CN114185337B - Vehicle, vehicle pre-collision detection method and device - Google Patents
Vehicle, vehicle pre-collision detection method and device Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention provides a vehicle, a method and a device for detecting pre-collision of the vehicle, and belongs to the field of automatic driving vehicles. Sequentially taking coordinates of each path point on the planned path as coordinates of a head center point of the vehicle; solving a vehicle body yaw angle corresponding to the current path point by combining the coordinates of the current path point and the coordinates of the vehicle rear axle center point corresponding to the previous path point, and solving the coordinates of the rear axle center point corresponding to the current path point by combining the coordinates of the current path point and the corresponding vehicle body yaw angle; combining the coordinates of the vehicle length, the vehicle width and the current path point and the corresponding vehicle body yaw angle to obtain a vehicle running area corresponding to the current path point, and circularly solving to obtain the vehicle running area corresponding to each path point; and combining the vehicle driving area and the obstacle coordinates to realize pre-collision detection. The method is more suitable for the situation that the central point of the head of the vehicle is used as a path tracking point and the vehicle body is large in size, the calculated vehicle body yaw angle and the vehicle running area are more accurate, and the pre-collision detection precision can be improved.
Description
Technical Field
The invention relates to a vehicle, a method and a device for detecting pre-collision of the vehicle, and belongs to the technical field of automatic driving vehicles.
Background
In the current collision detection method, the rectangular range of the vehicle is obtained by taking the vehicle body parameter and the slope at the path tracking point as the yaw angle of the vehicle body, namely the position and the angle of the vehicle can be matched with the information on the path point, so that the vehicle running area can be well predicted when the vehicle center point is taken as the tracking point and the vehicle body size is smaller, and the collision prediction of surrounding obstacles is realized. However, when the vehicle uses the head center point as the path tracking point and the vehicle body size is large, the slope at the path tracking point is greatly different from the actual vehicle body yaw angle, and if the yaw angle of the vehicle is calculated according to the method, the vehicle body yaw angle and the actual yaw angle are greatly deviated, so that the collision prediction is inaccurate.
Disclosure of Invention
The invention aims to provide a vehicle, a vehicle pre-collision detection method and a vehicle pre-collision detection device, which are used for solving the problem that when a vehicle takes a head center point as a path tracking point and the size of a vehicle body is large, the deviation between the yaw angle of the vehicle body obtained by the existing vehicle body yaw angle calculation method and the actual deviation is large, so that the pre-collision prediction is inaccurate.
In order to achieve the above object, the present invention provides a vehicle pre-collision detection method comprising the steps of:
acquiring coordinates of each path point on a planned path of the vehicle, and taking the coordinates of each path point as coordinates of a head center point of the vehicle in sequence when the vehicle runs along the planned path;
calculating a vehicle driving area corresponding to each path point on the planned path;
detecting obstacle coordinate information around the vehicle in real time in the process of running along a planned path;
the pre-collision detection of the vehicle when the vehicle runs along the planned path is realized by combining the vehicle running area and the obstacle coordinates;
the vehicle driving area corresponding to each path point is obtained through the following steps:
combining the coordinates of the current path point and the coordinates of the central point of the rear axle of the vehicle corresponding to the previous path point to obtain the yaw angle of the vehicle body corresponding to the current path point; combining the vehicle length, the vehicle width, the coordinates of the current path point and the yaw angle of the vehicle body corresponding to the current path point to obtain a vehicle running area corresponding to the current path point;
the coordinates of the vehicle rear axle center point corresponding to each path point are obtained through the distance between the vehicle head center point and the vehicle rear axle center point, the coordinates of the path point and the corresponding vehicle body yaw angle, and the vehicle body yaw angle corresponding to the initial path point is obtained through the vehicle position information corresponding to the initial path point.
The invention also provides a vehicle pre-collision detection device, which comprises an obstacle detection device, a processor and a memory, wherein the obstacle detection device is used for detecting obstacle coordinate information around a vehicle and sending the detected obstacle coordinate information to the processor, and the processor executes a computer program stored by the memory so as to realize the vehicle pre-collision detection method.
