Search

CN-121989928-A - Vehicle avoiding method and device

CN121989928ACN 121989928 ACN121989928 ACN 121989928ACN-121989928-A

Abstract

The application discloses a vehicle avoiding method and device. The method comprises the steps of detecting state data of a target vehicle, wherein the state data at least comprise running state data of the target vehicle and surrounding environment data of the target vehicle, determining whether the target vehicle triggers a forced reversing avoidance mode according to the state data, wherein the forced reversing avoidance mode is used for controlling the target vehicle to reverse to avoid an obstacle, determining a reversing path of the target vehicle according to the state data and a lane where the target vehicle is located when the target vehicle triggers the forced reversing avoidance mode, and controlling the target vehicle to reverse according to the reversing path of the target vehicle. The application solves the technical problem of lower driving safety of the vehicle caused by lack of a reversing avoidance mode in the driving process of the vehicle.

Inventors

  • LU JUN

Assignees

  • 中国第一汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260326

Claims (10)

  1. 1. A vehicle avoidance method, comprising: detecting state data of a target vehicle, wherein the state data at least comprises running state data of the target vehicle and surrounding environment data of the target vehicle; determining whether the target vehicle triggers a forced reversing avoidance mode according to the state data, wherein the forced reversing avoidance mode is used for controlling the target vehicle to reverse and avoid an obstacle; Under the condition that the target vehicle triggers the forced reversing avoiding mode, determining a reversing path of the target vehicle according to the state data and a lane where the target vehicle is located; And controlling the target vehicle to reverse according to the reversing path of the target vehicle.
  2. 2. The method of claim 1, wherein determining whether the target vehicle triggers a forced reverse avoidance mode based on the status data comprises: Determining whether the target vehicle meets a first preset condition according to the state data, wherein the first preset condition at least comprises that the speed of the target vehicle is smaller than a preset speed threshold value, an obstacle larger than a preset volume is identified in front of the target vehicle, the relative distance between the target vehicle and the obstacle is smaller than a preset distance, and the collision duration of the target vehicle and the obstacle is smaller than a preset duration; determining that the target vehicle has collision risk under the condition that the target vehicle accords with the first preset condition; determining whether a lateral avoidance path exists in the target vehicle under the condition that the target vehicle is at risk of collision; And under the condition that the target vehicle does not have a lateral avoidance path, determining that the target vehicle triggers a forced reversing avoidance mode.
  3. 3. The method according to claim 2, wherein the method further comprises: Acquiring whether the side of the target vehicle has an obstacle, the minimum turning radius of the target vehicle and the width of a lane where the target vehicle is located and an adjacent lane from the state data; Determining the minimum transverse displacement required by avoiding the target vehicle according to the minimum turning radius of the target vehicle, and determining the available transverse distance of the target vehicle according to the widths of the lane where the target vehicle is located and the adjacent lanes; And determining that a lateral avoidance path does not exist for the target vehicle under the condition that the minimum lateral displacement required for avoiding the target vehicle is larger than the available lateral distance of the target vehicle.
  4. 4. The method of claim 1, wherein after the target vehicle determines that the target vehicle triggers a forced reverse avoidance mode, the method further comprises: Outputting alarm information, wherein the alarm information is used for indicating that the target vehicle needs to be switched to the forced reversing avoidance mode; acquiring an operation instruction of the target vehicle in a preset period; Determining that a first operation exists in the target vehicle when the operation instruction indicates that the steering torque of the target vehicle is greater than a preset torque threshold value or the steering angle change rate of the target vehicle is greater than a preset steering angle change rate threshold value within the preset period; Acquiring an accelerator pedal opening absolute value of the target vehicle in a preset period, and determining that the target vehicle is in a second operation state under the condition that the accelerator pedal opening absolute value is larger than a preset absolute value threshold; Determining that the target vehicle passes a first safety detection when the target vehicle is not in a first operation and the target vehicle is not in a second operation; determining that the target vehicle passes a second safety detection in the absence of an obstacle behind the target vehicle; And under the condition that the target vehicle passes through the first safety detection and the second safety detection simultaneously, determining that the target vehicle is switched to the forced reverse avoidance mode.
  5. 5. The method of claim 4, wherein determining a reverse path of the target vehicle based on the status data and a lane in which the target vehicle is located comprises: Determining a position where the target vehicle can avoid the obstacle according to the state data; determining the position of the target vehicle at the moment of switching to the forced reversing avoidance mode as the starting point of the reversing path, determining the position of the target vehicle capable of avoiding the obstacle as the end point of the reversing path, and generating the reversing path by taking the central line of the lane where the target vehicle is located as the central line of the reversing path of the target vehicle.
  6. 6. The method of claim 5, wherein the method further comprises: Generating a plurality of candidate paths under the condition that an obstacle exists on the reversing path; Respectively obtaining the target distance between the farthest point of each candidate path from the central line of the reversing path and the central line of the reversing path, the distance between the sampling point of each candidate path and the barrier and the curvature change rate of each candidate path; determining a cost function value of each candidate path according to the target distance, the distance between the sampling point in the candidate path and the obstacle and the curvature change rate of each candidate path; And selecting the candidate path with the smallest cost function value from the candidate paths to determine the candidate path as a corrected reversing path.
  7. 7. The method of claim 1, wherein after controlling the target vehicle to reverse in accordance with a reverse path of the target vehicle, the method further comprises: Controlling the target vehicle to stop according to a preset acceleration speed reduction under the condition that the distance between the obstacle and the target vehicle is detected to be larger than a preset safety distance; after the manual control signal is detected, exiting the forced reversing avoidance mode, and responding to the manual control signal; In the event that a risk of collision is detected behind the target vehicle, the vehicle is immediately parked.
  8. 8. A vehicle avoidance system, comprising: The system comprises an environment sensing module, a decision control module and a vehicle control module; The environment sensing module is used for detecting state data of a target vehicle, wherein the state data at least comprise running state data of the target vehicle and surrounding environment data of the target vehicle; The decision control module is used for determining whether the target vehicle triggers a forced reverse avoidance mode according to the state data, and determining a reverse path of the target vehicle according to the state data and a lane where the target vehicle is located when the target vehicle triggers the forced reverse avoidance mode, wherein the forced reverse avoidance mode is used for controlling the target vehicle to reverse and avoid an obstacle; the vehicle control module is used for controlling the target vehicle to reverse according to the reversing path of the target vehicle.
  9. 9. A computer device comprising a memory for storing program instructions and a processor, coupled to the memory, for performing the vehicle avoidance method of any of claims 1 to 7.
  10. 10. A vehicle comprising a vehicle avoidance system, wherein the vehicle avoidance system is configured to perform the vehicle avoidance method of any one of claims 1 to 7.

Description

Vehicle avoiding method and device Technical Field The application relates to the technical field of intelligent driving, in particular to a vehicle avoiding method and device. Background Currently, the vehicle collision avoidance technology is mainly developed around functions of front collision early warning, automatic emergency braking, lane keeping assistance, automatic parking and the like. In the prior art, more track planning schemes related to vehicle reversing control and obstacle avoidance exist. For example, one disclosed vehicle reverse collision prevention control method determines a collision risk by acquiring an obstacle height and a vehicle rear suspension height, and performs reverse adjustment, even when conventional adjustment is not effective, executes a "limit reverse mode" to adjust a vehicle posture. According to another vehicle reversing driving control method, a transverse reversing track and a longitudinal reversing track are planned to avoid collision by analyzing historical driving tracks and obstacle outlines. In addition, for the detouring of static obstacles, there are also schemes for improving safety by planning a combination of a "reverse path" and a "second detouring path". The above solutions focus on parking, low-speed moving or scenes directed to static/quasi-static obstacles. The decision is based on the fact that the vehicle is in a reversing state or is about to enter the reversing state, and the core aim is to optimize the reversing path. For a dynamic dangerous scene that a large vehicle in front suddenly encounters a lane and a lateral avoidance-free space when the vehicle is running forward at a low speed, the prior art lacks decision logic and control strategies for actively switching to a reversing mode for avoidance. More advanced collision avoidance systems begin to consider movement information of multi-directional traffic participants. For example, an anti-rear-end collision avoidance system for a rear vehicle controls the host vehicle to execute an avoidance operation by fusing front, rear and lateral vehicle motion information so as to cope with the rear-end collision risk of the rear vehicle. Another patent proposes to comprehensively evaluate the driving distance required for steering avoidance and the distance required for braking deceleration according to the distance between the vehicle and the obstacle, so as to decide to execute a transverse or longitudinal avoidance event. Such systems, while taking into account dynamic circumstances, still have a strategy that is limited to steering, braking or accelerating in the forward range, or reversing as only a sub-step of the parking process. The method has not been defined and executed as a basic active avoidance strategy for actively engaging in reverse gear and performing a controllable distance reverse under a specific dangerous forward scene. For example, in the related art, it is also proposed to perform wheel torque distribution by independently controlling the torque of each driving motor, so that the vehicle can avoid the steering wheel without turning the steering wheel, thereby solving the problem of "steering wheel robbery. The torque distribution collision avoidance technique mainly optimizes the implementation mode of steering avoidance, and does not expand the degree of freedom of avoidance (still forward or lateral movement). In summary, in the prior art, when a vehicle runs at a low speed in a limited environment such as a narrow road, a roadway, a construction road section, etc., and faces a large vehicle (such as a truck or an engineering vehicle) suddenly appearing in front, and the vehicle completely or partially invades the lane of the vehicle due to the huge volume, the conventional braking and parking cannot avoid collision, and the vehicle lacks enough space laterally to steer and avoid, and thus the vehicle lacks an automatic and safe reverse (reversing) avoidance capability. In such an emergency situation, the driver is liable to operate by mistake due to tension, and there is a high risk of collision or secondary accident. In view of the above problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the application provides a vehicle avoiding method and a vehicle avoiding device, which at least solve the technical problem of low driving safety of a vehicle caused by lack of a reversing avoiding mode in the driving process of the vehicle. According to one aspect of the embodiment of the application, a vehicle avoidance method is provided, which comprises the steps of detecting state data of a target vehicle, wherein the state data at least comprise running state data of the target vehicle and surrounding environment data of the target vehicle, determining whether the target vehicle triggers a forced reverse avoidance mode according to the state data, wherein the forced reverse avoidance mode is used for controlling the target vehicl