safe distance model establishing unit is used for establishing a safe distance model for emergency stop under the condition that the slip of the vehicle tire and the side wind are considered during obstacle avoidance.
Optionally, the path planning module further includes a lane change path planning unit, and the lane change path planning unit is configured to rotate the collision avoidance path curve by 180 degrees with a fourth control point as a central point to obtain a lane change path curve.
The invention has the beneficial effects that:
the invention discloses an obstacle avoidance method and system based on automatic driving, wherein the method for planning an obstacle avoidance route is simple and feasible, the vehicle tracking is easy, and the driving comfort and safety of the vehicle are very good. The obstacle avoidance route planning method is simple, the planning efficiency of the obstacle avoidance route is improved, the data processing time is reduced, and the response speed of the automatic driving vehicle to the static obstacle avoidance is improved.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 shows a flowchart of an obstacle avoidance method based on automatic driving according to a first embodiment of the present invention;
fig. 2 shows a schematic structural diagram of an obstacle avoidance system based on automatic driving according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 1, a flowchart of an obstacle avoidance method based on automatic driving according to a first embodiment of the present invention is shown, where the method includes the following steps:
s1, acquiring driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane;
s2, identifying the state of the barrier according to the driving environment data of the driving lane;
s3, establishing an obstacle avoidance planning path based on the Bezier curve for 3 times when the state of the obstacle comprises a static state, wherein the obstacle avoidance planning path comprises an obstacle avoidance path curve;
and S4, controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
The driving environment data of a driving lane of the target vehicle and the driving environment data of an adjacent lane are obtained through the sensing module, the sensed driving environment data of the driving lane and the sensed driving environment of the adjacent lane are analyzed, and whether the state of the barrier is a dynamic barrier or a static barrier is identified. When the obstacle state is a static state, the obstacle avoidance planning path is established based on 3 Bezier curves, the shape of the Bezier curves is changed by selecting control points, the track curvature is continuous and can be guided, the tracking is easy, the automobile dynamics constraint is met, and the track can be generated only by a small number of control points. And controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planned path.
In order to simplify the calculated amount of the obstacle avoidance planning path, 2 sections of 3 Bezier curves are used for completing obstacle avoidance path planning, and the obstacle avoidance planning path comprises 1 section of collision avoidance path curve and 1 section of lane change path curve. The specific method for establishing the obstacle avoidance path curve based on the Bezier curve for 3 times comprises the following steps: and establishing a collision avoidance path curve based on the Bezier curve for 3 times.
The method for establishing the collision avoidance path curve based on the Bezier curve for 3 times comprises the following steps:
establishing a parameter equation of a Bezier curve for 3 times of the collision avoidance path;
solving the parameter equation of the Bezier curve for 3 times to obtain the coordinates of the first three control points, setting the fourth control point on the road central line, and determining the coordinate of the fourth control point;
and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
Specifically, the formula of the parametric equation of the 3-degree bezier curve is:
P(t)＝P 0 (1-t) 3 +3P 1 (1-t) 2 t+3P 2 (1-t)t 2 +P 3 t 3 (1)
in formula (1), P i (x i ，y i ) As coordinates of control points, x i And y i Respectively, represent the abscissa and ordinate of the control point. The obstacle avoidance path comprises 8 control points, and the collision avoidance path curve has 4 control points (P) 0 、P 1 、P 2 、P 3 ) The lane change path curve also has 4 control points (P) 3 、P 4 、P 5 、P 6 ) In order to make the curvature of the obstacle avoidance path continuous, the collision avoidance path and the lane change path share one point P 3 。
The parameter equation of the Bezier curve of 3 times of the collision avoidance path has the following formula:
the first and second derivatives are respectively obtained from equation (2), which is as follows:
the curvature of any point on the bezier curve is:
the obstacle is in a static state, a target vehicle runs at a constant speed at an initial time, the longitudinal speed is v0, and the transverse speed and the acceleration at the initial time are zero, so that the following relations exist in the initial state:
from this, the first 3 control points P can be derived 0 ＝(0，0)，P 1 ＝(v/3，0)，P 2 = 2v/3,0, the first three points are on a straight line. Then, a control point P is obtained 3 To simplify the algorithm, a control point P is set 3 On the road center line, then determine P 3 The point coordinate is (x) 3 L/2), L is the width of a single lane. According to P 0 、P 1 、P 2 And P 3 And obtaining an obstacle avoidance path curve by coordinates of the four points.
