CN112824836A - Mobile tool collision detection method and related equipment - Google Patents
Mobile tool collision detection method and related equipment Download PDFInfo
- Publication number
- CN112824836A CN112824836A CN201911145871.1A CN201911145871A CN112824836A CN 112824836 A CN112824836 A CN 112824836A CN 201911145871 A CN201911145871 A CN 201911145871A CN 112824836 A CN112824836 A CN 112824836A
- Authority
- CN
- China
- Prior art keywords
- occupation
- tool
- mobile tool
- grid area
- grid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 182
- 230000007704 transition Effects 0.000 claims description 251
- 238000000034 method Methods 0.000 claims description 107
- 230000008569 process Effects 0.000 claims description 70
- 238000012545 processing Methods 0.000 claims description 35
- 238000004590 computer program Methods 0.000 claims description 34
- 238000011156 evaluation Methods 0.000 claims description 32
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 40
- 230000006870 function Effects 0.000 description 30
- 238000010586 diagram Methods 0.000 description 19
- 238000004891 communication Methods 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 10
- 238000012546 transfer Methods 0.000 description 10
- 230000004927 fusion Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 230000008447 perception Effects 0.000 description 6
- 238000007726 management method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 241000220317 Rosa Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000019580 granularity Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a mobile tool collision detection method and related equipment, which are used for rapidly and timely ensuring the driving safety of a mobile tool, and the mobile tool collision detection method comprises the following steps: determining a target moving tool occupation template matched with the gesture of the moving tool from preset moving tool occupation templates; aligning the center point of a first grid area occupied by a target moving tool in an occupation template with a position point to be detected in a constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map, wherein the occupation grid map is the occupation grid map constructed by taking the current position of the moving tool as the center; and determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
Description
Technical Field
The present invention relates to the field of artificial intelligence, and in particular to a mobile tool collision detection method, a mobile tool collision detection apparatus, a processing device, a computer-readable storage medium, a computer program product containing instructions, a chip system, a circuit system, a computer system, and a mobile tool.
Background
In order to ensure safe running of the automatic driving vehicle or the high-intelligent driving vehicle, an environment perception system, a path planning system (namely a behavior decision system) and a running control system are indispensable three subsystems. The path planning system plans a driving path according to some existing path planning strategies, and then transmits the driving path to the driving control system, and the driving control system controls related components of the vehicle so that the vehicle drives according to the driving path. How to quickly and timely ensure that the planned driving path can ensure that the moving tool can safely drive is a technical problem to be urgently solved by technical personnel in the field.
Disclosure of Invention
In view of the above technical problems, the present invention provides a collision detection method for a mobile tool, so as to ensure the safety of the mobile tool in driving quickly and timely.
In a first aspect of the embodiments of the present invention, a mobile tool collision detection method is provided, including:
and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
In a second aspect of the embodiments of the present invention, a mobile tool collision detection method is provided, where when a waypoint of a driving path is determined in a path planning process, whether the waypoint has a collision risk is determined according to the following steps:
and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
In a third aspect of the embodiments of the present invention, a mobile tool collision detection method is provided, where after a travel path of a mobile tool is received, whether the travel path has a collision risk is determined according to the following steps:
In a fourth aspect of the embodiments of the present invention, after determining a driving state node of a state transition path of a mobile tool in a path planning process, determining whether the driving state node has a collision risk according to the following steps:
and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In a fifth aspect of the embodiments of the present invention, after receiving a state transition path of a mobile tool, a collision detection method for a mobile tool is provided, where whether the state transition path has a collision risk is determined according to the following steps:
In the collision detection method for a mobile tool provided in the first to fifth aspects of the embodiments of the present invention, in some aspects of technical effects, since a mobile tool occupation template including various gestures is preset, after determining a current gesture of the mobile tool, a target mobile tool occupation template can be quickly determined, a center point of a first grid region occupied by the mobile tool in the target mobile tool occupation template is aligned with a position to be detected in a grid map (the position to be detected may be, for example, a position point corresponding to a certain route or a certain driving state node planned in a mobile tool route planning process, or the position to be detected may be, for example, a position point corresponding to a driving state node or a certain route on a driving route or a state transition route obtained after planning a route of the mobile tool), the second grid area occupied by the moving tool in the occupied grid map can be quickly determined, so that whether collision risks exist in the position point to be detected/the driving path planned for the moving tool can be quickly determined according to the occupied conditions of the first grid area and the second grid area, the moving tool does not need to be drawn in real time in the occupied grid map according to the posture, the vehicle type and the size of the moving tool, and the efficiency and the speed are improved.
In a sixth aspect of the embodiments of the present invention, there is provided a mobile tool collision detection apparatus, including:
the matching unit is used for determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
the grid area determining unit is used for aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with a position point to be detected in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and the collision determining unit is used for determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
A seventh aspect of the embodiments of the present invention provides a mobile tool collision detection apparatus, including:
the first path planning unit is used for planning a path for the mobile tool and starting the first collision detection unit when a waypoint of the driving path is determined in the path planning process;
the first collision detection unit is used for judging whether the road points have collision risks according to the following steps: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
In an eighth aspect of the embodiments of the present invention, there is provided a mobile tool collision detection apparatus, including:
the collision detection unit is used for judging whether the driving path has collision risk according to the following steps after receiving the driving path of the moving tool:
In a ninth aspect of the embodiments of the present invention, there is provided a mobile tool collision detection apparatus including:
the second path planning unit is used for triggering the second collision detection unit after determining the current driving state node of the state transition path of the mobile tool in the path planning process;
the second collision detection unit is used for judging whether the current driving state node has a collision risk according to the following steps:
and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In a tenth aspect of the embodiments of the present invention, there is provided a mobile tool collision detection apparatus including:
the collision detection unit is used for judging whether the state transition path has collision risk according to the following steps after receiving the state transition path of the moving tool:
In an eleventh aspect of embodiments of the present invention, there is provided a processing apparatus, including:
a processor for performing the steps of: step 101, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 102, aligning a center point of a first grid area occupied by a moving tool in a target moving tool occupation template with a position point to be detected in a constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map, wherein the occupation grid map is the occupation grid map constructed by taking the current position of the moving tool as the center; and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
In a twelfth aspect of the embodiments of the present invention, there is provided a processing apparatus, including:
the processor is used for judging whether the road points have collision risks according to the following steps when the road points of the driving path are determined in the path planning process: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
In a thirteenth aspect of the embodiments of the present invention, there is provided a processing apparatus, including:
the processor is used for judging whether the driving path has collision risk according to the following steps after receiving the driving path of the moving tool: step 301, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 302, aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with the position of a road point of a driving path in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 303, determining whether the mobile tool has a collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area; if there is a collision risk, executing step 304, and if there is no collision risk, executing step 305; step 304, determining that the driving path has collision risk, and ending the process; step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
In a fourteenth aspect of the embodiments of the present invention, there is provided a processing apparatus, including:
the processor is used for determining a driving state node of a state transition path of the mobile tool in the path planning process, and then judging whether the driving state node has a collision risk according to the following steps: step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In a fifteenth aspect of the embodiments of the present invention, there is provided a processing apparatus, including:
the processor is used for judging whether the state transition path has collision risk according to the following steps after receiving the state transition path of the moving tool: step 501, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 502, aligning the central point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of a driving state node of a state transition path in the constructed occupied grid map to obtain a second grid area occupied by the mobile tool in the occupied grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 503, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area; if the collision risk exists, executing step 504, and if the collision risk does not exist, executing step 505; step 504, determining that the state transition path has collision risk, and ending the process; step 505, selecting a next driving state node from the state transition path, if the next driving state node exists, executing step 502 on the driving state node, and if the state transition path does not have the next driving state node, executing step 506; step 506, determining that the state transition path has no collision risk, and ending the process.
In a sixteenth aspect of embodiments of the present invention, there is provided a computer-readable storage medium, comprising a program or instructions, which when run on a computer, implements the moving tool collision detection method as provided in the first aspect.
A seventeenth aspect of embodiments of the present invention provides a computer-readable storage medium, which includes a program or instructions, when the program or instructions are run on a computer, implementing the moving tool collision detection method as provided in the second aspect.
An eighteenth aspect of the embodiments of the present invention provides a computer-readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the moving tool collision detection method provided in the foregoing third aspect is implemented.
A nineteenth aspect of embodiments of the present invention provides a computer-readable storage medium, including a program or instructions, which, when run on a computer, implements the moving tool collision detection method as provided in the fourth aspect above.
A twentieth aspect of embodiments of the present invention provides a computer-readable storage medium containing a program or instructions which, when run on a computer, implements the moving tool collision detection method as provided in the fifth aspect.
In a twenty-first aspect of the embodiments of the present invention, there is provided a computer program product containing instructions, which is characterized by, when the computer program product runs on a computer, causing the computer to execute the moving tool collision detection method provided in the foregoing first aspect.
In a twenty-second aspect of the embodiments of the present invention, there is provided a computer program product containing instructions, which is characterized by, when the computer program product runs on a computer, causing the computer to execute the moving tool collision detection method provided in the foregoing second aspect.
In a twenty-third aspect of the embodiments of the present invention, there is provided a computer program product containing instructions, which is characterized by, when the computer program product runs on a computer, causing the computer to execute the moving tool collision detection method provided in the foregoing third aspect.
In a twenty-fourth aspect of the embodiments of the present invention, there is provided a computer program product containing instructions, which is characterized by, when the computer program product runs on a computer, making the computer execute the moving tool collision detection method provided in the foregoing fourth aspect.
In a twenty-fifth aspect of the embodiments of the present invention, there is provided a computer program product containing instructions, which is characterized by causing a computer to execute the moving tool collision detection method provided in the foregoing fifth aspect when the computer program product runs on the computer.
In a twenty-sixth aspect of the embodiments of the present invention, a chip system is provided, including a processor, where the processor is coupled to a memory, where the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method for detecting a collision of a moving tool according to the foregoing first aspect is implemented.
In a twenty-seventh aspect of the embodiments of the present invention, a chip system is provided, which includes a processor, where the processor is coupled to a memory, where the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method for detecting a collision of a moving tool according to the foregoing second aspect is implemented.
In a twenty-eighth aspect of the embodiments of the present invention, a chip system is provided, which includes a processor, and the processor is coupled to a memory, where the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the mobile tool collision detection method provided in the foregoing third aspect is implemented.
In a twenty-ninth aspect of the embodiments of the present invention, a chip system is provided, which includes a processor, and the processor is coupled to a memory, where the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method for detecting a collision of a moving tool according to the foregoing fourth aspect is implemented.
In a thirtieth aspect of the embodiments of the present invention, a chip system is provided, which includes a processor, the processor is coupled to a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the mobile tool collision detection method provided in the foregoing fifth aspect is implemented.
In a thirty-first aspect of embodiments of the present invention, there is provided a circuit system, which includes a processing circuit configured to execute the mobile tool collision detection method provided in the foregoing first aspect.
In a thirty-second aspect of embodiments of the present invention, there is provided circuitry comprising processing circuitry configured to perform the mobile tool collision detection method provided in the foregoing second aspect.
In a thirty-third aspect of embodiments of the present invention, there is provided circuitry comprising processing circuitry configured to perform the mobile tool collision detection method provided in the foregoing third aspect.
In a thirty-fourth aspect of embodiments of the present invention, there is provided a circuit system, which includes a processing circuit configured to execute the moving tool collision detection method provided in the foregoing fourth aspect.
In a thirty-fifth aspect of embodiments of the present invention, there is provided circuitry comprising processing circuitry configured to perform the mobile tool collision detection method provided in the foregoing fifth aspect.
A thirty-sixth aspect of embodiments of the present invention provides a computer system, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the foregoing first aspect.
A thirty-seventh aspect of embodiments of the present invention provides a computer system, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the foregoing second aspect.
A thirty-eighth aspect of embodiments of the present invention provides a computer system, comprising a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the aforementioned third aspect.
In a thirty-ninth aspect of the embodiments of the present invention, there is provided a computer system, including a memory, and one or more processors communicatively connected to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the fourth aspect.
A fortieth aspect of an embodiment of the present invention provides a computer system, including a memory, and one or more processors communicatively connected to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the fifth aspect.
A forty-first aspect of embodiments of the present invention provides a mobile tool, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the foregoing first aspect.
A forty-second aspect of embodiments of the present invention provides a mobile tool, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the foregoing second aspect.
A forty-third aspect of embodiments of the present invention provides a mobile tool, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the aforementioned third aspect.
In a fourteenth aspect of embodiments of the present invention, a mobile tool is provided, which includes a memory, and one or more processors communicatively connected to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the fourth aspect.