The invention also provides a vehicle, which comprises a vehicle body and a vehicle pre-collision detection device, wherein the vehicle pre-collision detection device comprises an obstacle detection device, a processor and a memory, the obstacle detection device is used for detecting obstacle coordinate information around the vehicle and sending the detected obstacle coordinate information to the processor, and the processor executes a computer program stored by the memory so as to realize the vehicle pre-collision detection method.
The beneficial effects of the invention are as follows: when the pre-collision detection is carried out, the head center point of the vehicle is used as a path tracking point, namely, the coordinates of each path point are sequentially used as the coordinates of the head center point of the vehicle when the vehicle runs along a planned path; and based on the fact that the distance between the two path points is smaller, the rear axle center point corresponding to the current path point, the rear axle center point corresponding to the next path point and the next path point can be considered to be collinear, and the vehicle body yaw angle corresponding to the current path point is calculated by combining the coordinates of the current path point and the coordinates of the rear axle center point corresponding to the previous path point; the coordinates of the vehicle rear axle center point corresponding to each path point are obtained through the distance between the vehicle head center point and the vehicle rear axle center point, the coordinates of the path point and the corresponding vehicle body yaw angle, and the actual size of the vehicle is taken into consideration when the vehicle body yaw angle is calculated; in conclusion, the method for calculating the yaw angle of the vehicle body is more in line with the condition that the central point of the head of the vehicle is taken as a path tracking point and the vehicle body is large in size, and the calculated yaw angle of the vehicle body is more accurate, so that the calculated vehicle running area is more accurate, the pre-collision detection is carried out by utilizing the vehicle running area, and the pre-collision detection precision can be improved; moreover, the solving method of the yaw angle of the vehicle body is simple, the calculated amount is small, the calculation of the vehicle running areas corresponding to all the path points on the planned path can be completed rapidly, the time consumption of pre-collision detection is reduced greatly, and the pre-collision detection efficiency is improved; the method is suitable for vehicle pre-collision detection under the condition that the head center point of the vehicle is used as a path tracking point and the vehicle body size is large.
Further, in the vehicle and the vehicle pre-collision detection method and device, the vehicle driving area corresponding to the current path point is obtained by combining the safe collision distance of the vehicle.
Further, in order to be suitable for a case where the vehicle body is large in size, in the vehicle, the vehicle pre-collision detection method and apparatus described above, the vehicle running area is a rectangular frame larger than the vehicle body.
Further, in the vehicle, the vehicle pre-collision detection method and the vehicle pre-collision detection device, the route point N 1 ＝(x N1 ,y N1 ) Corresponding yaw angle phi of vehicle body 1 Coordinates M of center point of rear axle of vehicle 1 ＝(x M1 ,y M1 ) Obtained by the following formula:
wherein x is M0 、y M0 Respectively are the path points N 1 Is a previous path point N of 0 And the corresponding abscissa of the center point of the rear axle of the vehicle, and L is the distance between the center point of the vehicle head and the center point of the rear axle of the vehicle.
Drawings
FIG. 1 is a flowchart of a method for detecting a pre-crash of a vehicle in method embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a waypoint N in embodiment 1 of the method of the present invention 1 Corresponding yaw angle phi of vehicle body 1 Center point M of rear axle of vehicle 1 Is a coordinate solution schematic diagram;
FIG. 3 is a schematic view of a driving area of a vehicle corresponding to a plurality of waypoints in embodiment 1 of the method of the present invention;
FIG. 4 is a flowchart of a method for detecting a pre-crash of a vehicle in embodiment 2 of the method of the present invention;
fig. 5 is a schematic structural view of a vehicle pre-crash detection apparatus in an embodiment of the apparatus of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Method example 1:
as shown in fig. 1, the vehicle pre-crash detection method of the present embodiment includes the steps of:
(1) Acquiring coordinates of each path point on a planned path of the vehicle, and sequentially taking the coordinates of each path point as coordinates of a head center point of the vehicle when the vehicle runs along the planned path (the vehicle is assumed to track the path well);
(2) Calculating a vehicle driving area corresponding to each path point on the planned path;
in this embodiment, the head center point of the vehicle is used as a path tracking point, that is, the coordinates of each path point on the planned path are sequentially used as the coordinates of the head center point of the vehicle in the process of driving the vehicle along the planned path, in this case, because the vehicle body size is larger, when the head center point moves from the current path point to the next path point, the vehicle rear axle center point is dragged for a distance, when the distance between the two path points is smaller (when the distance between the two path points is in the range of 0 to 0.1 meter, the distance is considered to be smaller), a section of arc which the rear axle center point rotates can be treated as a line segment, and the vehicle rear axle center point corresponding to the current path point is considered to be collinear with the rear axle center point corresponding to the next path point and the next path point.