In order to improve the safety of collision avoidance, a safe distance model of emergency stop is established under the condition that the slip of vehicle tires and the side wind are considered during obstacle avoidance. And a step of establishing a safe distance model is also set after the step of respectively establishing collision avoidance path curves based on the Bezier curve for 3 times. The formula of the safe distance model is:
d＝vt 1 +d 0 (7)
wherein d is a reserved safety distance 0 Is the minimum safe distance of the obstacle in the time domain of the emergency stop of the target vehicle, v is the vehicle speed, t 1 Is the barrier risk factor, t 1 ∈[0,1]。
In order to realize that the obstacle avoidance route is easy to track the vehicle and the driving has good safety, let x 3 = D + a-D, and is set as follows:
D+a-d 0 ＞x 3 ＞x 2 (8)
in formula (8), D is the initial distance between target vehicle and the barrier, and a is vehicle length, for guaranteeing the sideslip restraint, sets up as follows:
a y ＝Kv 2 ≤ug (9)
in the formula (9), a y Is the lateral acceleration, v is the vehicle speed, u is the road frictionThe coefficient, g, is the acceleration of gravity.
The method for determining the lane change path curve comprises the following steps: and rotating the collision avoidance path curve by 180 degrees by taking the fourth control point as a central point to obtain a lane change path curve. Because the lane-changing path curve and the collision-avoiding path curve share one P 3 Point, P 0 、P 1 And P 2 In the same line, P 4 、P 5 And P 6 On the same straight line, the yaw angle of the vehicle is ensured to be continuously and continuously not suddenly changed, and the control point P can be obtained 4 ＝(2x 3 ,3.5)，P 5 ＝(2x 3 +v/3,3.5)，P 6 ＝(2x 3 +2v/3, 3.5). Connection P 0 、P 1 、P 2 、P 3 、P 4 、P 5 And P 6 And obtaining the collision avoidance planning path.
According to the obstacle avoidance method based on automatic driving, the obstacle avoidance path of the static obstacle is planned by adopting the Bezier curve, the method for planning the obstacle avoidance route is simple and feasible, the vehicle tracking is easy, and the driving comfort and the safety of the vehicle are very good. The obstacle avoidance route planning method is simple, the planning efficiency of the obstacle avoidance route is improved, the data processing time is reduced, and the response speed of the automatic driving vehicle to the static obstacle avoidance is improved.
In the first embodiment, an obstacle avoidance method based on automatic driving is provided, and correspondingly, the application also provides an obstacle avoidance system based on automatic driving. Please refer to fig. 2, which is a block diagram of an obstacle avoidance system based on automatic driving according to a second embodiment of the present invention. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
As shown in fig. 2, a schematic structural diagram of an obstacle avoidance system based on automatic driving according to a second embodiment of the present invention is shown, and the system includes: the system comprises a sensing module, an identification module, a path planning module and a driving control module; the sensing module is used for acquiring driving environment data of a target vehicle driving lane and driving environment data of an adjacent lane; the recognition module is used for recognizing the state of the barrier according to the driving environment data of the driving lane; the path planning module is used for establishing an obstacle avoidance planning path based on 3 Bezier curves when the obstacle is in a static state, wherein the obstacle avoidance planning path comprises an obstacle avoidance path curve; and the driving control module is used for controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
The path planning module comprises a collision avoidance path planning unit, and the obstacle avoidance path planning unit is used for establishing a parameter equation of a Bezier curve of a collision avoidance path for 3 times; solving according to a parameter equation of the Bezier curve for 3 times to obtain coordinates of the first three control points, setting a fourth control point on a road center line, and determining the coordinate of the fourth control point; and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
The path planning module further comprises a safe distance model establishing unit, and the safe distance model establishing unit is used for establishing a safe distance model for emergency stop under the condition that the slippage of the vehicle tire and the lateral wind are considered during obstacle avoidance.
The path planning module further comprises a lane changing path planning unit, and the lane changing path planning unit is used for rotating the collision avoidance path curve by 180 degrees by taking the fourth control point as a central point to obtain a lane changing path curve.