A forty-fifth aspect of embodiments of the present invention provides a mobile tool, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the moving tool collision detection method provided by the fifth aspect.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1, fig. 1A and fig. 1B are a first, a second and a third flow charts of a mobile tool collision detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a moving tool occupying template in accordance with one embodiment of the present invention;
3A, 3B, and 3C are diagrams illustrating an object moving tool occupying template, a grid occupying map, and a moving tool occupying a second grid area in the grid occupying map, in that order, according to an embodiment of the present invention;
4A, 4B, and 4C are diagrams illustrating an object moving tool occupying template, a grid occupying map, and a moving tool occupying a second grid area in the grid occupying map, in that order, according to an embodiment of the present invention;
5A, 5B, and 5C are diagrams illustrating an object moving tool occupying template, a grid occupying map, and a moving tool occupying a second grid area in the grid occupying map, in order, according to an embodiment of the present invention;
FIGS. 6A, 6B, and 6C are schematic diagrams of an object moving tool occupying template, an occupying grid map, and a moving tool occupying a second grid area in the grid map, in that order, according to an embodiment of the present invention;
FIG. 7, FIG. 7A and FIG. 7B are a first, a second and a third flow charts of a collision detection method for a moving tool according to a second embodiment of the present invention;
FIG. 8, FIG. 8A, FIG. 8B and FIG. 8C are a first, a second, a third and a fourth flow chart of a collision detection method for a moving tool according to a third embodiment of the present invention;
FIGS. 9, 9C, 9D and 9E are a first, a second, a third and a fourth flow chart of constructing a state transition path according to a fourth embodiment of the present invention;
fig. 9A and 9B are schematic diagrams illustrating determination of a state transition space of a current driving state node according to a fourth embodiment of the present invention;
fig. 9F, 9G, and 9H are diagrams illustrating value change processes of the node values and the selected times of the nodes in the driving state according to the fourth embodiment of the present invention;
FIG. 10, FIG. 10A and FIG. 10B are a first, a second and a third flow charts of a collision detection method for a moving tool according to a fifth embodiment of the present invention;
FIGS. 11, 11A and 11B are a first, a second and a third flow charts of a moving tool collision detection method according to a sixth embodiment of the present invention;
fig. 12, 12A and 12B are schematic structural views of a collision detection device for a moving tool according to a seventh embodiment of the present invention;
fig. 13, 13A and 13B are schematic structural views of a moving tool collision detection apparatus according to an eighth embodiment of the present invention;
fig. 14 is a schematic structural view of a mobile tool collision detection apparatus according to a tenth embodiment of the present invention;
FIG. 15 is a schematic diagram of a computer program product according to a seventeenth embodiment of the invention;
fig. 16, 17 and 18 are schematic structural diagrams of a moving tool system according to a twentieth embodiment of the present invention;
FIG. 19 is a block diagram of a computer system according to a twentieth embodiment of the present invention;
fig. 20 is a schematic structural diagram of a computer system according to a twentieth embodiment of the present invention.
Detailed Description
The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects. Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion. In the examples of the present application, "A and/or B" means both A and B, and A or B. "A, and/or B, and/or C" means either A, B, C, or means either two of A, B, C, or means A and B and C. In the present embodiment, "A, B or C" represents any one of A, B, C.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The mobile tool collision detection method provided by the embodiment of the invention can be applied to a mobile tool with a driving function, or applied to other equipment (such as a cloud server) with a function of controlling the driving of the mobile tool. The mobile tool can implement the mobile tool collision detection method provided by the embodiment of the application through the contained components (including hardware and software). Or, other devices (such as a cloud server) are used for implementing the mobile tool collision detection method provided by the embodiment of the application, and sending a collision detection result to the mobile tool.
In the embodiment of the present invention, the moving tool may be any movable tool, for example, a Vehicle (e.g., a passenger car, a bus, a van, a truck, a trailer, a dump truck, a crane, an excavator, a scraper, a road train, a sweeper, a sprinkler, a garbage truck, an engineering truck, a rescue Vehicle, a logistics car, an AGV (Automated Guided Vehicle), etc.), a motorcycle, a bicycle, a tricycle, a handcart, a tire crane, a crown block, a shore bridge, a robot, a sweeper, a balance car, an aircraft, a ship, a submarine, a train, etc., and the type of the moving tool is not strictly limited and is not exhaustive.
Example one
Referring to fig. 1, which is a flowchart of a mobile tool collision detection method according to an embodiment of the present invention, the method includes steps 101 to 103, where:
and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
In some alternative embodiments, the method flow shown in fig. 1 may further include step 100. In some alternative embodiments, step 100 is performed first and then step 101 is performed; in some alternative embodiments, step 101 is performed first, and then step 100 is performed; in some optional embodiments, step 100 and step 101 are performed simultaneously, and there is no strict requirement in the present application for the sequential execution order of step 100 and step 101. Step 100 is set before step 101 as shown in fig. 1A, where: and step 100, constructing an occupation grid map by taking the current position of the mobile tool as a center.
In some optional embodiments, the method flow shown in fig. 1 may further include step 100A, and in some optional embodiments, step 100A is performed first, and then step 101 is performed; in some alternative embodiments, step 101 is performed first, and then step 100A is performed; in some optional embodiments, the step 100A and the step 101 are executed simultaneously, and the sequential execution order of the step 100A and the step 101 is not strictly required in the present application. Step 100A is set before step 101 as shown in fig. 1B, where: step 100A, receiving the occupancy grid map.
In some optional embodiments, the mobile tool occupation template is a grid map which is constructed by taking the mobile tool as a center in advance, and the grid area occupied by the mobile tool is marked in the grid map in advance according to the size, the shape and the posture of the mobile tool. As shown in fig. 2, taking a mobile tool as a semi-trailer as an example, the semi-trailers of the same size and shape occupy different grid areas in a grid map in different postures, and fig. 2 is only an illustration of several postures, and a person skilled in the art can construct mobile tool occupation templates of different postures according to different granularities according to actual needs.
In some optional embodiments, in step 101, after determining the current pose of the moving tool, searching a target moving tool occupation template matching the current pose of the moving tool from the moving tool occupation templates, for example, if there is a moving tool occupation template with a pose consistent with the current pose of the moving tool in the moving tool occupation template, taking the moving tool occupation template as the target moving tool occupation template; and if the mobile tool occupying template with the consistent posture with the current posture of the mobile tool does not exist in the mobile tool occupying templates, taking the mobile tool occupying template with the posture closer to the posture of the mobile tool as a target mobile tool occupying template.
In some optional embodiments, the determining, in step 103, whether the mobile tool has a collision risk at the position point to be detected according to the occupancy of the first grid area and the second grid area specifically includes: if the grids with the preset number (the preset number can be flexibly set by a person skilled in the art according to actual conditions, and is not strictly limited in the present application) in the second grid region are marked to be occupied by the obstacle, determining that the mobile tool has collision risk at the position point to be detected. The value of each grid occupied by the moving tool in the template is 0. Target moving tool occupancy template as shown in fig. 3A, the moving tool occupies 36 grids contained in the first grid region in the template at the target moving tool; each grid in the constructed occupied grid map is marked as occupied or unoccupied according to the occupation situation, for example, 1 may be used to mark occupied, and 0 may be used to mark unoccupied, as shown in fig. 3B, in order to construct the obtained occupied grid map; and aligning the center point of the first grid area occupied by the target moving tool in the template with the position point to be detected in the occupied grid map to obtain a second grid area occupied by the target moving tool in the occupied grid map, wherein the second grid area comprises 36 grids, and the 36 grids of the first grid area and the 36 grids of the second grid area correspond to one grid. There is no grid identified as "occupied" in the second grid region, so it can be determined that the moving tool is not at risk of collision at the position to be detected.
In some optional embodiments, the determining, in step 103, whether the mobile tool has a collision risk at the position point to be detected according to the occupancy of the first grid area and the second grid area specifically includes: and calculating a collision evaluation value for representing the high and low collision probability according to the occupation conditions of the first grid area and the second grid area, and determining whether the mobile tool has collision risk at the position point to be detected according to the collision evaluation value. For example, whether the collision evaluation value is greater than or equal to a preset value or not is judged, if yes, it is determined that the mobile tool has a collision risk at the position point to be detected, and if not, it is determined that the mobile tool does not have the collision risk at the position point to be detected.
In some alternative embodiments, the collision assessment value for characterizing the high or low collision probability is calculated according to the occupation situation of the first grid area and the second grid area, and the specific implementation may be as follows: the sum of products of the occupation probabilities of the grids in the first grid region and the occupation probabilities of the respective grids in the second grid region is taken as a collision evaluation value. As shown in FIG. 4A, the first grid region includes 36 grids, and the gridsThe occupation probabilities are all 1. The values of the cells occupying the grid map are shown in fig. 4B. And aligning the center point of the first grid area occupied by the target moving tool in the template with the position point to be detected in the occupied grid map to obtain a second grid area occupied by the target moving tool in the occupied grid map, wherein the second grid area comprises 36 grids, as shown in fig. 4C. The product of the occupation probabilities of the 36 grids of the first grid region and the occupation probabilities of the 36 grids of the second grid region is summed (for example, the ith grid of the first grid region is denoted by Ai, the ith grid of the second grid region is denoted by Bi, and the collision evaluation value is calculated as ∑ AiBi) The collision evaluation value was obtained to be 2.9.
In some optional embodiments, the value of each grid in the mobile tool occupation template is set as a binary value according to a preset occupation rule; after constructing the occupancy grid map centered on the current position of the mobile tool, the method further comprises: and setting the values of the grids occupied in the grid map according to the occupation rule. In the step 104, it is determined whether the mobile tool has a collision risk at the position point to be detected according to the occupation situations of the first grid area and the second grid area, and the method specifically includes: and carrying out binary operation on the values of the grids in the first grid area and the corresponding grids in the second grid area, and determining whether the mobile tool has collision risk at the position point to be detected according to the operation result.
In some optional embodiments, the occupancy rule is that when the grid is occupied by an obstacle or a moving tool, the value is set to 1, otherwise, the value is set to 0; the binary operation is a binary and operation; in step 103, binary operation is performed on the values of the grid in the first grid area and the corresponding grid in the second grid area, and whether the mobile tool has a collision risk at the position point to be detected is determined according to an operation result, which specifically includes: and respectively carrying out binary AND operation on the values of the grids in the grid area and the values of the corresponding grids occupying the grid map, and if the AND operation result is 1, wherein the AND operation result is more than a preset number (the preset number can be flexibly set by a person skilled in the art according to the actual situation, and is not strictly limited), determining that the mobile tool has collision risk at the position point to be detected. As shown in fig. 5A, in the template occupied by the target moving tool, values of 36 grids in the first grid region occupied by the moving tool are all 1, and values of other grids are 0; as shown in fig. 5B, the value of the grid occupied by the obstacle in the occupied grid map is 1, and the value of the grid not occupied by the obstacle is 0; and aligning the central point of the first grid area with the position point to be detected in the occupied grid map to obtain a second grid area occupied by the moving tool in the occupied grid map, as shown in fig. 5C, and obtaining 36 grids contained in the second grid area. And (3) enabling 36 grids of the first grid region and 36 grids of the second grid region to correspond one to one, representing the ith grid of the first grid region by using Ai, representing the ith grid of the second grid region by using Bi, and carrying out AND operation on the grids Ai and Bi to obtain an operation result with 1, namely determining whether the mobile tool has collision risk at the position point to be detected.
In some optional embodiments, the occupancy rule is that when the grid is occupied by an obstacle or a moving tool, the value is set to 0, otherwise, the value is set to 1; the binary operation is a binary OR operation; binary operation is performed on the values of the grids in the first grid area and the corresponding grids in the second grid area, and whether the mobile tool has a collision risk at the position point to be detected is determined according to the operation result, which specifically includes: calculating the values of the grids in the first grid area and the corresponding grids in the second grid area, and determining whether the mobile tool has a collision risk at the position point to be detected according to the calculation result, specifically comprising: and respectively carrying out binary OR operation on the values of the grids in the grid area and the values of the corresponding grids occupying the grid map, and if the preset number (the values of the preset number can be flexibly set according to the actual requirements by technicians in the field and are not strictly limited in the application) or the operation result is 0, determining that the mobile tool has collision risk at the position point to be detected. As shown in fig. 6A, in the template occupied by the target moving tool, values of 36 grids in the first grid region occupied by the moving tool are all 0, and values of other grids are 1; as shown in fig. 6B, the value of the grid occupied by the obstacle in the occupied grid map is 0, and the value of the grid not occupied by the obstacle is 1; and aligning the central point of the first grid area with the position point to be detected in the occupied grid map to obtain a second grid area occupied by the moving tool in the occupied grid map, as shown in fig. 6C, so that the second grid area contains 36 grids. And the 36 grids of the first grid region correspond to the 36 grids of the second grid region one by one, the ith grid in the first grid region is represented by Ai, the ith grid in the second grid region is represented by Bi, and the Ai and the Bi are subjected to OR operation to obtain an operation result with 0, so that the mobile tool can be determined to have collision risk at the position point to be detected.