The coordinates of the vehicle rear axle center point corresponding to each path point are obtained through the distance between the vehicle head center point and the vehicle rear axle center point, the coordinates of the path point and the corresponding vehicle body yaw angle, the vehicle body yaw angle corresponding to the initial path point is obtained through the vehicle position information corresponding to the path point, for example, the vehicle body yaw angle at the position where the vehicle is located can be obtained directly by using a sensor such as a gyroscope, or the near point and the far point are determined on the reference line by selecting the reference line of the reference lane line at the position where the vehicle is located, and the vehicle body yaw angle is determined by combining the near point, the far point and the vehicle central axis, and the specific calculation process is disclosed in the patent document with the publication number of CN 105447892B.
The following illustrates a solution process of the coordinates of the vehicle body yaw angle and the vehicle rear axle center point corresponding to the path point.
As shown in FIG. 2, two large dots in the figure represent two adjacent path points, each of N 0 、N 1 And (3) representing. Let the traveling direction of the vehicle be N 0 →N 1 Then N 1 Is N 0 Is relatively, N 0 Is N 1 Is a previous path point of the path.
Let N be 0 N is the initial path point 1 As the current path point, the initial path point N 0 And the current path point N 1 Is known as N 0 ＝(x N0 ,y N0 )、N 1 ＝(x N1 ,y N1 )。
Directly acquiring an initial path point N through a gyroscope 0 Corresponding yaw angle phi of vehicle body 0 Further, the distance L between the center point of the vehicle head and the center point of the rear axle of the vehicle is utilized, and the initial path point N is utilized 0 Coordinates N of (2) 0 ＝(x N0 ,y N0 ) Corresponding vehicleYaw angle phi of body 0 Obtaining an initial path point N 0 Corresponding coordinates M of the center point of the rear axle of the vehicle 0 ＝(x M0 ,y M0 ) The method comprises the following steps:
combining the current path point N 1 Coordinates N of (2) 1 ＝(x N1 ,y N1 ) And an initial path point N 0 Corresponding coordinates M of the center point of the rear axle of the vehicle 0 ＝(x M0 ,y M0 ) Obtaining the current path point N 1 Corresponding yaw angle phi of vehicle body 1 The method comprises the following steps:
further find the current path point N 1 Corresponding coordinates M of the center point of the rear axle of the vehicle 1 ＝(x M1 ,y M1 ) The method comprises the following steps:
similarly, assume a Path Point N 1 Is N 2 Route point N 2 Is N in the coordinate of 2 ＝(x N2 ,y N2 ) Then join the path point N 2 Coordinates of (c) and a waypoint N 1 The coordinates of the corresponding center point of the rear axle of the vehicle make it easy to determine the path point N 2 And the corresponding vehicle body yaw angle and the coordinates of the center point of the vehicle rear axle, and the like, so that the corresponding vehicle body yaw angle and the coordinates of the center point of the vehicle rear axle of each path point on the whole planned path can be obtained.
In this embodiment, according to the length of the vehicle, the width of the vehicle, the safe collision distance of the vehicle, the coordinates of the current path point and the yaw angle of the vehicle body corresponding to the current path point, the vehicle running area corresponding to the current path point is obtained, and further the vehicle running area corresponding to each path point on the planned path is obtained, and the vehicle running area is represented by a rectangular frame larger than the vehicle body, see fig. 3, the large round dot in fig. 3 represents the path point, and the rectangular frame corresponding to each path point represents the vehicle running area corresponding to the corresponding path point.
