CN-114670815-B - Vehicle control method, device, electronic equipment and storage medium

CN114670815BCN 114670815 BCN114670815 BCN 114670815BCN-114670815-B

Abstract

The embodiment of the disclosure discloses a vehicle control method, a device, electronic equipment and a storage medium, wherein the method comprises the steps of determining whether a steering collision avoidance space exists or not based on first association information of a target vehicle and second association information of a second obstacle with a distance within a preset range between the target vehicle and the first obstacle when determining that collision risk exists between the target vehicle and the first obstacle, wherein the target vehicle and the first obstacle run in the same lane in the same direction, the first obstacle is positioned in front of the target vehicle, determining a steering collision avoidance direction according to the steering collision avoidance space if the steering collision avoidance space exists, determining a steering collision avoidance edge track based on the steering collision avoidance direction and a preset lateral acceleration, and performing steering control on the target vehicle based on the steering collision avoidance edge track. The present disclosure improves the running safety of a vehicle.

Inventors

DONG DEZHI
FAN ZEHUA
ZHANG SHIJUAN
YE LINGXIA

Assignees

驭势（上海）汽车科技有限公司

Dates

Publication Date: 20260512
Application Date: 20220411

Claims (20)

1. A vehicle control method, characterized in that the method comprises: When determining that collision risk exists between a target vehicle and a first obstacle, determining whether a steering collision avoidance space exists or not based on first associated information of the target vehicle and second associated information of a second obstacle with a distance between the target vehicle and the second obstacle within a preset range, wherein the target vehicle and the first obstacle run in the same lane in the same direction, and the first obstacle is positioned in front of the target vehicle; if the steering collision avoidance space is determined to exist, determining the steering collision avoidance direction according to the steering collision avoidance space; determining a steering collision avoidance edge track based on the steering collision avoidance direction and a preset lateral acceleration; steering control is carried out on the target vehicle based on the steering collision avoidance edge track; determining a steering collision avoidance direction according to the steering collision avoidance space, wherein if the steering collision avoidance space exists on the left side and the right side of the target vehicle, determining the steering collision avoidance direction according to the relative transverse distance between the target vehicle and the first obstacle; The determining a steering collision avoidance direction according to a relative lateral distance between a target vehicle and the first obstacle includes: When the first obstacle appears in front of the target vehicle for the first time, if the relative transverse distance between the target vehicle and the first obstacle is larger than the upper limit threshold of the hysteresis zone, determining that the steering collision avoidance direction is rightward; after determining that the steering collision avoidance direction is rightward, updating the steering collision avoidance direction to leftward when detecting that the relative lateral distance between the target vehicle and the first obstacle is smaller than a lower threshold of a hysteresis zone; when the first obstacle appears in front of the target vehicle for the first time, if the relative transverse distance between the target vehicle and the first obstacle is smaller than the lower threshold value of the hysteresis zone, determining that the steering collision avoidance direction is leftward; After determining that the steering collision avoidance direction is leftward, updating the steering collision avoidance direction to rightward when detecting that the relative lateral distance between the target vehicle and the first obstacle is greater than an upper threshold of a hysteresis zone; And when the first obstacle appears in front of the target vehicle for the first time, if the relative transverse distance between the target vehicle and the first obstacle is smaller than the upper threshold value of the hysteresis interval and larger than the lower threshold value of the hysteresis interval, determining that the steering collision avoidance direction is leftward.
2. The method of claim 1, wherein the determining a steering collision avoidance edge trajectory based on the steering collision avoidance direction and a preset lateral acceleration comprises: Determining a second derivative formula of a set trajectory equation, wherein the set trajectory equation comprises a first variable, a first coefficient and a second coefficient, the first variable is time, the first coefficient is time required by the target vehicle to finish steering collision avoidance, the second coefficient is a lateral offset distance required by collision avoidance, and the lateral offset distance is related to the steering collision avoidance direction; determining a solution equation for a maximum value of the lateral acceleration based on the second derivative equation; Determining the preset lateral acceleration as a maximum value of the lateral acceleration to determine the first coefficient in the solution equation according to the preset lateral acceleration; Substituting the determined numerical value of the first coefficient into the set track equation to obtain a steering collision avoidance running track; And carrying out translation processing on the steering collision avoidance driving track based on the steering collision avoidance direction and the width of the target vehicle to obtain the steering collision avoidance edge track.
3. The method of claim 2, wherein the set trajectory equation is: Wherein t is a first variable, and represents time, t e is a first coefficient, and represents time required by the target vehicle to complete steering collision avoidance, and y e is a second coefficient, and represents a lateral offset distance required by collision avoidance; The second derivative formula is: Wherein, the Representing lateral acceleration; The solution equation of the maximum value of the lateral acceleration is as follows: Wherein, the Representing the maximum value of the lateral acceleration.
4. A method according to claim 3, wherein the equation expression for the steering collision avoidance edge trajectory is: when the steering collision avoidance direction is leftward: when the steering collision avoidance direction is rightward: Wherein, the Representing the width of the target vehicle, Representing the edge track safety margin.
5. The method of claim 2, wherein when the steering collision avoidance direction is leftward, the lateral offset distance y e required for collision avoidance is: when the steering collision avoidance direction is rightward, the lateral offset distance y e required for collision avoidance is: Wherein, the Indicating a set lateral safety distance margin, Representing the width of the target vehicle, Representing the width of the first obstacle, Representing the lateral distance of the first obstacle relative to the target vehicle, Represents the lateral speed of the first obstacle relative to the target vehicle, Indicating the time of collision.
6. The method of claim 1, wherein prior to steering the target vehicle based on the steering collision avoidance edge trajectory, the method further comprises: determining whether a condition for triggering automatic emergency steering collision avoidance AES is met or not based on the steering collision avoidance edge track, the lateral offset distance required by collision avoidance and the motion state information of the target vehicle; If the condition for triggering AES is determined to be met, triggering AES to continuously execute the operation of steering control on the target vehicle based on the steering collision avoidance edge track; If it is determined that the condition for triggering AES is not satisfied, the flow is exited to cancel execution of the steering control operation for the target vehicle based on the steering collision avoidance edge locus.
7. The method of claim 6, wherein the determining whether a condition for triggering automatic emergency steering collision avoidance AES is satisfied based on the steering collision avoidance edge trajectory, a lateral offset distance required for collision avoidance, and the motion state information of the target vehicle comprises: determining a first minimum safety distance corresponding to the latest steering point according to the steering collision avoidance edge track and the transverse offset distance required by collision avoidance; And determining whether a condition for triggering automatic emergency steering collision avoidance AES is met or not based on the longitudinal distance between the target vehicle and the first obstacle, the first minimum safety distance, a second minimum safety distance corresponding to an automatic emergency braking AEB decision and the motion state information of the target vehicle.
8. The method of claim 7, wherein the determining whether the condition for triggering automatic emergency steering collision avoidance AES is satisfied based on the longitudinal distance between the target vehicle and the first obstacle, the first minimum safe distance, a second minimum safe distance corresponding to an automatic emergency braking AEB decision, and the motion state information of the target vehicle comprises: And if the longitudinal distance between the target vehicle and the first obstacle is smaller than the first minimum safety distance and the second minimum safety distance is larger than the first minimum safety distance and the motion state information of the target vehicle accords with a set condition, determining that the condition for triggering AES is met.
9. The method of claim 7, wherein the determining a first minimum safety distance corresponding to a latest steering point based on the steering collision avoidance edge trajectory and a lateral offset distance required for collision avoidance comprises: Determining a first coordinate value of an intersection point of the first obstacle and the steering collision avoidance edge locus based on a width of the first obstacle, a lateral distance of the first obstacle relative to the target vehicle, a lateral speed of the first obstacle relative to the target vehicle, and a collision time; Substituting the first coordinate value into an equation expression of the steering collision avoidance edge track, and obtaining the latest steering time by solving the equation expression; the first minimum safe distance is determined based on a longitudinal speed of the target vehicle, a longitudinal speed of the first obstacle, the latest steering time, and a preset system response time.
10. The method of claim 9, wherein the determining a first coordinate value of an intersection of the first obstacle with the steering-collision-avoidance edge trajectory based on a width of the first obstacle, a lateral distance of the first obstacle relative to the target vehicle, a lateral speed of the first obstacle relative to the target vehicle, and a collision time comprises: The first coordinate value is determined according to the following formula: Wherein, the The first coordinate value is represented by the first coordinate value, Representing the width of the first obstacle, Representing the lateral distance of the first obstacle relative to the target vehicle, Represents the lateral speed of the first obstacle relative to the target vehicle, Indicating the time of collision.
11. The method of claim 9, wherein the determining the first minimum safe distance based on the longitudinal speed of the target vehicle, the longitudinal speed of the first obstacle, the latest steering time, and a preset system response time comprises: determining the first minimum safe distance based on the following equation: wherein DMS represents the first minimum safe distance, Representing the longitudinal speed of the target vehicle, Representing the longitudinal velocity of the first obstacle, Indicating the latest steering time as described above, Representing the preset system response time.
12. The method of claim 6, wherein the motion state information of the target vehicle includes at least one of: Braking, accelerating and steering.
13. The method of claim 6, wherein if it is determined that there is no steering collision avoidance space, or if it is determined that the condition for triggering AES is not satisfied, the method further comprises: the target vehicle is controlled based on the AEB decision.
14. The method according to any one of claims 1-13, wherein said determining a steering collision avoidance direction from said steering collision avoidance space further comprises: If the fact that only the left side of the target vehicle has the steering collision avoidance space is determined, the steering collision avoidance direction is left; if it is determined that only the right side of the target vehicle has the steering collision avoidance space, the steering collision avoidance direction is rightward.
15. The method of claim 1, wherein the upper threshold is greater than the lower threshold, and wherein the coordinate point corresponding to the lower threshold is located to the left of the coordinate point corresponding to the central axis of the target vehicle.
16. The method according to any one of claims 1-13, further comprising: determining whether a preset target exists in a sensing range or not through a fusion sensing module; If it is determined that a preset target exists, determining a collision time based on a relative speed between the target vehicle and the first obstacle, a relative acceleration between the target vehicle and the first obstacle, and a relative position between the target vehicle and the first obstacle; if the collision time is smaller than a preset threshold value, determining that collision risk exists between the target vehicle and the first obstacle; if the preset target is not determined to exist, or if the collision time is greater than or equal to a preset threshold value, the AES process is exited.
17. The method of claim 16, wherein if the collision time is less than a preset threshold, the method further comprises: And determining a lateral offset distance required for collision avoidance according to the width of the target vehicle, the width of the first obstacle, the lateral distance of the first obstacle relative to the target vehicle, the lateral speed of the first obstacle relative to the target vehicle, the collision time and the set lateral safety distance allowance.
18. A vehicle control apparatus characterized by comprising: a first determining module, configured to determine whether a steering collision avoidance space exists or not based on first association information of a target vehicle and second association information of a second obstacle whose distance from the target vehicle is within a preset range when it is determined that there is a collision risk between the target vehicle and the first obstacle, where the target vehicle and the first obstacle travel in the same lane, and the first obstacle is located in front of the target vehicle; The second determining module is used for determining a steering collision avoidance direction according to the steering collision avoidance space if the steering collision avoidance space exists; the third determining module is used for determining a steering collision avoidance edge track based on the steering collision avoidance direction and a preset lateral acceleration; the control module is used for controlling the steering of the target vehicle based on the steering collision avoidance edge track; The second determining module is specifically configured to determine a steering collision avoidance direction according to a relative lateral distance between the target vehicle and the first obstacle if it is determined that steering collision avoidance spaces exist on both left and right sides of the target vehicle; The second determining module is specifically configured to determine that a steering collision avoidance direction is rightward if a relative lateral distance between the target vehicle and the first obstacle is greater than an upper threshold of a hysteresis zone when the first obstacle is first present in front of the target vehicle, update the steering collision avoidance direction to leftward when the relative lateral distance between the target vehicle and the first obstacle is detected to be smaller than a lower threshold of the hysteresis zone after the steering collision avoidance direction is determined to be rightward, determine that the steering collision avoidance direction is leftward if the relative lateral distance between the target vehicle and the first obstacle is smaller than a lower threshold of the hysteresis zone when the first obstacle is first present in front of the target vehicle, and determine that the steering collision avoidance direction is leftward if the relative lateral distance between the target vehicle and the first obstacle is greater than the upper threshold of the hysteresis zone after the steering collision avoidance direction is determined to be leftward, and update the steering collision avoidance direction to be rightward when the relative lateral distance between the target vehicle and the first obstacle is detected to be greater than the upper threshold of the hysteresis zone when the relative lateral distance between the first obstacle is present in front of the target vehicle.
19. An electronic device, the electronic device comprising: one or more processors; a storage means for storing one or more programs; The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-17.
20. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-17.

Description

Vehicle control method, device, electronic equipment and storage medium Technical Field The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle control method, a device, an electronic apparatus, and a storage medium. Background With the development of autopilot awareness algorithms and hardware algorithms, more and more automobiles are equipped with ADAS (ADVANCED DRIVING ASSISTANCE SYSTEM ), of which FCW (Forward Collision Warning, front collision warning) and AEB (Autonomous Emergency Breaking, automatic emergency braking) are the most representative. However, the focus of FCW and AEB are both in the longitudinal running direction of the vehicle, and prompt the driver to brake or automatically brake the vehicle to achieve deceleration avoidance through a human-computer interface when the collision is imminent. However, when the front obstacle suddenly appears and the speed of the vehicle is too high, the FCW and the AEB can only realize partial deceleration and cannot realize real collision avoidance, and high injury risk still exists for the vehicle or the pedestrian. Disclosure of Invention In order to solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a vehicle control method, device, electronic device, and storage medium, which achieve the purposes of improving vehicle driving safety and reducing risk of injury to vehicles or pedestrians. The embodiment of the disclosure provides a vehicle control method, which comprises the following steps: When determining that collision risk exists between a target vehicle and a first obstacle, determining whether a steering collision avoidance space exists or not based on first associated information of the target vehicle and second associated information of a second obstacle with a distance between the target vehicle and the second obstacle within a preset range, wherein the target vehicle and the first obstacle run in the same lane in the same direction, and the first obstacle is positioned in front of the target vehicle; if the steering collision avoidance space is determined to exist, determining the steering collision avoidance direction according to the steering collision avoidance space; determining a steering collision avoidance edge track based on the steering collision avoidance direction and a preset lateral acceleration; and carrying out steering control on the target vehicle based on the steering collision avoidance edge track. The embodiment of the disclosure also provides a vehicle control device, which comprises: a first determining module, configured to determine whether a steering collision avoidance space exists or not based on first association information of a target vehicle and second association information of a second obstacle whose distance from the target vehicle is within a preset range when it is determined that there is a collision risk between the target vehicle and the first obstacle, where the target vehicle and the first obstacle travel in the same lane, and the first obstacle is located in front of the target vehicle; The second determining module is used for determining a steering collision avoidance direction according to the steering collision avoidance space if the steering collision avoidance space exists; the third determining module is used for determining a steering collision avoidance edge track based on the steering collision avoidance direction and a preset lateral acceleration; and the control module is used for carrying out steering control on the target vehicle based on the steering collision avoidance edge track. The embodiment of the disclosure also provides an electronic device, which comprises one or more processors, a storage device for storing one or more programs, and a control method of the vehicle, wherein the one or more programs are executed by the one or more processors, and the one or more processors are enabled to realize the control method of the vehicle. The disclosed embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method as described above. The vehicle control method provided by the embodiment of the disclosure achieves the purpose of avoiding the obstacle through steering, avoids collision accidents with the obstacle, and improves the safety of vehicle running. Drawings The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale. FIG. 1 is a