Example two
In some optional embodiments, the position point to be detected in the first embodiment may be a waypoint that determines a driving path in a path planning process (the waypoint includes position information and driving state information of the mobile tool, the position information may include coordinate information and driving direction information of the mobile tool, and the driving state information may include, but is not limited to, any one or more of linear velocity, linear acceleration, linear jerk, steering engine included angle, steering wheel rotation angle velocity, steering wheel rotation angle acceleration, hanging box included angle, and the like of the mobile tool), for example, the collision detection method shown in fig. 1 may be started every time a waypoint is determined in the path planning process of the mobile tool, so as to determine whether the mobile tool has a collision risk at the waypoint, and if the collision risk exists, the waypoint is discarded and the waypoint is re-planned, if the collision risk does not exist, the waypoint is reserved and the next waypoint is planned continuously.
An embodiment of the present invention provides a mobile tool collision detection method, as shown in fig. 7, when a waypoint of a driving path is determined in a path planning process, whether the waypoint has a collision risk is determined according to the following steps 201 to 203, where:
In the foregoing step 202, the position of the waypoint in the occupancy grid map is to map the longitude and latitude coordinates of the waypoint to the position point in the occupancy grid map.
In some optional embodiments, the method flow shown in fig. 7 may further include step 200. In some alternative embodiments, step 200 is performed first and then step 201 is performed; in some alternative embodiments, step 201 is performed before step 200 is performed; in some optional embodiments, step 200 and step 201 are executed simultaneously, and there is no strict requirement in the present application for the order of execution of step 200 and step 201. As shown in fig. 7A, step 200 is set before step 201, where: and 200, constructing an occupation grid map by taking the current position of the mobile tool as a center.
In some optional embodiments, the method flow shown in fig. 7 may further include step 200A, and in some optional embodiments, step 200A is performed first, and then step 201 is performed; in some alternative embodiments, step 201 is performed before step 200A; in some optional embodiments, the step 200A and the step 201 are executed simultaneously, and the sequential execution order of the step 200A and the step 201 is not strictly required in the present application. As shown in fig. 7B, step 200A is set before step 201, where: step 200A, receiving the occupancy grid map.
The specific implementation manner of the foregoing steps 200 to 203 is the same as the specific implementation principle of the steps 100 to 103 in the foregoing first embodiment, and is not described herein again.
EXAMPLE III
In some optional embodiments, the position point to be detected in the first embodiment may be a waypoint in a driving path obtained by path planning of a mobile tool, for example, after the driving path is obtained by path planning of the mobile tool, the mobile tool collision detection method shown in fig. 1 may be started for the waypoint in the driving path to determine whether the mobile tool has a collision risk at the waypoint, and if the collision risk exists, it is determined that the driving path has the collision risk, and the driving path of the mobile tool is re-planned.
In a third embodiment of the present invention, as shown in fig. 8, after receiving a travel path of a mobile tool, a method for detecting collision of the mobile tool according to the following steps 301 to 305 determines whether the travel path has a collision risk:
Of course, a person skilled in the art may also extend other alternatives to determine whether there is a collision risk in the travel path based on the method flow shown in fig. 8, for example, as shown in fig. 8A, after receiving the travel path of the mobile tool, determine whether there is a collision risk in the travel path according to the following steps 301 to 307:
In some optional embodiments, the method flow shown in fig. 8 may further include step 300. In some alternative embodiments, step 300 is performed first and then step 301 is performed; in some alternative embodiments, step 301 is performed first and then step 300 is performed; in some optional embodiments, step 300 is performed simultaneously with step 301, and the sequential order of performing step 300 and step 301 is not strictly required in this application. As shown in fig. 8B, step 300 is set before step 301, where: and 300, constructing an occupation grid map by taking the current position of the mobile tool as a center.
In some optional embodiments, the method flow shown in fig. 8 may further include step 300A, and in some optional embodiments, step 300A is performed first, and then step 301 is performed; in some alternative embodiments, step 301 is performed first and then step 300A is performed; in some optional embodiments, the step 300A and the step 301 are executed simultaneously, and the order of executing the step 300A and the step 301 is not strictly required in the present application. Step 300A is set before step 301 as shown in fig. 8C, where: step 300A, receiving the occupancy grid map.
The specific implementation manner of the foregoing steps 300 to 303 is the same as the specific implementation principle of the steps 100 to 103 in the foregoing embodiment one, and is not described herein again.
Example four
In some optional embodiments, in order to ensure that the driving path planned for the mobile tool conforms to a dynamic model of the mobile tool and is a driving path that the mobile tool can actually follow, in the embodiments of the present invention, when the path planning is performed for the mobile tool, a plurality of state transition paths may be first constructed according to a current driving state of the mobile tool, then a target state transition path is selected, and finally a route point sequence corresponding to the target state transition path is determined as the driving path of the mobile tool (a route point sequence corresponding to the target state transition path refers to a route point corresponding to each driving state node of the target state transition path). Because the state transition path represents the state transition relationship of the mobile tool from one driving state to another driving state, that is, the adjacent driving state nodes on the planned state transition path have transferability and conform to the dynamic model of the mobile tool, the mobile tool drives according to the driving path corresponding to the target state transition path and conforms to the dynamic model, can really drive along the driving path, and the effectiveness of the driving path is high.
In some optional embodiments, a plurality of state transition paths are constructed according to the current driving state of the mobile tool, and specifically, each state transition path may be constructed through steps a1 to a4 as shown in fig. 9:
step A1, taking the current driving state of the mobile tool as a starting driving state node, and taking the starting driving state node as a current driving state node;
step A2, determining the state transition space of the current driving state node, and searching the state transition space of the current driving state node to obtain the next driving state node of the current driving state node;
step A3, taking the next driving state node obtained in the step A2 as the current driving state node, and repeatedly executing the step A2; until a preset number of a plurality of driving state nodes are generated;
and A4, constructing a state transition path according to the sequence of the plurality of driving state nodes.
In some optional embodiments, the determining the state transition space of the current driving state node in step a2 specifically includes: taking the current driving state node as a target driving state node; determining a state transition space corresponding to the target driving state node; and determining the state transition space corresponding to the target driving state node as the state transition space of the current driving state node. Fig. 9A is merely an exemplary description, and it is assumed that one state transition path includes 4 travel state nodes, and the starting travel state node of the moving tool is S1. Taking the starting driving state node S1 of the mobile tool as the current driving state node, taking the S1 as the target driving state node, determining the state transition space of S1 as { a1, a2, a3, a4, a5}, taking { a1, a2, a3, a4, a5} as the state transition space of the current driving state node, and selecting a4 from the state transition spaces { a1, a2, a3, a4, a5} as the next driving state node of the current driving state node S1 and storing a 4; taking a4 as a current driving state node, a4 as a target driving state node, determining the state transition space of a4 as { a41, a42, a43}, taking { a41, a42, a43} as the state transition space of the current driving state node, selecting a42 from { a41, a42, a43} as the next driving state node of the current driving state node a4, and storing a 42; with a42 as the current driving state node and a42 as the target driving state node, the state transition space { a421, a422, a423} of a42 is determined, and with { a421, a422, a423} as the state transition space of the current driving state node, a421 is selected from { a421, a422, a423} as the next driving state node of the current driving state node a42, and a421 is stored. S1, a4, a42 and a421 form a state transition path (as indicated by a thick solid line in fig. 9A), and are represented by S1> a4> a42> a 421.
In some optional embodiments, the determining the state transition space of the current driving state node in step a2 specifically includes: taking all or part of the driving state nodes including the current driving state node in the state transition space of the previous driving state node of the current driving state node as target driving state nodes; determining a state transition space corresponding to each target driving state node; and determining a union of the state transition spaces corresponding to the target driving state nodes as the state transition space of the current driving state node. Fig. 9B is merely an exemplary description, and it is assumed that one state transition path includes 4 travel state nodes, and the starting travel state node of the moving tool is S1. Taking the starting driving state node S1 of the mobile tool as the current driving state node, taking the S1 as the target driving state node, determining the state transition space of S1 as { a1, a2, a3, a4, a5}, taking { a1, a2, a3, a4, a5} as the state transition space of the current driving state node, and selecting a4 from the state transition spaces { a1, a2, a3, a4, a5} as the next driving state node of the current driving state node S1, and storing a 4; regarding a4 as the current driving state node, regarding all the driving state nodes a1, a2, a3, a4 and a5 in the state transition space of the previous driving state node S1 of a4 as the target driving state nodes, and state transition spaces { a11, a12}, { a21}, { a31, a32}, { a41, a42, a43} and { a51, a52} corresponding to a1, a2, a3, a4, and a5, respectively, are determined (as shown in fig. 9B, the state transition space of each target driving state node is indicated by a dotted line), and the union { a11, a12, a21, a31, a32, a41, a42, a43, a51, a52} of the state transition spaces of a1, a2, a3, a4 and a5 is used as the state transition space of the current driving state node a4, a42 is selected from { a11, a12, a21, a31, a32, a41, a42, a43, 539a 51, a52} as the next driving state node of the current driving state node a4, and a42 is stored; taking a42 as a current driving state node, taking all driving state nodes a11, a12, a21, a31, a32, a41, a42, a43, a51 and a52 in the state transition space of the previous driving state node a4 of a42 as target driving state nodes, determining the state transition spaces { a111}, { a211, a212}, { a311}, { a411, a421, a422, a423, a424} { }, { a521, a521} of the union { a111, a211, a212, a311, a411, a421, a424, a423, a424, 521} as the state transition space of the current driving state node a42, and taking the current driving state nodes a111, a211, a421, a521, a423 as the current driving state nodes a421, a424, a521 as the next driving state nodes. S1, a4, a42, and a421 form one state transition path (thick solid line shown in fig. 9B), and are denoted by S1> a4> a42> a 421.
In some optional embodiments, determining the state transition space corresponding to each target driving state node specifically includes: and inquiring a state transfer space corresponding to the target driving state node from a preset state transfer library.
In some optional embodiments, the target driving state node is matched with a driving state node in a state transition library, and if a driving state node consistent with the target driving state node exists, a state transition space corresponding to the driving state node is used as a state transition space corresponding to the target driving state node; and if the driving state node consistent with the target driving state node does not exist in the state transfer library, determining a driving state node which is relatively similar to the target driving state node from the state transfer library, and determining the state transfer space of the driving state node as the state transfer space corresponding to the target driving state node. In some optional embodiments, a driving state node that is more similar to the target driving state node may be searched from the state transition library through an algorithm such as a k-d tree, a ball-tree, or an octree.
In some optional embodiments, in the step a2, a Monte Carlo Tree Search (MCTS) manner may be adopted to Search the state transition space of the current driving state node to obtain a next driving state node of the current driving state node.
The state transition library may be a preset state transition library corresponding to the moving tool, and the state transition library may be constructed in advance according to the travel track of the moving tool or other moving tools of the same type.
In some alternative embodiments, the state transition library may be obtained in advance by: acquiring a plurality of driving tracks corresponding to the moving tool; for each driving track, sampling track points in the driving track to obtain a road point sequence corresponding to the driving track; for each waypoint sequence, sequentially converting waypoints in the waypoint sequence into corresponding driving state nodes to obtain a state transition sequence corresponding to the waypoint sequence; obtaining a state transition space corresponding to each driving state node in the state transition sequence according to each state transition sequence; and determining a set of state transfer spaces corresponding to the driving state nodes as a state transfer library corresponding to the mobile tool.
In some optional embodiments, the waypoint includes the position information and the driving state information of the mobile tool, and the driving state node corresponding to the waypoint can be obtained by selecting the driving parameters included in the driving state node from the driving state information of the waypoint.
In the foregoing embodiment, on one hand, since the state transition library is preset, in the process of constructing the state transition path, the state transition space of each target driving state node can be obtained by directly querying the state transition library, and the speed of determining the state transition space of each driving state node can be increased, so that the speed and efficiency of constructing the state transition path are integrally increased. On the other hand, since the state transition library is constructed in advance according to the driving track actually driven by the mobile tool, it can be ensured that the transition between the driving state nodes in the state transition library is physically feasible and conforms to the dynamic model of the mobile tool, and therefore, it can be ensured that the constructed state transition path is physically feasible, and the mobile tool can transition from the previous driving state node to the next driving state node along the state transition path in the state transition path conforming to the dynamic model.
In some optional embodiments, the state transition space corresponding to each target driving state node is determined, which is specifically implemented as follows:
for each target driving state node, performing the steps of: determining a target value of the driving parameter aiming at each driving parameter of a target driving state node, and discretizing the current value and the target value of the driving parameter to obtain a discrete point sequence; and combining the discrete point sequences respectively corresponding to the driving parameters of the target driving state node to obtain a plurality of driving state nodes, wherein the plurality of driving state nodes form a state transition space of the target driving state node. In some optional embodiments, the target value of the driving parameter of the target driving state node may be a preset value, or may be determined according to the current driving environment information of the mobile tool, or may be determined according to the attribute parameter of the mobile tool itself. For example, if the driving parameter is the speed of the mobile tool, the target value corresponding to the speed may be the speed limit value of the lane where the mobile tool is currently located; the driving parameter is the steering wheel turning angle of the mobile tool, and the corresponding target value of the steering wheel turning angle can be the maximum angle or the minimum angle of the steering wheel turning angle; and the running parameter is a hanging box included angle of the mobile tool, and the target value of the hanging box included angle can be the minimum value or the maximum value of the hanging box included angle of the mobile tool. The target values of the driving parameters can be flexibly set by a person skilled in the art according to different driving parameters, and the method is not strictly limited in the application. Since the variable of the driving parameter of the mobile tool is a continuously variable, and there are infinite possible states, the driving parameters can be discretized to obtain a limited number of discrete points through the foregoing embodiment, so that the state transition space constructed according to the discrete points of the driving parameters of the driving state nodes is a bounded search space, and the search speed of the state transition space can be increased.