According to the obstacle avoidance system based on automatic driving, the obstacle avoidance path of the static obstacle is planned by adopting the Bezier curve, the method for planning the obstacle avoidance route is simple and feasible, the vehicle tracking is easy, and the driving comfort and the safety of the vehicle are very good. The obstacle avoidance route planning method is simple, the planning efficiency of the obstacle avoidance route is improved, the data processing time is reduced, and the response speed of the automatic driving vehicle to the static obstacle avoidance is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. An obstacle avoidance method based on automatic driving is characterized by comprising the following steps:
acquiring driving environment data of a target vehicle driving lane and driving environment data of an adjacent lane;
recognizing the state of an obstacle according to driving environment data of a driving lane;
the state of the obstacle comprises a static state, an obstacle avoidance planning path is established based on a Bezier curve for 3 times, and the obstacle avoidance planning path comprises a collision avoidance path curve;
and controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
2. An obstacle avoidance method based on automatic driving as claimed in claim 1, wherein the specific method for establishing the obstacle avoidance path curve based on the bezier curve for 3 times includes: establishing a collision avoidance path curve based on the Bezier curve for 3 times;
the specific method for respectively establishing the collision avoidance path curves based on the 3-time Bezier curve comprises the following steps:
establishing a parameter equation of a Bezier curve for 3 times of the collision avoidance path;
solving the parameter equation of the Bezier curve for 3 times to obtain the coordinates of the first three control points, setting the fourth control point on the road central line, and determining the coordinate of the fourth control point;
and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
3. An obstacle avoidance method based on automatic driving as claimed in claim 2, wherein after the step of respectively establishing collision avoidance path curves based on 3 bezier curves, a safe distance model is further established.
4. An obstacle avoidance method based on automatic driving as claimed in claim 3, wherein the formula for establishing the safe distance model is:
d＝vt 1 +d 0
wherein d is a reserved safety distance d 0 Is the minimum safe distance of the obstacle in the time domain of the emergency stop of the target vehicle, v is the vehicle speed, t 1 Is the barrier risk factor, t 1 ∈[0,1]。
5. An obstacle avoidance method based on automatic driving as claimed in claim 4, wherein the obstacle avoidance planning path further includes a lane change path curve, and the determination method of the lane change path curve is: and rotating the collision avoidance path curve by 180 degrees by taking the fourth control point as a central point to obtain a lane change path curve.
6. An obstacle avoidance system based on automatic driving, characterized by comprising: the system comprises a sensing module, an identification module, a path planning module and a driving control module;
the sensing module is used for acquiring driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane;
the identification module is used for identifying the state of the obstacle according to the driving environment data of the driving lane;
the path planning module is used for establishing an obstacle avoidance planning path based on 3 Bezier curves when an obstacle is in a static state, and the obstacle avoidance planning path comprises an obstacle avoidance path curve;
and the driving control module is used for controlling the target vehicle to carry out obstacle avoidance driving according to the obstacle avoidance planning path curve.
7. An obstacle avoidance system based on autonomous driving according to claim 6, characterized in that the path planning module comprises a collision avoidance path planning unit for establishing a parametric equation of a Bezier curve for 3 times of a collision avoidance path;
solving according to a parameter equation of the Bezier curve for 3 times to obtain coordinates of the first three control points, setting a fourth control point on a road center line, and determining the coordinate of the fourth control point;
and obtaining an obstacle avoidance path curve according to the coordinates of the four control points.
8. An autonomous-driving-based obstacle avoidance system according to claim 7, wherein the path planning module further comprises a safe-distance model building unit for building a safe-distance model for emergency stop taking into account slip of vehicle tires and side wind in obstacle avoidance.
9. An obstacle avoidance system based on automatic driving as claimed in claim 8, wherein the path planning module further comprises a lane-changing path planning unit, and the lane-changing path planning unit is configured to rotate the collision avoidance path curve by 180 ° with a fourth control point as a central point to obtain a lane-changing path curve.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540617A (en) * | 2023-07-06 | 2023-08-04 | 中国科学院空天信息创新研究院 | Unmanned agricultural machinery cooperative work control method introducing weight variable control |
| CN117184060A (en) * | 2023-11-08 | 2023-12-08 | 新石器慧通（北京）科技有限公司 | Track correction method and device, unmanned vehicle and storage medium |
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| CN118760198A (en) * | 2024-09-09 | 2024-10-11 | 江苏大块头智驾科技有限公司 | Bezier curve-based obstacle detouring path planning method for heavy truck vehicle for port |
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