(3) Detecting obstacle coordinate information around the vehicle in real time in the process of running along a planned path;
for example, a lidar sensor may be utilized to obtain obstacle coordinate information around the vehicle.
(4) And judging whether the coordinates of the obstacle overlap with the running area of the vehicle or not, so as to realize pre-collision detection when the vehicle runs along the planned path.
Specifically, when the obstacle coordinates overlap with the vehicle running area, it is indicated that the vehicle runs along the planned path to collide with the obstacle; when the obstacle coordinates do not overlap the vehicle travel area, it is indicated that the vehicle is traveling along the planned path without colliding with the obstacle.
In the embodiment, the vehicle running area is represented by a rectangular frame larger than the vehicle body, so that the vehicle running area can be suitable for the situation that the vehicle body is large in size; as another embodiment, the shape of the vehicle running area may be set according to actual needs, and for example, the vehicle running area may be represented by an ellipse larger than the vehicle body.
Method example 2:
as shown in fig. 4, the vehicle pre-collision detection method of the present embodiment includes the steps of:
(1) Acquiring coordinates of each path point on a planned path of the vehicle, and taking the coordinates of each path point as coordinates of a head center point of the vehicle in sequence when the vehicle runs along the planned path;
(2) Calculating a vehicle driving area corresponding to each path point on the planned path;
in this embodiment, a vehicle head center point of a vehicle is used as a path tracking point, and a vehicle body yaw angle corresponding to a current path point is obtained by combining the coordinates of the current path point and the coordinates of a vehicle rear axle center point corresponding to a previous path point, and then a vehicle running area corresponding to the current path point is obtained by combining the vehicle length, the vehicle width, the coordinates of the current path point and the vehicle body yaw angle corresponding to the current path point, and then the vehicle running area corresponding to each path point on a planned path is obtained.
The coordinates of the vehicle rear axle center point corresponding to each path point are obtained through the distance between the vehicle head center point and the vehicle rear axle center point, the coordinates of the path point and the corresponding vehicle body yaw angle, and the vehicle body yaw angle corresponding to the initial path point is obtained through the vehicle position information corresponding to the initial path point.
(3) Detecting obstacle coordinate information around the vehicle in real time in the process of running along a planned path;
(4) And judging whether the minimum distance between the obstacle coordinates and the boundary of the vehicle driving area is smaller than the safe collision distance of the vehicle, so as to realize pre-collision detection when the vehicle drives along the planned path.
In the embodiment, the vehicle running area is represented by a rectangular frame larger than the vehicle body, and at this time, pre-collision detection is realized by judging whether the minimum distance between the obstacle coordinates and the boundary of the rectangular frame is smaller than the safe collision distance of the vehicle; specifically, when pre-collision detection is performed, if the minimum distance between the coordinates of the obstacle and the boundary of the rectangular frame is smaller than the safe collision distance of the vehicle, the vehicle is indicated to travel along the planned path and collide with the obstacle; and if the minimum distance between the coordinates of the obstacle and the boundary of the rectangular frame is larger than the safe collision distance of the vehicle, indicating that the vehicle can not collide with the obstacle when driving along the planned path.
The vehicle pre-crash detection method of the present embodiment differs from the vehicle pre-crash detection method in method embodiment 1 only in that: in the present embodiment, the safe collision distance of the vehicle is not taken into consideration when calculating the vehicle travel area corresponding to each route point, but is taken into consideration when performing collision detection.
Device example:
as shown in fig. 5, the vehicle pre-crash detection apparatus of the present embodiment includes an obstacle detection apparatus (e.g., a lidar sensor) for detecting obstacle coordinate information around a vehicle, a processor, and a memory, and transmits the detected obstacle coordinate information to the processor, and the memory stores therein a computer program executable on the processor, which when executed, implements the method in the above-described method embodiment.
That is, the method in the above method embodiment should be understood as a flow of the vehicle pre-collision detection method that can be implemented by computer program instructions. These computer program instructions may be provided to a processor such that execution of the instructions by the processor results in the implementation of the functions specified in the method flow described above.
The processor referred to in this embodiment refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA.
The memory referred to in this embodiment includes physical means for storing information, typically by digitizing the information and then storing the information in an electrical, magnetic, or optical medium. For example: various memories, RAM, ROM and the like for storing information by utilizing an electric energy mode; various memories for storing information by utilizing a magnetic energy mode, such as a hard disk, a floppy disk, a magnetic tape, a magnetic core memory, a bubble memory and a U disk; various memories, CDs or DVDs, which store information optically. Of course, there are other ways of storing, such as quantum storing, graphene storing, etc.
The device formed by the memory, the processor and the computer program is implemented in the computer by executing corresponding program instructions by the processor, and the processor can be loaded with various operating systems, such as windows operating systems, linux systems, android, iOS systems and the like.
Vehicle embodiment:
the vehicle of the embodiment includes a vehicle body and a vehicle pre-crash detection device, and the vehicle pre-crash detection device has been described in detail in the device embodiment, and will not be described here again.
Claims (6)
1. A method for detecting a pre-crash of a vehicle, the method comprising the steps of:
acquiring coordinates of each path point on a planned path of the vehicle, and taking the coordinates of each path point as coordinates of a head center point of the vehicle in sequence when the vehicle runs along the planned path;
calculating a vehicle driving area corresponding to each path point on the planned path;
detecting obstacle coordinate information around the vehicle in real time in the process of running along a planned path;
the pre-collision detection of the vehicle when the vehicle runs along the planned path is realized by combining the vehicle running area and the obstacle coordinates;
the vehicle driving area corresponding to each path point is obtained through the following steps:
combining the coordinates of the current path point and the coordinates of the central point of the rear axle of the vehicle corresponding to the previous path point to obtain the yaw angle of the vehicle body corresponding to the current path point; combining the vehicle length, the vehicle width, the coordinates of the current path point and the yaw angle of the vehicle body corresponding to the current path point to obtain a vehicle running area corresponding to the current path point;
the coordinates of the vehicle rear axle center point corresponding to each path point are obtained through the distance between the vehicle head center point and the vehicle rear axle center point, the coordinates of the path point and the corresponding vehicle body yaw angle, and the vehicle body yaw angle corresponding to the initial path point is obtained through the vehicle position information corresponding to the initial path point.
2. The vehicle pre-crash detection method according to claim 1, wherein the vehicle travel area corresponding to the current path point is also obtained in conjunction with a safe crash distance of the vehicle.
3. The vehicle pre-crash detection method according to claim 1 or 2, characterized in that the vehicle running area is a rectangular frame larger than a vehicle body.
4. The vehicle pre-collision detection method according to claim 1 or 2, characterized in that the path point N 1 ＝(x N1 ,y N1 ) Corresponding yaw angle phi of vehicle body 1 Coordinates M of center point of rear axle of vehicle 1 ＝(x M1 ,y M1 ) Obtained by the following formula:
wherein x is M0 、y M0 Respectively are the path points N 1 Is a previous path point N of 0 And the corresponding abscissa of the center point of the rear axle of the vehicle, and L is the distance between the center point of the vehicle head and the center point of the rear axle of the vehicle.
5. A vehicle pre-crash detection apparatus, characterized in that the apparatus comprises obstacle detection means for detecting obstacle coordinate information around a vehicle, and transmitting the detected obstacle coordinate information to a processor, and a memory, the processor executing a computer program stored by the memory to realize the vehicle pre-crash detection method according to any one of claims 1 to 4.
6. A vehicle comprising a vehicle body and a vehicle pre-crash detection apparatus, characterized in that the vehicle pre-crash detection apparatus comprises an obstacle detection apparatus for detecting obstacle coordinate information around the vehicle and transmitting the detected obstacle coordinate information to a processor executing a computer program stored by the memory to realize the vehicle pre-crash detection method according to any one of claims 1 to 4.
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| CN116974286B (en) * | 2023-08-25 | 2024-06-21 | 上海木蚁机器人科技有限公司 | Obstacle avoidance method, device, equipment and medium for adjusting unmanned vehicle following control point |
| CN117995022B (en) * | 2024-04-07 | 2024-08-02 | 中国第一汽车股份有限公司 | Screening method and device for crossing vehicle targets, vehicle and storage medium |
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