Suppose that each travel state node of the mobile tool contains 3 travel parameters, v, θ,Expressing, discretizing the current value and the target value of v to obtain a first discrete point sequence [ v ] containing m discrete points1,v2,…,vm](ii) a Discretizing the current value and the target value of theta to obtain a second discrete point sequence [ theta ] containing n discrete points1,θ2,…,θn](ii) a Will be provided withDiscretizing the current value and the target value to obtain a third discrete point sequence containing k discrete pointsAnd combining the discrete points in the first discrete point sequence, the second discrete point sequence and the third discrete point sequence to obtain m multiplied by n multiplied by k parameter combinations, wherein each parameter combination represents a driving parameter combination of one driving state node to obtain m multiplied by n multiplied by k driving state nodes, and the m multiplied by n multiplied by k driving state nodes form a state transition space of the target driving state node. And m, n and k are all preset natural numbers which are greater than or equal to 1. In some optional embodiments, the values of the N discrete points obtained by discretizing the current value and the target value of the driving parameter are equal difference values.
In some alternative embodiments, the process of building each state transition path further performs the following step a5 after step a4, as shown in fig. 9C, wherein:
step A5, setting a first evaluation value for representing the quality degree of the route point sequence for the route point sequence corresponding to the state transition path constructed in step A4.
In some alternative embodiments, taking the first evaluation value as a score for example, the first evaluation value of the route point sequence may be calculated by weighted summation of any one or more of the following parameters: parameter 1, an offset distance between the waypoint sequence and a center line of a lane where the mobile tool is located (the offset distance may be, for example, an average distance between each waypoint and the center line in the waypoint sequence, or may also be a maximum distance between each waypoint and the center line in the waypoint sequence, or may also be a minimum distance between each waypoint and a longitudinal distance in the waypoint sequence), and parameter 2, a similarity between the waypoint sequence and a driving path obtained by previous planning; and 3, the distance of the road point sequence relative to the running path obtained by the previous planning in the advancing direction of the moving tool is extended. The kind of the foregoing parameters can be set by those skilled in the art according to actual requirements, and the present application is not limited strictly.
In some alternative embodiments, the process of building each state transition path further performs the following step a6 after step a5, as shown in fig. 9D, wherein:
and step A6, modifying the node value and the selected times of each driving state node in the state transition path according to the first evaluation value corresponding to the node sequence of the state transition path, wherein the node value is used for representing the quality degree of the driving state node.
In the embodiment of the present invention, the node value of the driving state node may be represented by a score or a level, and the present application is not limited strictly. Taking the node value represented by the fraction as an example, assuming that a bar-shaped state transition path is constructed, evaluating a node sequence corresponding to the state transition path to obtain a corresponding evaluation value n. Modifying the node value of the driving state node on the state transition path according to the evaluation value of the road point sequence, which can be specifically realized by any one of, but not limited to: in an alternative embodiment, the evaluation value n is directly updated to the node value of each travel state node on the state transition path; in an optional embodiment, the evaluation value n and the node value of the node in the driving state are weighted and averaged to obtain a new node value of the node in the driving state; in an alternative embodiment, the node value of the travel state node is obtained by multiplying the evaluation value n by a preset coefficient. A person skilled in the art can determine how to modify the node values of the nodes in the driving state on the state transition path according to the evaluation value n according to actual requirements, and the application is not limited strictly.
In some optional embodiments, after each bar-shaped state transition path is constructed, the selected times of the travel state nodes on the state transition path are accumulated by 1, and the selected times of the travel state nodes are stored.
In some alternative embodiments, the process of building each state transition path further performs the following step a7 after step a5, as shown in fig. 9E, wherein:
and step A7, modifying the node values and the selected times of the running state nodes and the state transition space of the running state nodes in the state transition path according to the first evaluation value corresponding to the node sequence of the state transition path.
After a strip-shaped state transition path is supposed to be constructed, the route point sequence corresponding to the state transition path is evaluated to obtain a corresponding evaluation value n. The driving state node on the state transition path is called a master node, and the state driving node in the state transition space of the master node immediately before the master node is called a sibling node of the master node. As shown in fig. 9F, the state transition space of the initial state travel node S1 is { a1, a2, a3, a4, a5}, the node value of each travel state node is initialized, and the number of times of being selected is 0; assume that a stripe state transition path is constructed as S1> a4> a42> a421, as shown in FIG. 9G. In the state transition path, a4, a42 and a421 are called master nodes, the driving state nodes a1, a2, a3 and a5 in the transition state space of S1 are called brother nodes of the master node a4, and the driving state nodes a21, a31, a41, a43, a51 and a52 in the state transition space of the master node a4 are called brother nodes of the master node a 42; the travel state nodes a211, a212, a313, a411, a422, a423, and a521 in the state transition space of the master node a42 are referred to as siblings of the master node a 421. Modifying the node value and the selected number of times of each driving state node in the state transition space of each driving state node in the state transition path according to the road point sequence evaluation value n, which can be specifically realized by, but not limited to, the following ways: for each primary node on the state transition path, performing the steps of: carrying out weighted average on the evaluation value n and the node value of the main node to obtain a new node value of the main node, and accumulating the selected times of the main node by 1; and calculating the similarity (the similarity is a value smaller than or equal to 1) between the main node and each brother node of the main node, taking the product of the evaluation value n and the similarity as an evaluation score, carrying out weighted average on the evaluation score and the node value of the brother node to obtain a new node value of the brother node, and accumulating the similarity by the selected times of the brother nodes. Fig. 9H is a node value and the number of times of being selected after modification of each travel state node according to the evaluation value of the waypoint sequence of the newly generated state transition path S1> a4> a42> a 421.
In some optional embodiments, in the step a2, the searching for the next driving state node of the current driving state node in the state transition space of the current driving state node specifically includes: judging whether each driving state node in the state transition space of the current driving state node is selectable or not; and selecting the next driving state node of the current driving state node from the selectable driving state nodes according to the node values of the selectable driving state nodes and the selected times.
In some optional embodiments, selecting a next driving state node of the current driving state node from the optional driving state nodes according to the node values of the optional driving state nodes and the selected number of times specifically includes: for each selectable driving state node, calculating a second evaluation value of the driving state node according to the node value of the driving state node and the selected times, wherein the second evaluation value is used for representing the selected priority degree of the driving state node; and selecting the running state node with the highest priority as the next running state node in the current running state nodes according to the second evaluation value of the selectable running state nodes.
In some optional embodiments, determining whether each driving state node in the state transition space of the current driving state node is optional specifically includes: and judging whether the driving state node has collision risk or not, and if so, not selecting the driving state node.
In some alternative embodiments, the non-optional conditions may include, but are not limited to, any one or more of the following: the condition 1 that the running state node is not selectable, the running state node has collision risk, the condition 2 that the running state node is not selectable, the running parameter of the running state node has unreasonable value, and the condition 3 that the current running state node is not selectable, the node is not reasonably transferred to the running state node. Of course, those skilled in the art can also flexibly set the non-optional conditions according to actual situations, and the aforementioned non-optional conditions 1 to 3 are only some examples thereof.
In some optional embodiments, the unreasonable values of the driving parameters of the driving state nodes mean that the values of the driving parameters exceed a preset value range, or the values between any two or more driving parameters do not conform to the kinematic model of the mobile tool. For example, the traveling speed of the traveling state node reaches 300 km/h.
In some alternative embodiments, the transition from the current driving state node to the driving state node is not rational, for example, a change between a value of a driving parameter of a driving state node and a corresponding driving parameter of a previous driving state node does not correspond to the kinematic model of the mobile tool. For example, the steering wheel angle of a driving state node is 540 ° on the right, while the steering wheel angle of a previous driving state node of the driving state node is 540 ° on the left, and since the time interval between the driving state nodes is relatively short, it is obvious that the difference of the steering wheel angle changes in a short time is too large to conform to the kinematic model of the moving tool. For example, when the travel speed of the travel state node is 130km/h and the travel speed of the previous travel state node of the travel state node is 1km/h, since the time interval between the travel state nodes is short, it is apparent that the change of the travel speed in a short time is too large to fit the kinematic model of the mobile tool.
However, how to quickly and efficiently determine whether the planned driving state transition path is safe so as to avoid collision when the mobile tool drives according to the road point sequence corresponding to the driving state transition path is a technical problem to be solved urgently by those skilled in the art. One solution is that, in the process of planning a state transition path for a mobile tool, each time a driving state node is obtained by planning, whether the driving state node has a collision risk is judged, and if the driving state node has a collision risk, the driving state node is abandoned and the driving state node is reselected, which can be seen in the following fifth embodiment; another solution is to determine whether there is a collision risk in a state transition path after obtaining the state transition path for the mobile tool, and replan the state transition path for the mobile tool if there is a collision risk in the state transition path, which may be specifically referred to in the following embodiment six; in the process of planning the state transition path for the mobile tool, when a rose obtains a driving state node, whether the driving state node has a collision risk or not is judged, and after the planning under the state transition path is completed, whether the state moving path has the collision risk or not is judged.
EXAMPLE five
An embodiment of the present invention provides a mobile tool collision detection method, as shown in fig. 10, after determining a driving state node of a state transition path of a mobile tool in a path planning process, determining whether the driving state node has a collision risk according to the following steps 401 to 403:
and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In step 402, the position of the state driving node in the grid map is to convert the driving state into the coordinates of the mobile tool in the space, and then the coordinates are mapped to the coordinates of the grid map.
In some optional embodiments, the method flow shown in fig. 10 may further include step 400. In some alternative embodiments, step 400 is performed first and then step 401 is performed; in some alternative embodiments, step 401 is performed before step 400; in some optional embodiments, the step 400 and the step 401 are executed simultaneously, and the sequential execution order of the step 400 and the step 401 is not strictly required in the present application. As shown in fig. 10A, step 400 is set before step 401, where: and 400, constructing an occupation grid map by taking the current position of the mobile tool as a center.
In some optional embodiments, the method flow shown in fig. 10 may further include step 400A, and in some optional embodiments, step 400A is performed first, and then step 401 is performed; in some alternative embodiments, step 401 is performed first and then step 400A is performed; in some optional embodiments, the step 400A and the step 401 are executed simultaneously, and the sequential execution order of the step 400A and the step 401 is not strictly required in the present application. Step 400A is provided before step 401 as shown in fig. 10B, where: step 400A, receiving the occupancy grid map.
The specific implementation manner of the foregoing steps 400 to 403 is the same as the specific implementation principle of the steps 100 to 103 in the foregoing first embodiment, and is not described herein again.
EXAMPLE six
An embodiment of the present invention provides a mobile tool collision detection method, as shown in fig. 11, after receiving a state transition path of a mobile tool, determining whether the state transition path has a collision risk according to the following steps 501 to 506:
In some optional embodiments, the method flow shown in fig. 11 may further include step 500. In some alternative embodiments, step 500 is performed first and then step 501 is performed; in some alternative embodiments, step 501 is performed before step 500 is performed; in some optional embodiments, the step 500 is executed simultaneously with the step 501, and the sequential execution order of the step 500 and the step 501 is not strictly required in the present application. As shown in fig. 11A, step 500 is provided before step 501, where: step 500, constructing an occupancy grid map with the current position of the mobile tool as the center.
In some optional embodiments, the method flow shown in fig. 11 may further include step 500A, and in some optional embodiments, step 500A is performed first, and then step 501 is performed; in some alternative embodiments, step 501 is performed before step 500A; in some optional embodiments, the step 500A and the step 501 are executed simultaneously, and the sequential execution order of the step 500A and the step 501 is not strictly required in the present application. Step 500A is provided before step 501 as shown in fig. 11B, where: step 500A, receiving the occupancy grid map.
The specific implementation manner of the steps 500 to 503 is the same as the specific implementation principle of the steps 100 to 103 in the first embodiment, and is not described herein again.
EXAMPLE seven
A seventh embodiment of the present application provides a mobile tool collision detection apparatus, which can divide function modules of the mobile tool collision detection apparatus according to the mobile tool collision detection method provided in the first embodiment, for example, each function module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. The moving tool collision detection apparatus has a function of implementing the moving tool collision detection method of any one of the above-described embodiments. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In an alternative embodiment, the mobile tool collision detecting apparatus may be functionally divided as shown in fig. 12, including a matching unit 11, a grid area determining unit 12, and a collision determining unit 13, wherein:
a matching unit 11 for determining a target moving tool occupation template matching the posture of the moving tool from preset moving tool occupation templates;
the grid area determining unit 12 is configured to align a center point of a first grid area occupied by the target mobile tool in the target mobile tool occupation template with a to-be-detected position point in the constructed occupation grid map, so as to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and the collision determining unit 13 is used for determining whether the mobile tool has a collision risk at the position point to be detected according to the occupation situations of the first grid area and the second grid area.
