CN110466513A - Control method for vehicle and device - Google Patents
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- CN110466513A CN110466513A CN201910817655.0A CN201910817655A CN110466513A CN 110466513 A CN110466513 A CN 110466513A CN 201910817655 A CN201910817655 A CN 201910817655A CN 110466513 A CN110466513 A CN 110466513A
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000016776 visual perception Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 abstract 7
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- 238000005859 coupling reaction Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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Abstract
The invention discloses a kind of control method for vehicle and devices.Wherein, this method comprises: the movement velocity and the direction of motion of the first barrier around detection automatic driving vehicle；Movement velocity and the direction of motion based on the first barrier, it is determined whether meet preset trigger condition；Determining that calculating automatic driving vehicle is in various control mode during traveling, multiple kinematic parameters between automatic driving vehicle and the first barrier under every kind of control model when meeting preset trigger condition；Based on multiple kinematic parameters, calculate collision loss value when automatic driving vehicle and all barriers under every kind of control model collide, wherein, collision loss value is the penalty values that barrier is collided, each collision loss value is corresponding with the motion profile of an automatic driving vehicle, and all barriers include the first barrier；Motion profile corresponding to minimum collision loss value is chosen as target trajectory, based on target trajectory control automatic driving vehicle operation.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device.
Background
In the related art, when controlling an unmanned vehicle, attention is often paid to how the unmanned vehicle finds a shortest path and controls the unmanned vehicle to travel according to the shortest path; however, the mode of controlling the unmanned vehicles does not consider the collision condition in the driving process, and particularly the condition of vehicle collision caused by different control systems among the unmanned vehicles is difficult to consider; if the unmanned vehicle collides with other vehicles or other obstacles, the obstacle (such as other unmanned vehicles, pedestrians and the like) is greatly lost, and the situation that the obstacle is lost when the unmanned vehicle collides is not considered in the related art, so that the obstacle is often greatly lost after the collision, and the use interest of a user is reduced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device, which at least solve the technical problems that in the related art, collision of an unmanned vehicle in a driving process is not considered, so that obstacles are greatly lost, and the use interest of a user is reduced.
According to an aspect of an embodiment of the present invention, there is provided a vehicle control method including: detecting a movement speed and a movement direction of a first obstacle around the unmanned vehicle; determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle; when the fact that a preset triggering condition is met is determined, calculating a plurality of motion parameters between the unmanned vehicle and the first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the advancing process; calculating a collision loss value when the unmanned vehicle in each control mode collides with all obstacles, wherein the collision loss value is a loss value when the obstacle is collided, each collision loss value corresponds to a motion track of the unmanned vehicle, and all the obstacles comprise the first obstacle; and selecting a motion track corresponding to the minimum collision loss value as a target track, and controlling the unmanned vehicle to run based on the target track.
Optionally, the determining whether a preset trigger condition is met based on the moving speed and the moving direction of the first obstacle comprises: and if the probability of collision between the unmanned vehicle and the first obstacle is calculated to be greater than a preset probability threshold value based on the movement speed and the movement direction, determining that the preset trigger condition is met.
Optionally, the plurality of motion parameters includes at least: the control mode comprises the motion tracks of the unmanned vehicle and the first obstacle, the relative speed of the unmanned vehicle when the unmanned vehicle collides with the first obstacle, and the impacted position of the first obstacle in each control mode.
Optionally, calculating a collision loss value when the unmanned vehicle in each of the control modes collides with all obstacles based on the plurality of motion parameters comprises: detecting movement trajectories of other obstacles around the unmanned vehicle except the first obstacle; calculating impacted positions and relative speeds of all obstacles that will collide with the unmanned vehicle for a preset period of time in the future, based on the motion trajectory, the relative speed, and the impacted position of the first obstacle in each of the control modes; determining an initial loss value of each obstacle at the time of collision based on the collided positions and the relative speeds of all the obstacles in each control mode; and accumulating initial loss values of all obstacles in each control mode, and determining a collision loss value corresponding to each control mode.
