Search

CN-121989991-A - Control method and device of vehicle, electronic equipment and vehicle

CN121989991ACN 121989991 ACN121989991 ACN 121989991ACN-121989991-A

Abstract

The embodiment of the application provides a control method, a device, electronic equipment and a vehicle of the vehicle, wherein a first planning path corresponding to a rear axle of the vehicle is obtained according to an initial planning path of the vehicle, obstacle information around the vehicle is obtained, a second planning path corresponding to the front end of the vehicle is determined according to the first planning path, minimum projection distances between the obstacle and the first planning path and between the obstacle and the second planning path are determined according to the obstacle information, comprehensive distances between the obstacle and the initial planning path are determined according to displacement and minimum projection distances of the obstacle relative to the first planning path, and the vehicle is controlled to run according to corresponding acceleration or corresponding braking parameters according to the comprehensive distances. The embodiment of the application can fully consider the comprehensive influence of the vehicle contour and the obstacle on the planned path while reducing the demand on the computing resource, and improves the output and response efficiency of the vehicle control instruction.

Inventors

  • WEN BAO

Assignees

  • 广州汽车集团股份有限公司

Dates

Publication Date
20260508
Application Date
20260302

Claims (10)

  1. 1. A control method of a vehicle, characterized in that the vehicle includes a vehicle rear axle and a vehicle front end, the method comprising: Acquiring a first planning path corresponding to a rear axle of the vehicle according to the initial planning path of the vehicle, and acquiring barrier information around the vehicle; determining a second planning path corresponding to the front end of the vehicle according to the first planning path; Determining minimum projection distances between the obstacle and the first planning path and the second planning path respectively according to the obstacle information; determining a comprehensive distance between the obstacle and the initial planned path according to the displacement of the obstacle relative to the first planned path and the minimum projection distance; and controlling the vehicle to run according to the corresponding acceleration or corresponding braking parameters according to the comprehensive distance.
  2. 2. The control method of the vehicle according to claim 1, characterized in that the controlling the vehicle according to the integrated distance to travel according to the corresponding acceleration or according to the corresponding braking parameter includes: Acquiring the current speed of the vehicle and the end point distance of the vehicle from the end point of the planned path; determining a target obstacle with the smallest comprehensive distance between the target obstacle and the initial planning path, and taking the comprehensive distance corresponding to the target obstacle as the smallest comprehensive distance; Determining a control instruction of the vehicle according to the minimum comprehensive distance, the current vehicle speed and the terminal point distance; and controlling the vehicle to run according to the corresponding acceleration or the corresponding braking parameters according to the control instruction.
  3. 3. The control method of a vehicle according to claim 2, characterized in that the control command includes a first braking command for controlling the vehicle to brake according to a corresponding acceleration, and a torque command for controlling a current vehicle speed of the vehicle; the determining the control command of the vehicle according to the minimum comprehensive distance, the current vehicle speed and the terminal point distance comprises the following steps: acquiring a safe parking distance, wherein the safe parking distance is a distance required by the vehicle to safely finish parking braking; If the terminal point distance is larger than the safe parking distance, calculating an acceleration instruction corresponding to the vehicle according to the minimum comprehensive distance, the current vehicle speed and the terminal point distance; and determining the first braking command and the torque command according to the acceleration command.
  4. 4. A control method of a vehicle according to claim 3, characterized in that after the acquisition of the safe stopping distance, the method further comprises: If the terminal distance is smaller than or equal to the safe parking distance, inquiring a braking distance corresponding to the current vehicle speed; And determining a second braking instruction according to the braking distance, wherein the second braking instruction is used for controlling the vehicle to brake.
  5. 5. The control method of a vehicle according to claim 1, characterized in that the vehicle has a corresponding vehicle body coordinate system, the acquiring a first planned path corresponding to the vehicle rear axle from an initial planned path of the vehicle, and acquiring obstacle information around the vehicle, includes: Acquiring parking areas of the vehicle, an initial planning path of the vehicle and initial obstacle information of obstacles to be screened around the vehicle; screening the obstacle to be screened according to the parking area to obtain an obstacle positioned in the parking area; Determining an initial first planning path corresponding to the rear axle of the vehicle according to the initial planning path of the vehicle; Respectively converting the initial first planning path and initial obstacle information corresponding to the obstacle into the vehicle body coordinate system to obtain the first planning path corresponding to the vehicle rear axle and initial obstacle information under the vehicle body coordinate system; And performing contour processing on the initial obstacle information under the vehicle body coordinate system, and determining the obstacle information around the vehicle.
  6. 6. The control method of a vehicle according to claim 5, wherein the initial obstacle information in the vehicle body coordinate system includes a length and a width of the obstacle, wherein the contour processing of the initial obstacle information in the vehicle body coordinate system, determining the obstacle information around the vehicle, includes: Performing expansion treatment on the length and the width of the barrier to obtain a target boundary frame of the barrier; and taking the position information of the target boundary box of the obstacle as obstacle information around the vehicle.
  7. 7. The control method of a vehicle according to claim 6, characterized in that before said determining minimum projection distances between the obstacle and the first planned path and the second planned path, respectively, based on the obstacle information, the method includes: acquiring a position distance threshold value of an obstacle; determining a first positional relationship between the obstacle and the first planned path, and a second positional relationship between the obstacle and the second planned path; Determining the obstacle information corresponding to the obstacle of which the first position relation does not meet the obstacle position distance threshold and/or the obstacle of which the second position relation does not meet the obstacle position distance threshold as information to be removed; and eliminating the information to be eliminated in the obstacle information around the vehicle.
  8. 8. A control device of a vehicle, characterized in that the vehicle includes a vehicle rear axle and a vehicle front end, the device comprising: the information acquisition module is used for acquiring a first planning path corresponding to the rear axle of the vehicle according to the initial planning path of the vehicle and acquiring barrier information around the vehicle; the path determining module is used for determining a second planning path corresponding to the front end of the vehicle according to the first planning path; The information calculation module is used for determining minimum projection distances between the obstacle and the first planning path and the second planning path respectively according to the obstacle information; A distance determining module, configured to determine a comprehensive distance between the obstacle and the initial planned path according to a displacement of the obstacle relative to the first planned path and the minimum projection distance; And the instruction determining module is used for controlling the vehicle to run according to the corresponding acceleration or corresponding braking parameters according to the comprehensive distance.
  9. 9. An electronic device comprising a processor and a memory, wherein A memory for storing a computer program; A processor for executing a program stored in the memory to realize the control method of the vehicle according to any one of claims 1 to 7.
  10. 10. A vehicle comprising the electronic device of claim 9.