In some alternative embodiments, the occupancy grid map used by the grid area determination unit 12 may be generated by one of the modules of the mobile tool collision detection apparatus, or may be received from another device communicatively connected to the mobile tool collision detection apparatus, which is not limited in this application.
In some optional embodiments, the apparatus shown in fig. 12 may further include a mapping unit 10, as shown in fig. 12A, wherein: a map construction unit 10 for constructing an occupancy grid map centering on the current position of the mobile tool.
In some optional embodiments, the apparatus shown in fig. 12 may further include a receiving unit 14, as shown in fig. 12B, wherein: a receiving unit 14 for receiving the occupancy grid map.
In some optional embodiments, how the matching unit 11 specifically matches to obtain the target moving tool occupation template, and how the moving tool occupation template is set to obtain the target moving tool occupation template may refer to the related contents of step 101 in the first embodiment, which is not described herein again.
In some optional embodiments, the specific implementation of the grid region determining unit 12 may refer to the related content of step 102 in the first embodiment, and is not described herein again.
In some optional embodiments, the specific implementation of the collision determination unit 13 may refer to the related content of step 103 in the first embodiment, and is not described herein again.
In some optional embodiments, the mobile tool collision detection device may be disposed on the mobile tool, or may be disposed on the cloud computer.
Example eight
An eighth embodiment of the present application provides a mobile tool collision detection apparatus, which can divide function modules of the mobile tool path planning apparatus according to the mobile tool collision detection method provided in the second embodiment, for example, each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. The moving tool collision detection apparatus has a function of implementing the moving tool collision detection method according to any one of the second embodiments. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In an alternative embodiment, the moving tool collision detecting device may be functionally divided as shown in fig. 13, including a first path planning unit 21 and a first collision detecting unit 22, wherein:
the first path planning unit 21 is configured to plan a path for the mobile tool, and start the first collision detection unit 22 when a waypoint of the driving path is determined in the path planning process;
a first collision detection unit 22, configured to determine whether there is a collision risk at the waypoint according to the following steps 201 to 203: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
In some alternative embodiments, the occupancy grid map used by the first collision detection unit 22 may be generated by one of the modules of the mobile tool collision detection apparatus, or may be received from another device communicatively connected to the mobile tool collision detection apparatus, which is not limited in this application.
In some optional embodiments, the apparatus shown in fig. 13 may further include a mapping unit 20, as shown in fig. 13A, wherein: a first map building unit 20 for building an occupancy grid map centered on the current position of the mobile tool.
In some optional embodiments, the apparatus shown in fig. 13 may further include a first receiving unit 23, as shown in fig. 13B, wherein: a first receiving unit 23 for receiving the occupancy grid map.
The specific implementation of the foregoing steps 201 to 203 can refer to steps 101 to 103 in the first embodiment, which are not described herein again.
Example nine
An embodiment of the present invention provides a mobile tool collision detection apparatus, including:
collision detection means for, after receiving a travel path of a moving tool, determining whether the travel path has a collision risk according to the following steps 301 to 305:
step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
In some alternative embodiments, the collision detection unit may receive the travel path of the moving tool from a path planning unit located on the moving tool. The path planning unit may be, for example, a module provided on the mobile tool and capable of planning a travel path for the mobile tool.
In some optional embodiments, the collision detection unit may further receive a driving path of the mobile tool from a cloud server. The cloud server is provided with a module capable of planning a driving path for the mobile tool.
In some optional embodiments, in order to ensure that the driving path planned for the mobile tool conforms to a dynamic model of the mobile tool and is a driving path that the mobile tool can really follow, in the embodiments of the present invention, when the path planning is performed for the mobile tool, a plurality of state transition paths may be constructed according to a current driving state of the mobile tool, then a target state transition path is selected, and finally a waypoint sequence corresponding to the target state transition path is determined as the driving path of the mobile tool. Because the state transition path represents the state transition relationship of the mobile tool from one driving state to another driving state, that is, the adjacent driving state nodes on the planned state transition path have transferability and conform to the dynamic model of the mobile tool, the mobile tool drives according to the driving path corresponding to the target state transition path and conforms to the dynamic model, can really drive along the driving path, and the effectiveness of the driving path is high.
However, how to quickly and efficiently determine whether the planned driving state transition path is safe so as to avoid collision when the mobile tool drives according to the road point sequence corresponding to the driving state transition path is a technical problem to be solved urgently by those skilled in the art. One solution is that, in the process of planning a state transition path for a mobile tool, each time a travel state node is obtained by planning, whether there is a collision risk for the travel state node is determined, and if there is a collision risk for the travel state node, the travel state node is abandoned and the travel state node is reselected, which can be seen in the following embodiment ten; another solution is to determine whether there is a collision risk in a state transition path after obtaining the state transition path for the mobile tool, and replan the state transition path for the mobile tool if there is a collision risk in the state transition path, which may be specifically referred to in the following embodiment eleven; in the process of planning the state transition path for the mobile tool, when a rose obtains a driving state node, whether the driving state node has a collision risk or not is judged, and after the planning under the state transition path is completed, whether the state moving path has the collision risk or not is judged.
Example ten
Tenth embodiment of the present invention provides a mobile tool collision detection apparatus, as shown in fig. 14, including a second path planning unit 31 and a second collision detection unit 32, wherein:
the second path planning unit 31 is configured to trigger the second collision detection unit 32 after determining a current driving state node of a state transition path of the mobile tool in a path planning process;
a second collision detection unit 32, configured to determine whether there is a collision risk in the current driving state node according to the following steps 401 to 403: step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In some alternative embodiments, the occupancy grid map used by the second collision detection unit 32 may be generated by one of the modules of the mobile tool collision detection apparatus, or may be received from another device communicatively connected to the mobile tool collision detection apparatus, which is not limited in this application.
In some optional embodiments, the second path planning unit 31 constructs a plurality of state transition paths according to the current driving state of the mobile tool, which may be specifically implemented by the foregoing steps a1 to a 4. And will not be described in detail herein.
In some optional embodiments, after constructing each state transition path, the second path planning unit 31 may further perform the following step a5, where: step A5, setting a first evaluation value for representing the quality degree of the route point sequence for the route point sequence corresponding to the state transition path constructed in step A4.
In some optional embodiments, the second path planning unit 31 may further perform step a6 after performing step a5, wherein: and step A6, modifying the node value and the selected times of each driving state node in the state transition path according to the first evaluation value corresponding to the node sequence of the state transition path, wherein the node value is used for representing the quality degree of the driving state node.
In some optional embodiments, the second path planning unit 31 may further perform step a7 after performing step a5, wherein: and step A7, modifying the node values and the selected times of the running state nodes and the state transition space of the running state nodes in the state transition path according to the first evaluation value corresponding to the node sequence of the state transition path.
EXAMPLE eleven
An eleventh embodiment of the present invention provides a mobile tool collision detection apparatus, including a collision detection unit, wherein:
a collision detection unit, configured to, after receiving a state transition path of a mobile tool, determine whether the state transition path has a collision risk according to the following steps 501 to 506:
Example twelve
In some optional embodiments, a twelfth embodiment of the present invention provides a processing device, including a processor and a memory. The processor is coupled to the memory (e.g., via a bus). Optionally, the processing device may further comprise a transceiver connected to the processor and the memory, the transceiver being configured to receive/transmit data. The processor may perform the operations of any of the moving tool collision detection implementations provided in examples one, two, three, five, and six above, as well as various possible implementations thereof, and/or other operations described in the examples of this application.
For example, in some alternative embodiments, the processor is configured to perform steps 101-103, wherein: step 101, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 102, aligning a center point of a first grid area occupied by a moving tool in a target moving tool occupation template with a position point to be detected in a constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map, wherein the occupation grid map is the occupation grid map constructed by taking the current position of the moving tool as the center; and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
In some optional embodiments, the processor is configured to, when a waypoint of a driving path is determined in a path planning process, determine whether the waypoint has a collision risk according to the following steps 201 to 203: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
In some optional embodiments, the processor is configured to, after receiving the travel path of the mobile tool, determine whether the travel path has a collision risk according to the following steps 301 to 305: step 301, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 302, aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with the position of a road point of a driving path in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 303, determining whether the mobile tool has a collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area; if there is a collision risk, executing step 304, and if there is no collision risk, executing step 305; step 304, determining that the driving path has collision risk, and ending the process; step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
In some optional embodiments, the processor is configured to, after determining a driving state node of a state transition path of the mobile tool in a path planning process, determine whether the driving state node has a collision risk according to the following steps 401 to 403: step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
In some optional embodiments, the processor is configured to, after receiving the state transition path of the mobile tool, determine whether the state transition path has a collision risk according to the following steps 501 to 506: step 501, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 502, aligning the central point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of a driving state node of a state transition path in the constructed occupied grid map to obtain a second grid area occupied by the mobile tool in the occupied grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 503, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area; if the collision risk exists, executing step 504, and if the collision risk does not exist, executing step 505; step 504, determining that the state transition path has collision risk, and ending the process; step 505, selecting a next driving state node from the state transition path, if the next driving state node exists, executing step 502 on the driving state node, and if the state transition path does not have the next driving state node, executing step 506; step 506, determining that the state transition path has no collision risk, and ending the process.
EXAMPLE thirteen
In some optional embodiments, the present application further provides a mobile tool collision detection apparatus, including a nonvolatile storage medium and a central processing unit, where the nonvolatile storage medium stores an executable program, and the central processing unit is connected to the nonvolatile storage medium and executes the executable program to implement any one of the mobile tool collision detection methods provided in embodiments one, two, three, five, and six of the present application.
Example fourteen
In some optional embodiments, a fourteenth embodiment of the present invention provides a computer-readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method for collision detection of a moving tool according to any one of the first embodiment, the second embodiment, the third embodiment, the fifth embodiment, and the sixth embodiment is implemented.
Example fifteen
In some optional embodiments, fifteenth embodiment of the present invention provides a computer program product comprising instructions for executing a computer, wherein the computer executes the instructions, and when the computer program product runs on the computer, the computer executes any one of the mobile tool collision detection methods provided in embodiments one, two, three, five and six.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware or any combination thereof. When implemented using a software program, may take the form of a computer program product, either entirely or partially. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, e.g., the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Example sixteen
In some optional embodiments, a chip system according to a sixteenth embodiment of the present invention includes a processor, the processor coupled to a memory, the memory storing program instructions, and the program instructions stored in the memory when executed by the processor implement any one of the moving tool collision detection methods as provided in the first, second, third, fifth and sixth embodiments.
Example seventeen
In some alternative embodiments, the mobile-tool collision-detection methods provided in embodiments one, two, three, five, and six may be implemented as computer program instructions encoded on a computer-readable storage medium in a machine-readable format or encoded on other non-transitory media or articles of manufacture.
Fig. 15 schematically illustrates a conceptual partial view of an example computer program product comprising a computer program for executing a computer process on a computing device, arranged in accordance with at least some embodiments presented herein. In one embodiment, an example computer program product is provided using a signal bearing medium. The signal bearing medium may include one or more program instructions that, when executed by one or more processors, may provide any of the moving tool collision detection methods provided in embodiments one, two, three, five, and six above. For example, one or more features of any of the foregoing moving implement collision detection methods may be undertaken by one or more instructions associated with a signal bearing medium. In some examples, a signal bearing medium may comprise a computer readable medium, such as, but not limited to, a hard disk drive, a Compact Disc (CD), a Digital Video Disc (DVD), a digital tape, a memory, a ROM, or a RAM, among others. In some embodiments, the signal bearing medium may comprise a computer recordable medium such as, but not limited to, memory, read/write (R/W) CDs, R/W DVDs, and the like. In some implementations, the signal bearing medium may comprise a communication medium such as, but not limited to, a digital and/or analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.).
EXAMPLE eighteen
In some alternative embodiments, an eighteenth embodiment of the present invention provides circuitry that includes processing circuitry configured to perform any of the moving tool collision detection methods provided in embodiments one, two, three, five and six.
Example nineteen
In some alternative embodiments, nineteenth of the present embodiments provides a computer system, including a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement a mobile tool collision detection method as in any one of embodiments one, two, three, five, and six.
Example twenty
As shown in fig. 16, an exemplary mobile tool system 100 according to an embodiment of the present invention is provided, where the mobile tool system 100 is mounted on a mobile tool, and the mobile tool system 100 controls the mobile tool to enable unmanned driving or near-unmanned driving. The structure of the moving tool system may be as shown in FIG. 16, including external environmental sensors 110, positioning sensors 120, internal sensors 130, a map database 140, a navigation system 150 and actuators 160, and a computer system 170.