Optionally, after controlling the unmanned vehicle to operate based on the target trajectory, the method further comprises: predicting a target obstacle colliding with the unmanned vehicle when the unmanned vehicle runs according to the target track and a collision position of the target obstacle to obtain a prediction result; acquiring whether the unmanned vehicle reaches the estimated result in the process of traveling after controlling the unmanned vehicle to run based on the target track; and if the unmanned vehicle reaches the estimated result in the advancing process, controlling the unmanned vehicle to stop running.
Optionally, detecting the speed and direction of movement of the first obstacle around the unmanned vehicle comprises: detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset radar sensing module; or detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset visual perception device.
Optionally, before detecting the speed and direction of movement of the first obstacle around the unmanned vehicle, the method further comprises: determining a plurality of control modes of the unmanned vehicle during the traveling process; determining the vehicle running speed, the vehicle acceleration and the angle steering corresponding to each control mode; determining a collision position of a first obstacle of a preset type with the unmanned vehicle and a collision loss value of traveling at a relative speed.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle control apparatus including: a detection unit for detecting a movement speed and a movement direction of a first obstacle around the unmanned vehicle; the first determination unit is used for determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle; the first calculation unit is used for calculating a plurality of motion parameters between the unmanned vehicle and the first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the traveling process when the preset trigger condition is determined to be met; a second calculation unit, configured to calculate, based on the plurality of motion parameters, a collision loss value when the unmanned vehicle in each of the control modes collides with all obstacles, where the collision loss value is a loss value when the obstacle is collided, each collision loss value corresponds to a motion trajectory of the unmanned vehicle, and all the obstacles include the first obstacle; and the control unit is used for selecting the motion track corresponding to the minimum collision loss value as a target track and controlling the unmanned vehicle to run based on the target track.
Optionally, the first determining unit includes: the first determination module is used for determining that the preset trigger condition is met when the probability that the unmanned vehicle collides with the first obstacle is calculated to be greater than a preset probability threshold value based on the movement speed and the movement direction.
Optionally, the plurality of motion parameters includes at least: the control mode comprises the motion tracks of the unmanned vehicle and the first obstacle, the relative speed of the unmanned vehicle when the unmanned vehicle collides with the first obstacle, and the impacted position of the first obstacle in each control mode.
Optionally, the second computing unit includes: the first detection module is used for detecting the motion trail of other obstacles around the unmanned vehicle except the first obstacle; a first calculation module that calculates impacted positions and relative velocities of all obstacles that will collide with the unmanned vehicle in a future preset time period, based on the motion trajectory, the relative velocity, and an impacted position of the first obstacle in each of the control modes; the second determination module is used for determining an initial loss value of each obstacle when the obstacle collides based on the collided positions and the relative speeds of all the obstacles in each control mode; and the accumulation module is used for accumulating the initial loss values of all the obstacles in each control mode and determining the collision loss value corresponding to each control mode.
Optionally, the vehicle control apparatus further includes: the estimation module is used for estimating a target obstacle colliding with the unmanned vehicle when the unmanned vehicle runs with the target track and a collision position of the target obstacle after the unmanned vehicle is controlled to run based on the target track, so as to obtain an estimation result; the acquisition module is used for acquiring whether the unmanned vehicle reaches the estimated result in the advancing process after controlling the unmanned vehicle to operate based on the target track; and the first control module is used for controlling the unmanned vehicle to stop running when the unmanned vehicle is determined to reach the estimated result in the running process.
Optionally, the detection unit includes: the first detection module is used for detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset radar sensing module; or the second detection module is used for detecting the movement speed and the movement direction of the first obstacle around the unmanned vehicle through preset visual perception equipment.
Optionally, the vehicle control apparatus further includes: the third determination module is used for determining a plurality of control modes of the unmanned vehicle in the process of traveling before detecting the movement speed and the movement direction of the first obstacle around the unmanned vehicle; the fourth determination module is used for determining the vehicle running speed, the vehicle acceleration and the angle steering corresponding to each control mode; and the fifth determination module is used for determining the collision position of the first obstacle of the preset type and the unmanned vehicle and the collision loss value of the unmanned vehicle running at the relative speed.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to perform any one of the vehicle control methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is run to execute any one of the vehicle control methods described above.