Description

Control method and device of vehicle, electronic equipment and vehicle Technical Field The embodiment of the application relates to the technical field of automatic driving, in particular to a vehicle control method and device, electronic equipment and a vehicle. Background In the unmanned system, the track planning module and the control module generally adopt a layered design scheme, namely the track planning and control functions belong to a decision planning system and a motion control system. The track planning is further divided into path planning and speed planning, and the motion control comprises transverse control and longitudinal control. The speed planning function is to calculate the safe running speed in a complex dynamic environment, the longitudinal controller calculates the torque and the braking instruction according to the speed planning result, and then the drive-by-wire chassis in the motion control system executes the control instruction, so that the speed control of the vehicle is realized. In recent years, as the unmanned technology research is in progress, researchers gradually recognize the advantages and necessity of combining planning and control, and thus various planning and control integrated design methods are emerging. However, the existing planning control integrated method has some limitations, such as insufficient consideration of the influence of the obstacle on the path, neglecting the influence of the vehicle contour, and high requirement on computing resources. Disclosure of Invention The embodiment of the application provides a vehicle control method and device, electronic equipment and a vehicle, and aims to solve or partially solve the technical problems. In order to solve the above-mentioned problems, an embodiment of the present application discloses a control method of a vehicle including a vehicle rear axle and a vehicle front end, the method including: Acquiring a first planning path corresponding to a rear axle of the vehicle according to the initial planning path of the vehicle, and acquiring barrier information around the vehicle; determining a second planning path corresponding to the front end of the vehicle according to the first planning path; Determining minimum projection distances between the obstacle and the first planning path and the second planning path respectively according to the obstacle information; determining a comprehensive distance between the obstacle and the initial planned path according to the displacement of the obstacle relative to the first planned path and the minimum projection distance; and controlling the vehicle to run according to the corresponding acceleration or corresponding braking parameters according to the comprehensive distance. According to the embodiment of the application, the second planning path at the front end of the vehicle is calculated based on the first planning path of the rear axle of the vehicle, and the influence of the obstacle on the vehicle control is estimated according to the first planning path and the second planning path, so that the influence of the vehicle contour and the obstacle on the driving path is comprehensively considered. The method comprises the steps of determining the minimum projection distance between the obstacle and the first planning path and the minimum projection distance between the obstacle and the second planning path respectively, and determining the comprehensive distance between the obstacle and the initial planning path according to the displacement and the minimum projection distance of the obstacle relative to the first planning path, so that unified processing of obstacle distance calculation in the straight path and the curve path is realized, further, the vehicle is directly controlled according to the comprehensive distance, and the consumption of calculation resources is reduced. According to the technical scheme provided by the embodiment of the application, the comprehensive influence of the vehicle contour and the obstacle on the planned path can be fully considered while the demand on the computing resource is reduced, the output and response efficiency of the vehicle control instruction is improved, and the performance advantages of the planning module and the control module are fully exerted. Optionally, the controlling the vehicle to travel according to the integrated distance and the corresponding acceleration or the corresponding braking parameter includes: Acquiring the current speed of the vehicle and the end point distance of the vehicle from the end point of the planned path; determining a target obstacle with the smallest comprehensive distance between the target obstacle and the initial planning path, and taking the comprehensive distance corresponding to the target obstacle as the smallest comprehensive distance; Determining a control instruction of the vehicle according to the minimum comprehensive distance, the current vehicle speed and the t