In some optional embodiments, the external environment sensor 110 is a detection device that detects surrounding environment information of the moving tool, which may include, for example, but not limited to, at least one of a camera, a Radar (Radar), and a LIDAR (LIDAR). The camera is a photographing device that photographs the surrounding environment of the mobile tool. The camera may be disposed at the front end, the side surface, or the like of the moving tool, and may be a monocular camera or a binocular camera. The camera transmits the acquired data to the computer system 170. The radar detects an object around the moving tool by using a radio wave, such as a millimeter wave, and detects the object by transmitting the radio wave to the periphery of the moving tool and receiving the radio wave reflected by the object. The radar can output, for example, the distance or direction of the object to the computer system 170 as object information. The laser radar detects an object outside the moving tool by using light, and the laser radar detects the object by measuring a distance from a reflection point by transmitting light to the periphery of the moving tool and receiving light reflected by the object. The lidar is capable of outputting, for example, a distance or a direction of an object to the computer system 170 as object information.
In some optional embodiments, the Positioning sensor 120 may include one or more Positioning modules, for example, one or more of a GPS (Global Positioning System) Positioning module, a beidou Positioning System, an IMU (Inertial Measurement Unit) Positioning module, a visual-IMU odometer obtained by combining a camera and an IMU, a combined Navigation module obtained by combining a GNSS (Global Navigation Satellite System) and an IMU, and the like. The positioning sensor 120 outputs positioning information for positioning the moving tool to the computer system 170.
In some alternative embodiments, the internal sensor 130 is a detector that detects information corresponding to the driving state of the moving implement. The internal sensors 130 may include, for example, at least one of an IMU, a speed sensor, an acceleration sensor, a steering wheel sensor, and a steering engine sensor. In some alternative embodiments, internal sensors 130 may also include at least one of an accelerator pedal sensor, a brake pedal sensor, and a yaw rate sensor. The speed sensor is a detector that detects the speed of the moving tool, and the speed sensor transmits the speed information of the moving tool to the computer system 170. The acceleration sensor is a detector that detects the acceleration of the moving tool, and transmits information including the acceleration of the moving tool to the computer system 170. The steering wheel sensor is a detector that detects a rotation state of the steering wheel, such as a steering wheel angle, a steering wheel angle velocity, a steering wheel angle acceleration, and the like, and transmits the steering wheel angle, the steering wheel angle velocity, and the steering wheel angle acceleration of the moving tool to the computer system 170. The steering gear sensor is a detector that detects the steering gear angle and transmits the steering gear angle to the computer system 170. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) of the moving tool about the vertical axis of the center of gravity, and a gyro sensor, for example, can be used. The yaw rate sensor transmits yaw rate information including the yaw rate of the moving implement to the computer system 170. The accelerator pedal sensor is, for example, a detector that detects a stepping amount of an accelerator pedal, for example, provided at a shaft portion of an accelerator pedal of the moving tool, and transmits operation information corresponding to the stepping amount of the accelerator pedal to the computer system 170. The brake pedal sensor is, for example, a detector that detects the amount of depression of a brake pedal, and is, for example, provided at a shaft portion of the brake pedal. The brake pedal sensor may detect an operating force of the brake pedal (a depression force on the brake pedal, a pressure of the master cylinder, and the like). The brake pedal sensor transmits operation information corresponding to the amount of depression or the operation force of the brake pedal to the computer system 170.
In some alternative embodiments, the map database 140 is a database with high precision map information. The map database 140 is formed in, for example, a Hard Disk Drive (HDD) mounted on a mobile tool. The high-precision map information includes, for example, lane line information, position information, road shape information, traffic light information, traffic sign information, position information of intersections and branch intersections, and the like.
In some alternative embodiments, the navigation system 150 calculates the navigation route of the mobile tool based on the position information of the mobile tool located by the location sensor 120 and the map information of the map database 140. The navigation system 150, for example, communicates information of the target navigation route of the mobile tool out to the computer system 170. In addition, the navigation system 150 may be a local system provided on the mobile tool, or may be a cloud system capable of communicating with the mobile tool.
In some alternative embodiments, the actuator 160 is a device that performs travel control of a moving implement, and the actuator 160 includes at least a throttle actuator, a brake actuator, a steering wheel actuator, and the like. The throttle actuator controls the amount of air supplied to the engine (throttle opening degree) according to the control signal transmitted from the computer system 170, thereby controlling the driving force of the moving tool, which may, of course, not include the throttle actuator if the moving tool is a hybrid tool or an electric tool, and the control signal from the computer system 170 is input to the motor as the power source to control the driving force. The brake actuator controls the brake system in accordance with control signals from the computer system 170, thereby controlling the braking force applied to the wheels of the moving tool. As the brake system, for example, a hydraulic brake system may be used. The steering wheel actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with a control signal from the computer system 170. Thus, the steering wheel actuator controls the steering torque (steering torque) of the moving tool.
In some alternative embodiments, the computer system 170 may be an electronic control Unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. In the computer system 170, various controls are executed by loading a program stored in the ROM into the RAM and executing it by the CPU. The computer system 170 may be constituted by a plurality of electronic control units.
In some alternative embodiments, computer system 170 may include a memory and one or more processors communicatively coupled to the memory; the memory has stored therein instructions (e.g., program logic) executable by the one or more processors to cause the one or more processors to perform various functions, such as positioning fusion functions, sensing functions, driving state determination functions, path planning functions (i.e., decision making functions), and driving control functions, among others. In some alternative embodiments, the memory may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the external environment sensors 110, the positioning sensors 120, the internal sensors 130, the map database 140, the navigation system 150, and the actuators 160, and other peripherals.
In some alternative embodiments, the computer system 170 may also be a plurality of computing devices that control individual components or subsystems of the mobile tool 100 in a distributed manner.
In some optional embodiments, the sensing module 170B identifies an external condition of the moving tool based on the detection result of the external environment sensor 110, and may include, for example, a position of a white line or a lane center with respect to a driving lane of the moving tool, and a road width, a shape of a road, and the like. The external situation may be a situation of an object such as an obstacle around the moving tool, and may include, for example, information for distinguishing a fixed obstacle from a moving obstacle, a position of the obstacle with respect to the moving tool, a moving direction of the obstacle with respect to the moving tool, a relative speed of the obstacle with respect to the moving tool, and the like. The driving state determination module 170C identifies the driving state of the mobile tool based on the detection result of the internal sensor 130, including, for example, speed, acceleration, steering wheel angle speed, steering wheel relay acceleration, and a rack angle.
In some alternative embodiments, according to the functional division, as shown in fig. 17, the computer system 170 may include a positioning fusion module 170A, a perception module 170B, a driving state determination module 170C, a path planning module 170D, a driving control module 170E, and the like. The path planning module 170D plans a travel path for the mobile tool. In some alternative embodiments, the modules included in the computing system 170 shown in FIG. 17 may all be deployed on a mobile tool. In some alternative embodiments, all modules included in the computer system 170 shown in fig. 17 are deployed on the cloud server, and the modules disposed on the cloud server communicate with the relevant devices or modules on the mobile tool through the existing wireless communication manner. In some optional embodiments, a part of the modules in the computer system 170 shown in fig. 17 are deployed on the mobile tool, and other modules are deployed on the cloud server, and the modules deployed on the cloud server and the modules deployed on the mobile tool may communicate with each other through an existing wireless communication mechanism, for example, the positioning fusion module 170A, the perception module 170B, the driving state determination module 170C, and the driving control module 170E are deployed on the mobile tool, and the path planning module 170D is deployed on the cloud server. Those skilled in the art can flexibly set the positions where the modules in the computer system 170 are deployed according to actual requirements, and the present application is not limited strictly.
As shown in the path planning module 170D shown in fig. 17, in some optional embodiments, when a waypoint is obtained by planning a driving path for a mobile tool, the path planning module 170D executes the mobile tool collision detection method provided in the second embodiment to determine whether the waypoint has a collision risk, if the waypoint does not have the collision risk, the path planning module 170D continues to plan a next waypoint of the driving path, and if the waypoint has the collision risk, the path planning module 170D abandons the waypoint and plans a new waypoint again.
As shown in the path planning module 170D shown in fig. 17, in some optional embodiments, after planning a driving path for a mobile tool, the path planning module 170D executes the mobile tool collision detection method provided in the third embodiment to determine whether there is a collision risk in the driving path, and if there is no collision risk in the driving path, sends the driving path to the driving control module 170E, and if there is a collision risk in the driving path, abandons the driving path and replans a new driving path.
As shown in the path planning module 170D shown in fig. 17, in some optional embodiments, when the path planning module 170D performs path planning on a mobile tool, a plurality of state transition paths may be first constructed according to a current driving state of the mobile tool, then a target state transition path is selected, and finally a waypoint sequence corresponding to the target state transition path is determined as a driving path of the mobile tool. In some optional embodiments, after determining the driving state node of the state transition path of the mobile tool in the path planning process, the path planning module 170D executes the mobile tool collision detection method provided in the fifth embodiment to determine whether there is a collision risk in the driving state node, abandons the driving state node and plans a new driving state node again if there is a collision risk in the driving state node, and continues to plan a next driving state node if there is no collision risk in the driving state node. In an optional embodiment, after planning a state transition path, the path planning module 170D executes the mobile tool collision detection method provided in the sixth embodiment to determine whether there is a collision risk in the state transition path, abandon the state transition path if there is a collision risk in the state transition path, and reserve the state transition path if there is no collision risk in the state transition path.
In some alternative embodiments, according to functional division, as shown in fig. 18, the computer system 170 may include a localization fusion module 170A, a perception module 170B, a driving state determination module 170C, a path planning module 170D, a driving control module 170E, a collision detection module 170F, and the like. The path planning module 170D plans a travel path for the mobile tool. In some alternative embodiments, the modules included in the computing system 170 shown in FIG. 18 may all be deployed on a mobile tool. In some alternative embodiments, all of the modules included in the computer system 170 shown in fig. 18 are deployed on the cloud server, and the modules deployed on the cloud server communicate with the relevant devices or modules on the mobile tool through the existing wireless communication manner. In some alternative embodiments, some of the modules in the computer system 170 shown in fig. 18 are deployed on the mobile tool, and other modules are deployed on the cloud server, and the modules deployed on the cloud server and the modules deployed on the mobile tool may communicate with each other through an existing wireless communication mechanism. For example: the positioning fusion module 170A, the perception module 170B, the driving state determination module 170C and the driving control module 170E are deployed on a mobile tool, and the path planning module 170D and the collision detection module 170F are deployed on a cloud server; also for example: the positioning fusion module 170A, the perception module 170B, the driving state determination module 170C, the driving control module 170E and the path planning module 170D are arranged on a mobile tool, and the collision detection module 170F is deployed on a cloud server. Those skilled in the art can flexibly set the positions where the modules in the computer system 170 are deployed according to actual requirements, and the present application is not limited strictly.
As shown in the path planning module 170D of fig. 18, in some alternative embodiments, the path planning module 170D sends a waypoint to the collision detection module 170F every time a waypoint is obtained in the process of planning a driving path for the mobile tool; the collision detection module 170F executes the mobile tool collision detection method provided in the second embodiment to determine whether there is a collision risk at the waypoint, and sends a collision risk result to the path planning module 170D. If the waypoint does not have the collision risk, the path planning module 170D continues to plan the next waypoint of the driving path, and if the waypoint has the collision risk, the path planning module 170D abandons the waypoint and plans a new waypoint again.
As shown in the path planning module 170D of fig. 18, in some alternative embodiments, the path planning module 170D sends the travel path to the collision detection module 170F after planning the travel path for the mobile tool. The collision detection module 170F executes the mobile tool collision detection method provided in the third embodiment, determines whether the traveling path has a collision risk, and sends a collision risk result to the path planning module 170D. If the driving path has no collision risk, the path planning module 170D sends the driving path to the driving control module 170E, and if the driving path has a collision risk, the path planning module 170D abandons the driving path and replans a new driving path.
As shown in the path planning module 170D shown in fig. 18, in some optional embodiments, when the path planning module 170D performs path planning on a mobile tool, a plurality of state transition paths may be first constructed according to a current driving state of the mobile tool, then a target state transition path is selected, and finally a waypoint sequence corresponding to the target state transition path is determined as a driving path of the mobile tool. In some optional embodiments, after determining the driving state node of the state transition path of the mobile tool in the path planning process, the path planning module 170D sends the driving state node to the collision detection module 170F. The collision detection module 170F executes the mobile tool collision detection method provided in the fifth embodiment to determine whether there is a collision risk in the driving state node, and sends a collision risk result to the path planning module 170D. If the node in the driving state has a collision risk, the path planning module 170D abandons the node in the driving state and plans a new node in the driving state again, and if the node in the driving state does not have a collision risk, the path planning module 170D continues planning a next node in the driving state.
As shown in the path planning module 170D shown in fig. 18, in some optional embodiments, after planning a state transition path, the path planning module 170D sends the state transition path to the collision detection module 170F, and the collision detection module 170F executes the mobile tool collision detection method provided in the sixth embodiment to determine whether there is a collision risk in the state transition path, and sends a collision risk result to the path planning module 170D. If the state transition path has a collision risk, the path planning module 170D abandons the state transition path, and if the state transition path does not have a collision risk, the path planning module 170D reserves the state transition path.