In the embodiment of the invention, the method comprises the steps of detecting the movement speed and the movement direction of a first obstacle around an unmanned vehicle, determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle, calculating collision loss values when the unmanned vehicle collides with all obstacles in each control mode in a plurality of control modes of the unmanned vehicle in the traveling process when the preset trigger condition is met, wherein the collision loss values are loss values of the obstacles in collision, each collision loss value corresponds to the movement track of one unmanned vehicle, all the obstacles comprise the first obstacle, the movement track corresponding to the minimum collision loss value is selected as a target track, and controlling the operation of the unmanned vehicle based on the target trajectory. In the embodiment, when the unmanned vehicle collides with the obstacle, the loss value of the unmanned vehicle during collision is considered, the track with the minimum loss value of the collided obstacle is selected, the loss value of the collided obstacle is reduced to the maximum extent, and the use interest of a user is improved, so that the technical problems that the collision of the unmanned vehicle during driving is not considered, the great loss of the obstacle is caused, and the use interest of the user is reduced in the related technology are solved.
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 application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the invention;
fig. 2 is a schematic diagram of a vehicle control apparatus according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a vehicle control method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 1, including the steps of:
step S102, detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle;
step S104, determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle;
step S106, when the fact that a preset trigger condition is met is determined, calculating a plurality of motion parameters between the unmanned vehicle and a first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the advancing process;
step S108, calculating collision loss values when the unmanned vehicle and all obstacles collide in each control mode based on a plurality of motion parameters, wherein the collision loss values are the loss values of the obstacles when the obstacles collide, each collision loss value corresponds to a motion track of the unmanned vehicle, and all the obstacles comprise a first obstacle;
and step S110, selecting a motion track corresponding to the minimum collision loss value as a target track, and controlling the unmanned vehicle to run based on the target track.
Through the steps, detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle, determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle, calculating collision loss values when the unmanned vehicle collides with all obstacles in each control mode in a plurality of control modes in the process of advancing of the unmanned vehicle based on a plurality of movement parameters in each control mode when the preset trigger condition is determined to be met, wherein the collision loss values are loss values of the obstacles in collision, each collision loss value corresponds to the movement track of one unmanned vehicle, all the obstacles comprise the first obstacle, the movement track corresponding to the minimum collision loss value is selected as a target track, and controlling the operation of the unmanned vehicle based on the target trajectory. In the embodiment, when the unmanned vehicle collides with the obstacle, the loss value of the unmanned vehicle during collision is considered, the track with the minimum loss value of the collided obstacle is selected, the loss value of the collided obstacle is reduced to the maximum extent, and the use interest of a user is improved, so that the technical problems that the collision of the unmanned vehicle during driving is not considered, the great loss of the obstacle is caused, and the use interest of the user is reduced in the related technology are solved.
The embodiment of the invention can be applied to various unmanned vehicles (or vehicles such as unmanned vehicles, automatic vehicles and the like). The unmanned vehicle may refer to an intelligent vehicle that senses a road environment through an on-vehicle sensing system (provided with a plurality of sensors), automatically plans a driving route, and controls the vehicle to reach a predetermined target location.
The present invention will be described in detail with reference to the above steps.
The embodiment of the invention is schematically illustrated by one unmanned vehicle, but a plurality of unmanned vehicles can be controlled simultaneously during actual control.
As an alternative embodiment of the invention, before detecting the speed and direction of movement of the first obstacle around the unmanned vehicle, the method further comprises: determining a plurality of control modes of the unmanned vehicle during the traveling process; determining the vehicle running speed, the vehicle acceleration and the angle steering corresponding to each control mode; a collision position of a first obstacle of a preset type with the unmanned vehicle and a collision loss value of traveling at a relative speed are determined.
The unmanned vehicle can store a plurality of control modes of the unmanned vehicle in advance, the control modes can be available control modes when the unmanned vehicle collides, and each control mode can correspond to the running speed of the vehicle, the acceleration of the vehicle and the steering at a specific angle; loss values for different collision positions and relative velocities of common types of obstacles may also be stored, and the loss value may be set to L in embodiments of the present invention.
Step S102, detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle.
Optionally, detecting the moving speed and the moving direction of the first obstacle around the unmanned vehicle comprises: detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset radar sensing module; alternatively, the moving speed and the moving direction of the first obstacle around the unmanned vehicle are detected by a preset visual perception device.
That is, in the embodiment of the present invention, the moving speed and direction of the obstacle around the unmanned vehicle may be detected in real time by sensing modules such as a radar sensing module (e.g., various radar sensors), a visual sensing module (e.g., a camera), and the like.
And step S104, determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle.
As an alternative embodiment of the present invention, the determining whether the preset trigger condition is satisfied based on the moving speed and the moving direction of the first obstacle includes: and if the probability of collision between the unmanned vehicle and the first obstacle is calculated to be greater than a preset probability threshold value based on the movement speed and the movement direction, determining that a preset trigger condition is met.
The method comprises the steps that a sensing module of the unmanned vehicle finds that a first obstacle is about to collide with the unmanned vehicle at the current movement speed and the current movement direction, and the first obstacle is determined to meet a preset triggering condition.
The preset probability threshold may be a self-setting parameter, including but not limited to: 90%, 95% and 100%.
And step S106, when the preset trigger condition is determined to be met, calculating a plurality of motion parameters between the unmanned vehicle and the first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the advancing process.
Optionally, the plurality of motion parameters includes at least: the control method comprises the following steps of moving tracks of the unmanned vehicle and the first obstacle, relative speed of the unmanned vehicle when the unmanned vehicle collides with the first obstacle, and impacted position of the first obstacle in each control mode. Where the impacted location may indicate a location at which a first obstacle (e.g., other unmanned vehicle, etc.) is impacted by the unmanned vehicle, is an estimated location for evaluation of the loss value.
That is, in the embodiment of the present invention, when it is determined that the unmanned vehicle is about to collide with the first obstacle, the motion trajectories of the unmanned vehicle and the first obstacle in all the control modes, the relative speeds of the unmanned vehicle and the first obstacle when a collision is likely to occur, and the impacted position of the first obstacle may be calculated based on the current motion speed and motion direction of the first obstacle, the current travel speed and motion direction of the unmanned vehicle itself, and the available control modes for unmanned operation.
In the embodiment of the present invention, the trajectory of the unmanned vehicle and the first obstacle in each control mode may be defined as T, the relative speed of the two may be defined as V, and the impacted position of the first obstacle may be defined as P.
Then, based on the combination of each set of motion trajectory, relative speed and impacted position of the first obstacle, the unmanned vehicle may determine the motion trajectories of other obstacles by using the sensing module, calculate the positions and relative speeds of all obstacles that will collide with the unmanned vehicle when traveling with each motion trajectory, calculate the initial loss value L of all obstacles that collide with each other for each motion trajectory (refer to the loss values of different collision positions and relative speeds of common types of obstacles stored in the unmanned vehicle), and sum the loss values to obtain the collision loss value corresponding to each trajectory.
And step S108, calculating collision loss values when the unmanned vehicle collides with all obstacles in each control mode based on the plurality of motion parameters, wherein the collision loss values are the loss values of the obstacles when the obstacles collide, each collision loss value corresponds to a motion track of the unmanned vehicle, and all the obstacles comprise the first obstacle.
Optionally, calculating a collision loss value when the unmanned vehicle collides with all obstacles in each control mode based on the plurality of motion parameters includes: detecting the movement tracks of other obstacles around the unmanned vehicle except the first obstacle; calculating impacted positions and relative speeds of all obstacles that will collide with the unmanned vehicle in a future preset time period based on the motion trajectory, the relative speed, and the impacted position of the first obstacle in each control mode; determining an initial loss value of each obstacle when the obstacle collides based on the collided positions and the relative speeds of all the obstacles in each control mode; and accumulating the initial loss values of all the obstacles in each control mode, and determining the collision loss value corresponding to each control mode.
Through the embodiment, the corresponding motion track under each control mode and the collision loss value of the collision between the unmanned vehicle and the obstacle can be calculated, and preparation is made for subsequently selecting the minimum collision loss value.
And step S110, selecting a motion track corresponding to the minimum collision loss value as a target track, and controlling the unmanned vehicle to run based on the target track.
Namely, for all possible collision loss values M, the unmanned vehicle may select a group of motion trajectories T with the smallest loss value as a target trajectory, and control the unmanned vehicle to travel according to the target trajectory until collision occurs with the estimated obstacle.
Optionally, after controlling the operation of the unmanned vehicle based on the target trajectory, the method further comprises: estimating a target obstacle colliding with the unmanned vehicle when the unmanned vehicle runs according to a target track and a collision position of the target obstacle to obtain an estimated result; after controlling the unmanned vehicle to run based on the target track, acquiring whether the unmanned vehicle reaches an estimated result in the running process; and if the fact that the unmanned vehicle reaches the estimated result in the process of traveling is determined, controlling the unmanned vehicle to stop traveling.
In the embodiment of the invention, the control mode and the motion trail of the unmanned vehicle are not limited, the motion trail with the minimum loss value when the collision occurs to the obstacle is selected according to the situation of each environment, the unmanned vehicle is controlled to run, and after the expected collision occurs, the unmanned vehicle is controlled to brake and stop running.
By the embodiment, various situations of the unmanned vehicle when the unmanned vehicle collides during the running process can be considered, and one motion track with the minimum loss value to the collided obstacle when the collision occurs is selected as the target track, so that the unmanned vehicle is controlled to run.
Fig. 2 is a schematic diagram of a vehicle control apparatus according to an embodiment of the present invention, which may include, as shown in fig. 2: a detection unit 21, a first determination unit 23, a first calculation unit 25, a second calculation unit 27, a control unit 29, wherein,
a detection unit 21 for detecting a moving speed and a moving direction of a first obstacle around the unmanned vehicle;
a first determination unit 23, configured to determine whether a preset trigger condition is satisfied based on a movement speed and a movement direction of the first obstacle;
a first calculating unit 25, configured to calculate, when it is determined that a preset trigger condition is met, a plurality of motion parameters between the unmanned vehicle and the first obstacle in each of a plurality of control modes of the unmanned vehicle during traveling;
a second calculation unit 27, configured to calculate, based on the plurality of motion parameters, a collision loss value when the unmanned vehicle in each control mode collides with all obstacles, where the collision loss value is a loss value when the obstacle is collided, each collision loss value corresponds to a motion trajectory of the unmanned vehicle, and all the obstacles include the first obstacle;
and the control unit 29 is used for selecting the motion track corresponding to the minimum collision loss value as a target track and controlling the operation of the unmanned vehicle based on the target track.
The vehicle control device can detect the movement speed and the movement direction of a first obstacle around the unmanned vehicle through the detection unit 21, determine whether a preset trigger condition is met or not through the first determination unit 23 based on the movement speed and the movement direction of the first obstacle, calculate a collision loss value when the unmanned vehicle collides with all obstacles in each control mode in a plurality of control modes of the unmanned vehicle in the traveling process based on a plurality of movement parameters between the unmanned vehicle and the first obstacle in each control mode through the first calculation unit 25 when determining that the preset trigger condition is met, wherein the collision loss value is a loss value of the obstacles to be collided, and each collision loss value has a movement track of the unmanned vehicle, all the obstacles include a first obstacle, the motion trajectory corresponding to the minimum collision loss value is selected as a target trajectory through the control unit 29, and the unmanned vehicle is controlled to run based on the target trajectory. In the embodiment, when the unmanned vehicle collides with the obstacle, the loss value of the unmanned vehicle during collision is considered, the track with the minimum loss value of the collided obstacle is selected, the loss value of the collided obstacle is reduced to the maximum extent, and the use interest of a user is improved, so that the technical problems that the collision of the unmanned vehicle during driving is not considered, the great loss of the obstacle is caused, and the use interest of the user is reduced in the related technology are solved.
Optionally, the first determining unit includes: the first determining module is used for determining that a preset triggering condition is met when the probability that the unmanned vehicle collides with the first obstacle is calculated to be larger than a preset probability threshold value based on the movement speed and the movement direction.
Alternatively, the plurality of motion parameters at least include: the control method comprises the following steps of moving tracks of the unmanned vehicle and the first obstacle, relative speed of the unmanned vehicle when the unmanned vehicle collides with the first obstacle, and impacted position of the first obstacle in each control mode.
In an embodiment of the present invention, the second calculation unit includes: the first detection module is used for detecting the motion tracks of other obstacles around the unmanned vehicle except the first obstacle; a first calculation module for calculating impacted positions and relative speeds of all obstacles that will collide with the unmanned vehicle in a future preset time period, based on the motion trajectory, the relative speed, and the impacted position of the first obstacle in each control mode; the second determination module is used for determining an initial loss value of each obstacle when the obstacle collides based on the collided positions and the relative speeds of all the obstacles in each control mode; and the accumulation module is used for accumulating the initial loss values of all the obstacles in each control mode and determining the collision loss value corresponding to each control mode.
Optionally, the vehicle control apparatus further includes: the estimation module is used for estimating a target obstacle colliding with the unmanned vehicle when the unmanned vehicle runs with the target track and a collision position of the target obstacle after the unmanned vehicle is controlled to run based on the target track, so as to obtain an estimation result; the acquisition module is used for acquiring whether the unmanned vehicle reaches an estimated result in the advancing process after the unmanned vehicle is controlled to operate based on the target track; the first control module is used for controlling the unmanned vehicle to stop running when the unmanned vehicle is determined to reach the estimated result in the running process.
In an embodiment of the present invention, the detection unit includes: the first detection module is used for detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset radar sensing module; or the second detection module is used for detecting the movement speed and the movement direction of the first obstacle around the unmanned vehicle through the preset visual perception device.
Optionally, the vehicle control apparatus further includes: the third determination module is used for determining a plurality of control modes of the unmanned vehicle in the process of traveling before detecting the movement speed and the movement direction of the first obstacle around the unmanned vehicle; the fourth determination module is used for determining the vehicle running speed, the vehicle acceleration and the angle steering corresponding to each control mode; and the fifth determination module is used for determining the collision position of the first obstacle of the preset type and the unmanned vehicle and the collision loss value of the unmanned vehicle running at the relative speed.
The above-described vehicle control apparatus may further include a processor and a memory, and the above-described detection unit 21, the first determination unit 23, the first calculation unit 25, the second calculation unit 27, the control unit 29, and the like are stored in the memory as program units, and the processor executes the above-described program units stored in the memory to implement the corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more than one, and the unmanned vehicle is controlled to run according to the target track by adjusting kernel parameters, so that the loss of the obstacle in collision is reduced to the maximum extent.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to perform any one of the vehicle control methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is run to perform any one of the vehicle control methods described above.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: detecting a movement speed and a movement direction of a first obstacle around the unmanned vehicle; determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle; when the fact that a preset triggering condition is met is determined, calculating a plurality of motion parameters between the unmanned vehicle and a first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the advancing process; calculating collision loss values when the unmanned vehicle and all obstacles collide in each control mode based on a plurality of motion parameters, wherein the collision loss values are loss values of the obstacles colliding, each collision loss value corresponds to a motion track of the unmanned vehicle, and all the obstacles comprise a first obstacle; and selecting the motion track corresponding to the minimum collision loss value as a target track, and controlling the unmanned vehicle to run based on the target track.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
detecting a movement speed and a movement direction of a first obstacle around the unmanned vehicle;
determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle;
when the fact that a preset triggering condition is met is determined, calculating a plurality of motion parameters between the unmanned vehicle and the first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the advancing process;
calculating a collision loss value when the unmanned vehicle in each control mode collides with all obstacles, wherein the collision loss value is a loss value when the obstacle is collided, each collision loss value corresponds to a motion track of the unmanned vehicle, and all the obstacles comprise the first obstacle;
and selecting a motion track corresponding to the minimum collision loss value as a target track, and controlling the unmanned vehicle to run based on the target track.
2. The method of claim 1, wherein determining whether a preset trigger condition is met based on the speed and direction of movement of the first obstacle comprises:
and if the probability of collision between the unmanned vehicle and the first obstacle is calculated to be greater than a preset probability threshold value based on the movement speed and the movement direction, determining that the preset trigger condition is met.
3. The method according to any one of claims 1 to 2, wherein the plurality of motion parameters comprises at least: the control mode comprises the motion tracks of the unmanned vehicle and the first obstacle, the relative speed of the unmanned vehicle when the unmanned vehicle collides with the first obstacle, and the impacted position of the first obstacle in each control mode.
4. The method of claim 3, wherein calculating a collision loss value for each of the control modes when the unmanned vehicle collides with all obstacles based on the plurality of motion parameters comprises:
detecting movement trajectories of other obstacles around the unmanned vehicle except the first obstacle;
calculating impacted positions and relative speeds of all obstacles that will collide with the unmanned vehicle for a preset period of time in the future, based on the motion trajectory, the relative speed, and the impacted position of the first obstacle in each of the control modes;
determining an initial loss value of each obstacle at the time of collision based on the collided positions and the relative speeds of all the obstacles in each control mode;
and accumulating initial loss values of all obstacles in each control mode, and determining a collision loss value corresponding to each control mode.
5. The method of claim 1, wherein after controlling the unmanned vehicle to operate based on the target trajectory, the method further comprises:
predicting a target obstacle colliding with the unmanned vehicle when the unmanned vehicle runs according to the target track and a collision position of the target obstacle to obtain a prediction result;
acquiring whether the unmanned vehicle reaches the estimated result in the process of traveling after controlling the unmanned vehicle to run based on the target track;
and if the unmanned vehicle reaches the estimated result in the advancing process, controlling the unmanned vehicle to stop running.
6. The method of claim 1, wherein detecting a speed and direction of movement of a first obstacle around the unmanned vehicle comprises:
detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset radar sensing module; or,
detecting the movement speed and the movement direction of a first obstacle around the unmanned vehicle through a preset visual perception device.
7. The method of claim 1, wherein prior to detecting the speed and direction of movement of the first obstacle around the unmanned vehicle, the method further comprises:
determining a plurality of control modes of the unmanned vehicle during the traveling process;
determining the vehicle running speed, the vehicle acceleration and the angle steering corresponding to each control mode;
determining a collision position of a first obstacle of a preset type with the unmanned vehicle and a collision loss value of traveling at a relative speed.
8. A vehicle control apparatus characterized by comprising:
a detection unit for detecting a movement speed and a movement direction of a first obstacle around the unmanned vehicle;
the first determination unit is used for determining whether a preset trigger condition is met or not based on the movement speed and the movement direction of the first obstacle;
the first calculation unit is used for calculating a plurality of motion parameters between the unmanned vehicle and the first obstacle in each control mode in a plurality of control modes of the unmanned vehicle in the traveling process when the preset trigger condition is determined to be met;
a second calculation unit, configured to calculate, based on the plurality of motion parameters, a collision loss value when the unmanned vehicle in each of the control modes collides with all obstacles, where the collision loss value is a loss value when the obstacle is collided, each collision loss value corresponds to a motion trajectory of the unmanned vehicle, and all the obstacles include the first obstacle;
and the control unit is used for selecting the motion track corresponding to the minimum collision loss value as a target track and controlling the unmanned vehicle to run based on the target track.
9. A storage medium characterized by storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to execute the vehicle control method according to any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is run to perform the vehicle control method of any one of claims 1 to 7.
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| CN201910817655.0A CN110466513A (en) | 2019-08-30 | 2019-08-30 | Control method for vehicle and device |
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| CN201910817655.0A CN110466513A (en) | 2019-08-30 | 2019-08-30 | Control method for vehicle and device |
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