In some alternative embodiments, the computer system 170 may also be configured as shown in FIG. 19, the computer system 170 is disposed on a mobile tool, and the computer system 170 may include a processor, and the processor and the system bus are coupled. The processor may be one or more processors, where each processor may include one or more processor cores. Optionally, the computer server may further comprise a display adapter, the display adapter may drive a display, the display coupled to the system bus. The system bus is coupled to an input/output (I/O) bus through a bus bridge. The I/O interface is coupled to the I/O bus. The I/O interface communicates with various I/O devices such as input devices (e.g., keyboard, mouse, touch screen, etc.), multimedia disks such as CD-ROMs, multimedia interfaces, etc. A transceiver (which can send and/or receive radio communication signals), a camera, and an external USB interface. Alternatively, the interface connected to the I/O interface may be a USB interface. The processor may be any conventional processor including a reduced instruction set computing ("RISC") processor, a complex instruction set computing ("CISC") processor, or a combination thereof. Alternatively, the processor may be a dedicated device such as an application specific integrated circuit ("ASIC"). Computer system 170 may communicate with the software deploying server via a network interface. The network interface is a hardware network interface, such as a network card. The network may be an external network, such as the internet, or an internal network, such as an ethernet or a Virtual Private Network (VPN). Optionally, the network may also be a wireless network, such as a WiFi network, a cellular network, etc. The hard drive interface is coupled to a system bus. The hardware drive interface is connected with the hard disk drive. The system memory is coupled to a system bus. The data running in system memory may include the operating system and application programs of the computer server. The operating system includes a Shell (Shell) and a kernel (kernel). The shell is an interface between the user and the kernel of the operating system. The shell is the outermost layer of the operating system. Interaction between the shell management user and the operating system: waits for user input, interprets the user input to the operating system, and processes the output results of the various operating systems. The kernel is made up of those parts of the operating system that are used to manage memory, files, peripherals, and system resources. Interacting directly with the hardware, the operating system kernel typically runs processes and provides inter-process communication, CPU slot management, interrupts, memory management, IO management, and the like. The application programs may include any program related to the path planning method as provided in the first embodiment, and other related programs. The application may also reside on a system of software deploying servers. In one embodiment, computer system 170 may download an application from a software deploying server when the application needs to be executed.
In some alternative embodiments, computer system 170 may also receive information from, or transfer information to, other computer systems. Alternatively, data received from the mobile tool may be transferred to another computer system, and this data processed by the other computer system. Data from the computer system 170 may be transmitted to the cloud computer system via the network, and further processed by the cloud computer system, and the cloud computer system transmits the processing result to the computer system 170 via the network, as shown in fig. 20. The networks and intermediate nodes may include various configurations and protocols, including the Internet, world Wide Web, intranets, virtual private networks, wide area networks, local area networks, private networks using one or more company's proprietary communication protocols, Ethernet, WiFi and HTTP (Hypertext Transfer Protocol), and various combinations of the foregoing. Such communication may be performed by any device capable of transferring data to and from other computer systems, such as modems and wireless interfaces. In one example, the cloud computer system may include a computer server, such as a load balancing server farm. The cloud computing systems exchange information with various nodes of the network in order to receive, process, and transmit data from the computer system 170. The cloud computer system may have a configuration similar to computer system 170 and have a processor, memory, instructions, and data. The cloud-based computer system may receive data (such as the current location of the mobile tool, the current driving status, etc.) from the computer system 170 on the mobile tool via a network, such as a wireless communication network. For example, in the process of planning a driving path for a mobile tool, the computer system 170 sends a waypoint to the cloud computer system every time the waypoint is obtained by planning; the cloud computer system executes the mobile tool collision detection method provided in the second embodiment to determine whether there is a collision risk in the waypoint, and sends a collision risk result to the computer system 170. If the waypoint does not have the collision risk, the computer system 170 continues to plan the next waypoint of the driving path, and if the waypoint has the collision risk, the computer system 170 abandons the waypoint and plans a new waypoint again. For example, the computer system 170 may be configured to determine a travel path for the mobile tool and then send the travel path to the cloud computing system. The cloud computer system executes the mobile tool collision detection method provided in the third embodiment, determines whether the travel path has a collision risk, and sends a collision risk result to the computer system 170. If the travel path does not have the collision risk, the computer system 170 sends the travel path to the travel control module 170E, and if the travel path has the collision risk, the computer system 170 abandons the travel path and replans a new travel path. For example, when the computer system 170 performs path planning for a mobile tool, it may first construct a plurality of state transition paths according to the current driving state of the mobile tool, then select a target state transition path, and finally determine a route point sequence corresponding to the target state transition path as the driving path of the mobile tool. In some optional embodiments, after determining a driving state node of a state transition path of a mobile tool in a path planning process, the computer system 170 sends the driving state node to a cloud computer system, and the cloud computer system executes the mobile tool collision detection method provided in the fifth embodiment to determine whether the driving state node has a collision risk, and sends a collision risk result to the computer system 170; if the node in the driving state has a collision risk, the computer system 170 abandons the node in the driving state and plans a new node in the driving state again, and if the node in the driving state does not have a collision risk, the computer system 170 continues planning a next node in the driving state. For example, after the computer system 170 plans a state transition path, the state transition path is sent to the cloud computer system, and the cloud computer system executes the mobile tool collision detection method provided in the sixth embodiment to determine whether there is a collision risk in the state transition path, and sends a collision risk result to the computer system 170. If the state transition path has a risk of collision, the computer system 170 abandons the state transition path, and if the state transition path does not have a risk of collision, the computer system 170 retains the state transition path.
While the principles of the invention have been described in connection with specific embodiments thereof, it should be noted that it will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which may be implemented by those skilled in the art using their basic programming skills after reading the description of the invention.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the above embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the above-described embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (52)
1. A mobile tool collision detection method, comprising:
step 101, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates;
step 102, aligning a center point of a first grid area occupied by a moving tool in a target moving tool occupation template with a position point to be detected in a constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map, wherein the occupation grid map is the occupation grid map constructed by taking the current position of the moving tool as the center;
and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
2. The method according to claim 1, wherein the step 103 of determining whether the mobile tool has a collision risk at the position to be detected according to the occupation situation of the first grid area and the second grid area specifically comprises:
and if a preset number of grids in the second grid area are marked as being occupied by the obstacle, determining that the mobile tool has a collision risk at the position point to be detected.
3. The method according to claim 1, wherein the step 103 of determining whether the mobile tool has a collision risk at the position to be detected according to the occupation situation of the first grid area and the second grid area specifically comprises:
and calculating a collision evaluation value for representing the high and low collision probability according to the occupation conditions of the first grid area and the second grid area, and determining whether the mobile tool has collision risk at the position point to be detected according to the collision evaluation value.
4. The method of claim 1, wherein the values of the grids in the mobile tool occupancy template are set to binary values according to a preset occupancy rule; the values of the grids in the occupied grid map are obtained according to the occupied rule;
in step 103, determining whether the mobile tool has a collision risk at the position point to be detected according to the occupation situations of the first grid area and the second grid area, specifically including: and carrying out binary operation on the values of the grids in the first grid area and the corresponding grids in the second grid area, and determining whether the mobile tool has collision risk at the position point to be detected according to the operation result.
5. The method according to claim 4, wherein the occupancy rule is that the value of the occupancy rule is set to 1 when the occupancy rule is occupied by an obstacle or a moving tool in the grid, and is set to 0 otherwise; the binary operation is a binary and operation;
calculating the values of the grids in the first grid area and the corresponding grids in the second grid area, and determining whether the mobile tool has a collision risk at the position point to be detected according to the calculation result, specifically comprising:
and respectively carrying out binary AND operation on the values of the grids in the grid area and the values of the corresponding grids occupying the grid map, and if the AND operation result is more than a preset number of 1, determining that the mobile tool has collision risk at the position point to be detected.
6. The method according to claim 4, wherein the occupancy rule is that the value of the occupancy rule is set to 0 when the occupancy rule is occupied by an obstacle or a moving tool in the grid, and is set to 1 otherwise; the binary operation is a binary OR operation;
calculating the values of the grids in the first grid area and the corresponding grids in the second grid area, and determining whether the mobile tool has a collision risk at the position point to be detected according to the calculation result, specifically comprising:
and respectively carrying out binary OR operation on the values of the grids in the grid area and the values of the corresponding grids occupying the grid map, and if more than a preset number of values exist or the operation result is 0, determining that the mobile tool has collision risk at the position point to be detected.
7. The method according to any one of claims 1 to 6, further comprising:
and step 100, constructing an occupation grid map by taking the current position of the mobile tool as a center.
8. A collision detection method for a mobile tool is characterized in that when a waypoint of a driving path is determined in a path planning process, whether the waypoint has a collision risk is judged according to the following steps:
step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates;
step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
9. A collision detection method for a moving tool is characterized in that after a traveling path of the moving tool is received, whether the traveling path has a collision risk is judged according to the following steps:
step 301, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 302, aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with the position of a road point of a driving path in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
step 303, determining whether the mobile tool has a collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area; if there is a collision risk, executing step 304, and if there is no collision risk, executing step 305;
step 304, determining that the driving path has collision risk, and ending the process;
step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
10. A collision detection method for a mobile tool is characterized in that after a driving state node of a state transition path of the mobile tool is determined in a path planning process, whether the driving state node has a collision risk is judged according to the following steps:
step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
11. A collision detection method for a moving tool is characterized in that after a state transition path of the moving tool is received, whether the state transition path has a collision risk is judged according to the following steps:
step 501, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 502, aligning the central point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of a driving state node of a state transition path in the constructed occupied grid map to obtain a second grid area occupied by the mobile tool in the occupied grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
step 503, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area; if the collision risk exists, executing step 504, and if the collision risk does not exist, executing step 505;
step 504, determining that the state transition path has collision risk, and ending the process;
step 505, selecting a next driving state node from the state transition path, if the next driving state node exists, executing step 502 on the driving state node, and if the state transition path does not have the next driving state node, executing step 506;
step 506, determining that the state transition path has no collision risk, and ending the process.
12. A mobile tool collision detection apparatus, comprising:
the matching unit is used for determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
the grid area determining unit is used for aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with a position point to be detected in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and the collision determining unit is used for determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
13. The apparatus of claim 12, further comprising:
and the map building unit is used for building the occupation grid map by taking the current position of the mobile tool as the center.
14. A mobile tool collision detection apparatus, comprising:
the first path planning unit is used for planning a path for the mobile tool and starting the first collision detection unit when a waypoint of the driving path is determined in the path planning process;
the first collision detection unit is used for judging whether the road points have collision risks according to the following steps: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
15. A mobile tool collision detection apparatus, comprising:
the collision detection unit is used for judging whether the driving path has collision risk according to the following steps after receiving the driving path of the moving tool:
step 301, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 302, aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with the position of a road point of a driving path in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
step 303, determining whether the mobile tool has a collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area; if there is a collision risk, executing step 304, and if there is no collision risk, executing step 305;
step 304, determining that the driving path has collision risk, and ending the process;
step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
16. A mobile tool collision detection apparatus, comprising:
the second path planning unit is used for triggering the second collision detection unit after determining the current driving state node of the state transition path of the mobile tool in the path planning process;
the second collision detection unit is used for judging whether the current driving state node has a collision risk according to the following steps:
step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
17. A mobile tool collision detection apparatus, comprising:
the collision detection unit is used for judging whether the state transition path has collision risk according to the following steps after receiving the state transition path of the moving tool:
step 501, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates;
step 502, aligning the central point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of a driving state node of a state transition path in the constructed occupied grid map to obtain a second grid area occupied by the mobile tool in the occupied grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center;
step 503, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area; if the collision risk exists, executing step 504, and if the collision risk does not exist, executing step 505;
step 504, determining that the state transition path has collision risk, and ending the process;
step 505, selecting a next driving state node from the state transition path, if the next driving state node exists, executing step 502 on the driving state node, and if the state transition path does not have the next driving state node, executing step 506;
step 506, determining that the state transition path has no collision risk, and ending the process.
18. A processing device, comprising:
a processor for performing the steps of: step 101, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 102, aligning a center point of a first grid area occupied by a moving tool in a target moving tool occupation template with a position point to be detected in a constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map, wherein the occupation grid map is the occupation grid map constructed by taking the current position of the moving tool as the center; and 103, determining whether the mobile tool has collision risk at the position point to be detected according to the occupation conditions of the first grid area and the second grid area.
19. A processing device, comprising:
the processor is used for judging whether the road points have collision risks according to the following steps when the road points of the driving path are determined in the path planning process: step 201, determining a target moving tool occupation template matched with the posture of a moving tool from preset moving tool occupation templates; step 202, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the waypoint in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 203, determining whether the mobile tool has collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area.
20. A processing device, comprising:
the processor is used for judging whether the driving path has collision risk according to the following steps after receiving the driving path of the moving tool: step 301, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 302, aligning the center point of a first grid area occupied by the moving tool in the target moving tool occupation template with the position of a road point of a driving path in the constructed occupation grid map to obtain a second grid area occupied by the moving tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 303, determining whether the mobile tool has a collision risk at the waypoint according to the occupation conditions of the first grid area and the second grid area; if there is a collision risk, executing step 304, and if there is no collision risk, executing step 305; step 304, determining that the driving path has collision risk, and ending the process; step 305 selects the next waypoint from the travel route, and executes steps 302 to 305 on the waypoint.
21. A processing device, comprising:
the processor is used for determining a driving state node of a state transition path of the mobile tool in the path planning process, and then judging whether the driving state node has a collision risk according to the following steps: step 401, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 402, aligning the center point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of the state driving node in the constructed occupation grid map to obtain a second grid area occupied by the mobile tool in the occupation grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; and step 403, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area.
22. A processing device, comprising:
the processor is used for judging whether the state transition path has collision risk according to the following steps after receiving the state transition path of the moving tool: step 501, determining a target moving tool occupation template matched with the posture of the moving tool from preset moving tool occupation templates; step 502, aligning the central point of a first grid area occupied by the mobile tool in the target mobile tool occupation template with the position of a driving state node of a state transition path in the constructed occupied grid map to obtain a second grid area occupied by the mobile tool in the occupied grid map; the occupation grid map is constructed by taking the current position of the mobile tool as the center; step 503, determining whether the driving state node has collision risk according to the occupation conditions of the first grid area and the second grid area; if the collision risk exists, executing step 504, and if the collision risk does not exist, executing step 505; step 504, determining that the state transition path has collision risk, and ending the process; step 505, selecting a next driving state node from the state transition path, if the next driving state node exists, executing step 502 on the driving state node, and if the state transition path does not have the next driving state node, executing step 506;
step 506, determining that the state transition path has no collision risk, and ending the process.
23. A computer-readable storage medium comprising a program or instructions for implementing a mobile tool collision detection method according to any one of claims 1 to 7 when the program or instructions are run on a computer.
24. A computer-readable storage medium comprising a program or instructions for implementing the mobile tool collision detection method according to claim 8 when the program or instructions are run on a computer.
25. A computer-readable storage medium comprising a program or instructions for implementing the mobile tool collision detection method according to claim 9 when the program or instructions are run on a computer.
26. A computer-readable storage medium comprising a program or instructions for implementing the mobile tool collision detection method according to claim 10 when the program or instructions are run on a computer.
27. A computer-readable storage medium comprising a program or instructions for implementing the mobile tool collision detection method according to claim 11 when the program or instructions are run on a computer.
28. A computer program product comprising instructions for causing a computer to perform the method of mobile tool collision detection according to any one of claims 1 to 7 when the computer program product is run on the computer.
29. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the mobile tool collision detection method according to claim 8.
30. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the mobile tool collision detection method according to claim 9.
31. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the mobile tool collision detection method according to claim 10.
32. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the mobile tool collision detection method according to claim 11.
33. A chip system comprising a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, implement the mobile tool collision detection method of any of claims 1-7.
34. A chip system comprising a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, implement the mobile tool collision detection method of claim 8.
35. A chip system comprising a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, implement the mobile tool collision detection method of claim 9.
36. A chip system comprising a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, implement the mobile tool collision detection method of claim 10.
37. A chip system comprising a processor coupled to a memory, the memory storing program instructions that, when executed by the processor, implement the mobile tool collision detection method of claim 11.
38. Circuitry, characterized in that it comprises processing circuitry configured to perform a mobile tool collision detection method according to any of claims 1-7.
39. Circuitry, characterized in that it comprises processing circuitry configured to perform the mobile tool collision detection method of claim 8.
40. Circuitry, characterized in that it comprises processing circuitry configured to perform the mobile tool collision detection method according to claim 9.
41. Circuitry, characterized in that it comprises processing circuitry configured to perform the mobile tool collision detection method of claim 10.
42. Circuitry, characterized in that it comprises processing circuitry configured to perform the mobile tool collision detection method according to claim 11.
43. A computer system comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement a mobile tool collision detection method according to any one of claims 1 to 7.
44. A computer system comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 8.
45. A computer system comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 9.
46. A computer system comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 10.
47. A computer system comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 11.
48. A mobile tool comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement a mobile tool collision detection method according to any one of claims 1 to 7.
49. A mobile tool comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 8.
50. A mobile tool comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 9.
51. A mobile tool comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 10.
52. A mobile tool comprising a memory, and one or more processors communicatively coupled to the memory;
the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the mobile tool collision detection method of claim 11.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911145871.1A CN112824836A (en) | 2019-11-21 | 2019-11-21 | Mobile tool collision detection method and related equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911145871.1A CN112824836A (en) | 2019-11-21 | 2019-11-21 | Mobile tool collision detection method and related equipment |
Publications (1)
Publication Number | Publication Date |
---|---|
CN112824836A true CN112824836A (en) | 2021-05-21 |
Family
ID=75907290
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911145871.1A Pending CN112824836A (en) | 2019-11-21 | 2019-11-21 | Mobile tool collision detection method and related equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112824836A (en) |
Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08315181A (en) * | 1995-05-16 | 1996-11-29 | Hitachi Ltd | Method and device for judging collision |
CA2247042A1 (en) * | 1996-03-12 | 1997-09-18 | Vdo Luftfahrtgerate Werk Gmbh | Method of detecting a collision risk and preventing air collisions |
FR2890773A1 (en) * | 2005-09-09 | 2007-03-16 | Inst Nat Rech Inf Automat | Driving assistance method, e.g. for ABS and ACC systems, in which an area in front of a vehicle is discretized as a multiplicity of cells and the vehicle collision probability is determined based on individual cell calculations |
CN101283387A (en) * | 2005-09-09 | 2008-10-08 | 国立计算机与自动化研究所 | Vehicle steering aid method and improved related device |
DE102013201941A1 (en) * | 2013-02-06 | 2014-08-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining lane course for vehicle, involves determining resultant respective path includes traffic lane boundary depending on predetermined allocation map which represents predetermined area around vehicle |
CN105184896A (en) * | 2015-10-08 | 2015-12-23 | 珠海市杰理科技有限公司 | Collision detection device, event data recorder comprising same as well as collision detection processing method |
CN106548660A (en) * | 2015-09-17 | 2017-03-29 | 大众汽车有限公司 | Determine the theory locus of vehicle |
CN107063280A (en) * | 2017-03-24 | 2017-08-18 | 重庆邮电大学 | A kind of intelligent vehicle path planning system and method based on control sampling |
WO2018104191A1 (en) * | 2016-12-06 | 2018-06-14 | Siemens Aktiengesellschaft | Automated open space identification by means of difference analysis for vehicles |
CN108776492A (en) * | 2018-06-27 | 2018-11-09 | 电子科技大学 | A kind of four-axle aircraft automatic obstacle avoiding and air navigation aid based on binocular camera |
CN109141441A (en) * | 2018-07-19 | 2019-01-04 | 北京汽车集团有限公司 | The obstacle analysis method and apparatus of vehicle |
CN109496288A (en) * | 2017-07-13 | 2019-03-19 | 北京嘀嘀无限科技发展有限公司 | System and method for determining track |
CN109782763A (en) * | 2019-01-18 | 2019-05-21 | 中国电子科技集团公司信息科学研究院 | A kind of method for planning path for mobile robot under dynamic environment |
WO2019111702A1 (en) * | 2017-12-05 | 2019-06-13 | ソニー株式会社 | Information processing device, information processing method, and program |
CN110136254A (en) * | 2019-06-13 | 2019-08-16 | 吉林大学 | Driving assistance information display methods based on dynamic probability driving map |
US20190329763A1 (en) * | 2016-10-31 | 2019-10-31 | Toyota Motor Europe | Driving assistance method and system |
JP2019194844A (en) * | 2018-03-15 | 2019-11-07 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | Method and system for reliably preventing vehicle collision monitored on infrastructure side |
-
2019
- 2019-11-21 CN CN201911145871.1A patent/CN112824836A/en active Pending
Patent Citations (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08315181A (en) * | 1995-05-16 | 1996-11-29 | Hitachi Ltd | Method and device for judging collision |
CA2247042A1 (en) * | 1996-03-12 | 1997-09-18 | Vdo Luftfahrtgerate Werk Gmbh | Method of detecting a collision risk and preventing air collisions |
FR2890773A1 (en) * | 2005-09-09 | 2007-03-16 | Inst Nat Rech Inf Automat | Driving assistance method, e.g. for ABS and ACC systems, in which an area in front of a vehicle is discretized as a multiplicity of cells and the vehicle collision probability is determined based on individual cell calculations |
CN101283387A (en) * | 2005-09-09 | 2008-10-08 | 国立计算机与自动化研究所 | Vehicle steering aid method and improved related device |
DE102013201941A1 (en) * | 2013-02-06 | 2014-08-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining lane course for vehicle, involves determining resultant respective path includes traffic lane boundary depending on predetermined allocation map which represents predetermined area around vehicle |
CN106548660A (en) * | 2015-09-17 | 2017-03-29 | 大众汽车有限公司 | Determine the theory locus of vehicle |
CN105184896A (en) * | 2015-10-08 | 2015-12-23 | 珠海市杰理科技有限公司 | Collision detection device, event data recorder comprising same as well as collision detection processing method |
US20190329763A1 (en) * | 2016-10-31 | 2019-10-31 | Toyota Motor Europe | Driving assistance method and system |
WO2018104191A1 (en) * | 2016-12-06 | 2018-06-14 | Siemens Aktiengesellschaft | Automated open space identification by means of difference analysis for vehicles |
CN107063280A (en) * | 2017-03-24 | 2017-08-18 | 重庆邮电大学 | A kind of intelligent vehicle path planning system and method based on control sampling |
CN109496288A (en) * | 2017-07-13 | 2019-03-19 | 北京嘀嘀无限科技发展有限公司 | System and method for determining track |
US20190155290A1 (en) * | 2017-07-13 | 2019-05-23 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for trajectory determination |
WO2019111702A1 (en) * | 2017-12-05 | 2019-06-13 | ソニー株式会社 | Information processing device, information processing method, and program |
JP2019194844A (en) * | 2018-03-15 | 2019-11-07 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | Method and system for reliably preventing vehicle collision monitored on infrastructure side |
CN108776492A (en) * | 2018-06-27 | 2018-11-09 | 电子科技大学 | A kind of four-axle aircraft automatic obstacle avoiding and air navigation aid based on binocular camera |
CN109141441A (en) * | 2018-07-19 | 2019-01-04 | 北京汽车集团有限公司 | The obstacle analysis method and apparatus of vehicle |
CN109782763A (en) * | 2019-01-18 | 2019-05-21 | 中国电子科技集团公司信息科学研究院 | A kind of method for planning path for mobile robot under dynamic environment |
CN110136254A (en) * | 2019-06-13 | 2019-08-16 | 吉林大学 | Driving assistance information display methods based on dynamic probability driving map |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111123952B (en) | Trajectory planning method and device | |
CN113792566B (en) | Laser point cloud processing method and related equipment | |
EP4141736A1 (en) | Lane tracking method and apparatus | |
CN113632033B (en) | Vehicle control method and device | |
US11731661B2 (en) | Systems and methods for imminent collision avoidance | |
CN115235500B (en) | Lane line constraint-based pose correction method and device and all-condition static environment modeling method and device | |
CN113459852A (en) | Path planning method and device and mobile tool | |
CN113034970A (en) | Safety system, automated driving system and method thereof | |
CN112461249A (en) | Sensor localization from external source data | |
US10891951B2 (en) | Vehicle language processing | |
CN112825160B (en) | State transition library construction method, path planning method and related equipment | |
CN112824838B (en) | Path planning method and device, chip system, computer system and mobile tool | |
CN113022573B (en) | Road structure detection method and device | |
CN114813157A (en) | Test scene construction method and device | |
CN112824836A (en) | Mobile tool collision detection method and related equipment | |
US11919546B2 (en) | Systems and methods for estimating cuboids from LiDAR, map and image data | |
US20230123184A1 (en) | Systems and methods for producing amodal cuboids | |
CN117367440A (en) | Off-road line generation system, off-road line generation method, electronic device, and storage medium | |
US20230415781A1 (en) | Systems and methods for controlling longitudinal acceleration based on lateral objects | |
CN114074672B (en) | Method for identifying cornering stiffness of a tyre of a vehicle and related device | |
CN113071477A (en) | Automatic vehicle parking method and device, automatic vehicle warehouse-out method and device, user terminal, mobile tool and related equipment | |
EP4181089A1 (en) | Systems and methods for estimating cuboid headings based on heading estimations generated using different cuboid defining techniques | |
US12145582B2 (en) | Systems and methods for controlling longitudinal acceleration based on lateral objects | |
US20240151817A1 (en) | Systems and methods for static detection based amodalization placement | |
US20230415736A1 (en) | Systems and methods for controlling longitudinal acceleration based on lateral objects |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |