Obstacle avoidance control method and device, vehicle and storage medium

文档序号：161761 发布日期：2021-10-29 浏览：22次中文

阅读说明：本技术 一种避障控制方法、装置、车辆和存储介质 (Obstacle avoidance control method and device, vehicle and storage medium ) 是由徐鑫于 2021-08-25 设计创作，主要内容包括：本发明实施例公开了一种避障控制方法、装置、车辆和存储介质,该方法包括：获取当前车辆行驶过程中的状态信息,并根据状态信息和参考轨迹确定轨迹跟踪误差；对状态信息和障碍物位置进行障碍物约束,并确定当前车辆的障碍物惩罚,对状态信息进行稳定性约束,并确定当前车辆的稳定性惩罚；根据状态信息、轨迹跟踪误差、障碍物惩罚和稳定性惩罚构建目标函数；基于目标函数的跟踪项的最小值确定当前车辆的前轮转角,并根据前轮转角控制当前车辆进行避障。上述技术方案,准确描述避障场景,将障碍物对目标函数的约束转换至目标函数自身,减少在线优化目标函数的计算量,实现优化问题的快速求解,提升避障控制的实时性,进一步提升车辆驾驶的安全性。(The embodiment of the invention discloses an obstacle avoidance control method, an obstacle avoidance control device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track; carrying out obstacle constraint on the state information and the obstacle position, determining the obstacle penalty of the current vehicle, carrying out stability constraint on the state information, and determining the stability penalty of the current vehicle; constructing a target function according to the state information, the track tracking error, the barrier punishment and the stability punishment; and determining the front wheel steering angle of the current vehicle based on the minimum value of the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel steering angle. According to the technical scheme, the obstacle avoidance scene is accurately described, the constraint of the target function by the obstacle is converted into the target function, the calculated amount of the online optimization target function is reduced, the rapid solution of the optimization problem is realized, the real-time performance of obstacle avoidance control is improved, and the safety of vehicle driving is further improved.)

1. An obstacle avoidance control method is characterized by comprising the following steps:

acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track;

performing obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle penalty, performing stability constraint on the current vehicle based on the state information, and determining stability penalty;

constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

and adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle.

2. The obstacle avoidance control method according to claim 1, wherein the state information includes a running track of the current vehicle, and accordingly, determining a track tracking error according to the state information and a reference track includes:

and determining the track tracking error according to the running track and the reference track.

3. The obstacle avoidance control method according to claim 2, wherein the obstacle information includes week vehicle position information and lane position information, the obstacle constraints include vehicle-vehicle collision constraints and vehicle-road collision constraints, the obstacle penalties include vehicle-vehicle collision penalties and vehicle-road collision penalties, accordingly, the obstacle constraints are performed on the current vehicle based on the state information and the obstacle information, and the obstacle penalties are determined, including:

determining the current position information of the current vehicle according to the running track contained in the state information;

and carrying out vehicle-vehicle collision constraint according to the current position information and the week vehicle position information, determining vehicle-vehicle collision punishment, carrying out vehicle-road collision constraint according to the current position information and the lane position information, and determining vehicle-road collision punishment.

4. The obstacle avoidance control method according to claim 3, wherein before performing vehicle-vehicle collision constraint according to the current position information and the surrounding position information and determining a vehicle-vehicle collision penalty, performing vehicle-road collision constraint according to the current position information and the lane position information and determining a vehicle-road collision penalty, the method comprises:

describing the contour information of the current vehicle and the week vehicle based on a double-circle model;

correspondingly, determining vehicle collision punishment according to the current position information and the week position information, and the method comprises the following steps:

determining a first circle center distance between each coverage circle center of each week vehicle and each coverage circle center of the current vehicle in the double-circle model, and determining vehicle collision punishment according to the first circle center distance, the current position information and the week vehicle position information;

correspondingly, determining a vehicle-road collision penalty according to the current position information and the lane position information, comprising:

and determining a second circle center distance between each coverage circle center of the current vehicle and the lane in the double-circle model, and determining the vehicle-road collision punishment according to the second circle center distance, the current position information and the lane position information.

5. The obstacle avoidance control method according to claim 2, wherein the stability constraint includes an angular velocity range, a maximum front wheel side slip angle, and a maximum rear wheel side slip angle, the stability penalty includes an angular velocity penalty, a front wheel side slip angle penalty, and a rear wheel side slip angle penalty, and accordingly, the stability constraint is performed on the current vehicle based on the state information, and the stability penalty is determined, including:

and determining the angular speed penalty according to the angular speed range, determining the front wheel side deflection angle penalty according to the maximum front wheel side deflection angle, and determining the rear wheel side deflection angle penalty according to the maximum rear wheel side deflection angle.

6. The obstacle avoidance control method according to claim 5, wherein the state information further includes a longitudinal speed, and accordingly, before performing stability constraint on the current vehicle based on the state information and determining a stability penalty, further includes:

determining the angular speed range according to the longitudinal speed and the rear wheel load, determining the maximum front wheel slip angle according to the friction coefficient of the current vehicle and the lane, the front wheel load and the front wheel slip stiffness, and determining the maximum rear wheel slip angle according to the friction coefficient, the rear wheel load and the rear wheel slip stiffness.

7. The obstacle avoidance control method according to claim 6, wherein before performing stability constraint on the current vehicle based on the state information and determining a stability penalty, further comprising:

and determining the load of the rear wheel according to the weight, the height of the mass center, the distance between the rear wheel and the mass center, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle.

8. An obstacle avoidance control method according to claim 7, wherein the objective function includes a constraint term, a tracking term and a control term, and accordingly, constructing an objective function according to the state information, the trajectory tracking error, the obstacle penalty and the stability penalty comprises:

constructing the constraint term based on the state information, and constructing the tracking term and the control term based on the trajectory tracking error, the obstacle penalty, and the stability penalty.

9. The obstacle avoidance control method according to claim 8, wherein the state information further includes an operation angle and an angular velocity, and accordingly, constructing the constraint term based on the state information includes:

and determining the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed and the state equation of the angular speed as the constraint term.

10. The obstacle avoidance control method according to claim 9, wherein before determining the state equation of the running locus, the state equation of the running angle, the state equation of the longitudinal velocity, and the state equation of the angular velocity as the constraint term, further comprising:

carrying out stress analysis on the current vehicle in a vehicle coordinate system to determine the stress condition of the current vehicle;

and determining a state equation of the running track, a state equation of the running angle, a state equation of the longitudinal speed and a state equation of the angular speed according to the stress condition and the state information.

11. The obstacle avoidance control method according to claim 10, wherein determining the state equation of the running trajectory, the state equation of the running angle, the state equation of the longitudinal velocity, and the state equation of the angular velocity according to the stress condition and the state information includes:

determining a state equation of the running track according to the longitudinal speed and the running angle;

determining a state equation of the operation angle according to the angular speed;

determining a state equation of the longitudinal speed according to the running track, the front wheel side deviation force, the rear wheel side deviation force, the weight of the current vehicle, the longitudinal speed and the angular speed;

and determining the state equation of the angular velocity according to the distance between the front wheel and the mass center, the distance between the rear wheel and the mass center, the front wheel cornering force, the running track and the yaw inertia moment.

12. The obstacle avoidance control method according to claim 8, wherein adjusting a front wheel rotation angle of the current vehicle based on the tracking term of the objective function includes:

adjusting the direction of the front wheel corner according to the positive and negative conditions of the tracking item; and adjusting the angle of the front wheel corner according to the size condition of the tracking item.

13. An obstacle avoidance control device, comprising:

the acquisition module is used for acquiring state information in the current vehicle running process and determining a track tracking error according to the state information and a reference track;

the determining module is used for carrying out obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle punishment, carrying out stability constraint on the current vehicle based on the state information and determining stability punishment;

the construction module is used for constructing an objective function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

and the execution module is used for adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle.

14. A vehicle, characterized in that the vehicle comprises:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the obstacle avoidance control method of any of claims 1-12.

15. A storage medium containing computer-executable instructions for performing the obstacle avoidance control method of any one of claims 1-12 when executed by a computer processor.

Technical Field

The embodiment of the invention relates to a vehicle control technology, in particular to an obstacle avoidance control method, an obstacle avoidance control device, a vehicle and a storage medium.

Background

The intellectualization of automobiles is an important way to enhance the driving performance of automobiles. At present, an emergency braking system of an automobile can be suitable for a medium-low speed running condition, and can reduce the rear-end collision accident rate by about 40%, but the emergency braking system generally only senses obstacles in front of the current automobile and is limited to rear-end collision obstacle avoidance control in longitudinal dimension. When the vehicle speed is higher, the steering obstacle avoidance is more effective than the braking obstacle avoidance. With the vigorous development of the automatic driving technology, the performance of the vehicle-mounted environment sensor is gradually improved, and the vehicle with the automatic driving function can simultaneously sense information of motor vehicles, bicycles, pedestrians and the like of lateral lanes, so that the transverse obstacle avoidance control of the vehicle in a dynamic traffic scene is possible, and the driving safety of the vehicle is expected to be further improved.

In the prior art, an automobile obstacle avoidance process is quite complex, a typical obstacle avoidance scene has the characteristics of short obstacle avoidance time, easy vehicle instability and more vehicle-to-vehicle collision constraints, severe consequences such as vehicle collision or vehicle instability and the like are easily caused by improper steering operation, and higher requirements are provided for control performance, so that the obstacle avoidance control of a dynamic traffic scene can be constructed into a typical nonlinear optimal control problem with constraints based on a model prediction control method, a steering angle can be determined through online optimization solution, and the obstacle avoidance control is further realized.

In the process of implementing the invention, at least the following technical problems are found in the prior art:

the dynamic traffic scene enables the nonlinear degree of a controlled object and the constraint number of a control problem to be obviously increased, so that the complexity of the control problem is exponentially increased, the difficulty of online optimization solution is increased, and the real-time performance of solution is difficult to ensure.

Disclosure of Invention

The invention provides an obstacle avoidance control method, which aims to accurately describe an obstacle avoidance scene, improve the real-time performance of obstacle avoidance control and further improve the safety of vehicle driving.

In a first aspect, an embodiment of the present invention provides an obstacle avoidance control method, including:

acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track;

constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

Further, the state information includes a running track of the current vehicle, and accordingly, determining a track tracking error according to the state information and a reference track includes:

and determining the track tracking error according to the running track and the reference track.

Further, the obstacle information includes week car position information and lane position information, the obstacle restraint includes car collision restraint and vehicle road collision restraint, the obstacle punishment includes car collision punishment and vehicle road collision punishment, correspondingly, based on state information and obstacle information are right the current vehicle carries out the obstacle restraint to confirm the obstacle punishment, include:

determining the current position information of the current vehicle according to the running track contained in the state information;

Further, before performing vehicle-vehicle collision constraint according to the current position information and the week position information, determining vehicle-vehicle collision punishment, performing vehicle-road collision constraint according to the current position information and the lane position information, and determining vehicle-road collision punishment, the method comprises the following steps:

describing the contour information of the current vehicle and the week vehicle based on a double-circle model;

correspondingly, determining vehicle collision punishment according to the current position information and the week position information, and the method comprises the following steps:

correspondingly, determining a vehicle-road collision penalty according to the current position information and the lane position information, comprising:

Further, the stability constraint includes an angular velocity range, a maximum front wheel side slip angle and a maximum rear wheel side slip angle, the stability penalty includes an angular velocity penalty, a front wheel side slip angle penalty and a rear wheel side slip angle penalty, and accordingly, the stability constraint is performed on the current vehicle based on the state information, and the stability penalty is determined, including:

Further, the state information further includes a longitudinal speed, and accordingly, before performing stability constraint on the current vehicle based on the state information and determining a stability penalty, the method further includes:

determining the angular speed range according to the longitudinal speed and the rear wheel load, determining the maximum front wheel yaw angle according to the friction coefficient of the current vehicle and the lane, the front wheel load and the front wheel yaw stiffness, and determining the maximum rear wheel yaw angle according to the friction coefficient, the rear wheel load and the rear wheel yaw stiffness.

Further, before performing stability constraint on the current vehicle based on the state information and determining a stability penalty, the method further includes:

Further, the objective function includes a constraint term, a tracking term, and a control term, and accordingly, the constructing of the objective function according to the state information, the trajectory tracking error, the obstacle penalty, and the stability penalty includes:

Further, the state information further includes an operation angle and an angular velocity, and accordingly, the constraint term is constructed based on the state information, including:

and constructing the constraint term according to the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed and the state equation of the angular speed.

Further, before determining the state equation of the running locus, the state equation of the running angle, the state equation of the longitudinal velocity, and the state equation of the angular velocity as the constraint term, the method further includes:

carrying out stress analysis on the current vehicle in a vehicle coordinate system to determine the stress condition of the current vehicle;

Further, determining the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed and the state equation of the angular speed according to the stress condition and the state information includes:

determining a state equation of the running track according to the longitudinal speed and the running angle;

determining a state equation of the operation angle according to the angular speed;

Further, adjusting the front wheel rotation angle of the current vehicle based on the tracking term of the objective function includes:

In a second aspect, an embodiment of the present invention further provides an obstacle avoidance control device, including:

the acquisition module is used for acquiring state information in the current vehicle running process and determining a track tracking error according to the state information and a reference track;

the construction module is used for constructing an objective function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

In a third aspect, an embodiment of the present invention further provides a vehicle, including:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the obstacle avoidance control method according to any one of the first aspects.

In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the obstacle avoidance control method according to any one of the first aspect.

The embodiment of the invention has the following advantages or beneficial effects:

the embodiment of the invention provides an obstacle avoidance control method, which comprises the following steps: acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track; performing obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle penalty, performing stability constraint on the current vehicle based on the state information, and determining stability penalty; constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty; and adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle. The technical scheme includes that the state information of the vehicle is acquired in real time in the driving process of the vehicle, a track tracking error is determined according to a running track and a reference track contained in the state information, a barrier punishment is determined according to the state information and the position of a barrier in the current environment, a stability punishment is determined according to the state information, a target function is constructed based on the state information, the tracking error, the barrier punishment and the stability punishment, a front wheel rotating angle is determined when the tracking item of the target function is minimum, the current vehicle is controlled to avoid the barrier according to the front wheel rotating angle, the description of the barrier in a dynamic traffic scene according to the target function is realized, the real barrier avoiding scene is accurately described, the constraint of the barrier in the dynamic traffic scene to the target function is converted into the target function, the number of the constraints is reduced, the calculated amount of the online optimization target function is reduced, and the rapid solution of the optimization problem is realized, the real-time performance of obstacle avoidance control is improved, and the safety of vehicle driving is further improved.

Drawings

Fig. 1 is a flowchart of an obstacle avoidance control method according to an embodiment of the present invention;

fig. 2 is a schematic view of a dynamic traffic scene in an obstacle avoidance control method according to an embodiment of the present invention;

fig. 3 is a single-track model of a vehicle in an obstacle avoidance control method according to an embodiment of the present invention;

fig. 4 is a flowchart of an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 5 is a characteristic curve diagram of a cornering power of a vehicle tire in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 6 is a schematic view of a friction circle of a vehicle in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 7 is a flowchart of determining penalty of an obstacle in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 8 is a schematic diagram of a double-circle model in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 9 is a schematic view of vehicle collision restraint in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 10 is a schematic view of a vehicle road collision constraint in an obstacle avoidance control method according to a second embodiment of the present invention;

fig. 11 is a schematic structural diagram of an obstacle avoidance control device according to a third embodiment of the present invention;

fig. 12 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

Example one

Fig. 1 is a flowchart of an obstacle avoidance control method according to an embodiment of the present invention, and the embodiment of the present invention is suitable for the case of performing obstacle avoidance control in a dynamic traffic scene. The method may be performed by an obstacle avoidance control apparatus, which may be implemented by software and/or hardware. Optionally, the obstacle avoidance control device may be configured in a vehicle. As shown in fig. 1, the method specifically includes the following steps:

and step 110, acquiring state information of the current vehicle in the running process, and determining a track tracking error according to the state information and the reference track.

The state information may include a running track of the current vehicle, and the reference track may be a pre-stored predicted track of vehicle running.

In the vehicle coordinate system, the running track of the current time may include a current longitudinal coordinate of the current vehicle in the vehicle coordinate system, and the reference track may include a pre-stored reference longitudinal coordinate of the current vehicle at the current time.

Specifically, during the running process of the vehicle, state information of each moment can be acquired based on a sensor mounted on the current vehicle, and a track tracking error can be determined according to a difference value between the current longitudinal axis coordinate and the reference longitudinal axis coordinate, wherein the track tracking error can indicate a deviation between the current running track and the predicted track, and the greater the track tracking error is, the greater the deviation between the current running track and the predicted track is, the further the possible yaw of the current vehicle is indicated, so that the track tracking error can be used as an item of an obstacle avoidance control target function.

In the embodiment of the invention, the track tracking error can be determined according to the acquired running track of the current vehicle and the pre-stored reference track, and the track tracking error is added to the target function of the obstacle avoidance control.

And 120, performing obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle penalty, performing stability constraint on the current vehicle based on the state information, and determining stability penalty.

Fig. 2 is a schematic view of a dynamic traffic scene in an obstacle avoidance control method according to an embodiment of the present invention, as shown in fig. 2, an obstacle may include a surrounding vehicle and lanes, the surrounding vehicle may include a left front vehicle, a left rear vehicle, a right front vehicle, a right rear vehicle, a right front vehicle, and a right rear vehicle of a current vehicle in a vehicle driving process, the lanes may be three unidirectional lanes in which the current vehicle drives, and of course, the lanes may also be two unidirectional lanes, four bidirectional lanes, or six bidirectional lanes in practical applications.

The obstacle constraints may include vehicle-to-vehicle constraints and vehicle-to-road constraints, and the stability constraints may include angular velocity constraints, front-wheel side slip angle constraints, and rear-wheel side slip angle constraints.

Specifically, in a dynamic traffic scene, a current vehicle and a surrounding vehicle may collide with each other, and the current vehicle and a lane may also collide with each other, so that vehicle-to-vehicle constraint needs to be performed on distance information between the current vehicle and the surrounding vehicle, and vehicle-to-road constraint needs to be performed on the distance information between the current vehicle and the lane, so as to prevent the vehicle from colliding with the surrounding vehicle. In addition, improper steering control easily causes the vehicle to sideslip in the steering obstacle avoidance process of the vehicle, so the stability constraint is also needed to be carried out on the vehicle to prevent the vehicle from being unstable during steering and ensure the safety of the vehicle.

In practical application, the state information can also comprise the current position of the current vehicle, the minimum safe distance between the current vehicle and each week vehicle is determined according to the current position and the week vehicle position, and vehicle-to-vehicle constraint is carried out according to the minimum safe distance; determining the minimum safe distance between the current vehicle and the edge line of the lane according to the current position and the lane position, carrying out vehicle-road constraint according to the minimum safe distance, and converting the vehicle-vehicle constraint and the vehicle-road constraint into barrier punishment in an objective function; according to the state information, the angular speed range, the maximum slip angle of the front wheel and the maximum slip angle of the rear wheel of the current vehicle can be determined, further, the angular speed constraint can be carried out according to the angular speed range, the front wheel slip angle constraint can be carried out according to the maximum slip angle of the front wheel, the rear wheel slip angle constraint can be carried out according to the maximum slip angle of the rear wheel, and the angular speed constraint, the front wheel slip angle constraint and the rear wheel slip angle constraint are converted into stability punishment in an objective function.

In the embodiment of the invention, barrier constraint is carried out on the current vehicle and the position of the barrier so as to determine the barrier punishment, stability constraint is carried out on the current vehicle so as to determine the stability punishment, and the barrier punishment and the stability punishment can also be added to the target function of obstacle avoidance control.

And step 130, constructing an objective function according to the state information, the track tracking error, the barrier penalty and the stability penalty.

In order to simplify the design of a vehicle motion controller, a vehicle transverse dynamic model can be simplified into a single-track model, tire forces of left and right wheels of a vehicle are concentrated on a single-side wheel, and a four-wheel model of the vehicle can be simplified into a front and rear two-wheel model; vehicle longitudinal uniform speed driving, v_xConstant; only lateral and transverse motions are considered, and pitch and roll motions are ignored; the load transfer of the left and right wheels due to steering is ignored. Fig. 3 is a single-track model of a vehicle in an obstacle avoidance control method according to an embodiment of the present invention, where as shown in fig. 3, a is a distance between a centroid of the vehicle and a front axle, and b is a distance between the centroid of the vehicle and a rear axle. When the vehicle is not experiencing severe load shifting, a and b are generally considered to be constant. m is the vehicle mass, v_xAs the vehicle lateral velocity, v_yAs the longitudinal speed of the vehicle, a_xFor lateral acceleration, a_yFor longitudinal acceleration, I_zzFor yaw moment of inertia about the z-axis, w_rAs yaw rate, F_yfFor front wheel side deflection force, F_yrδ is a front wheel steering angle, which is a rear wheel side misalignment force.

Construction of the monorail model as shown in FIG. 3Showing a vehicle coordinate system, and carrying out stress analysis on the vehicle in the lateral direction, namely the y axis to obtain ma_y＝F_yfcos(δ)+F_yrThe force is analyzed in the transverse direction, namely the z axisAccording to the plane rigid body motion theory, the transverse acceleration of the mass center of the vehicle can be determined asAnd thus a longitudinal velocity ofYaw angular velocity of

Therefore, discretizing the state equation of the vehicle can result in a discrete state equation:

wherein f is the system frequency.

Specifically, the reference track point and the position of the obstacle may be discretized and input to a Model Predictive Controller (MPC), and assuming that the current vehicle performs uniform deceleration motion according to the deceleration at the previous time in the prediction time domain, the objective function may be determined as follows:

wherein Q and R are preset coefficients, and the vehicle state is x ═ y, phi, v_y,w_r]^T，r_iFor reference tracks, the index I indicates the number of predicted steps, I₁And I₂For penalty of obstacles, I₃、I₄And I₅Penalizes for stability.

In the embodiment of the invention, the state equation of the vehicle can be determined according to the state information, the discrete state equation corresponding to the state equation of the vehicle can be determined according to the stress analysis and description, the state equation of the vehicle is used as a constraint item, and a target function is constructed according to the state information, the track tracking error, the barrier punishment and the stability punishment.

And 140, adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle.

In particular, since the objective function may be a linear function, and there is a constraint term x_i+1＝f(x_i,u_i+1) Thus, the minimum of the tracking term of the objective function can be determined. The front wheel steering angle of the current vehicle can be determined based on the minimum value of the tracking item of the target function and the expression of each unit of the tracking item, so that the front wheel of the vehicle can be controlled to rotate by the front wheel steering angle, and obstacle avoidance control of the current vehicle is achieved.

The obstacle avoidance control method provided by the embodiment of the invention comprises the following steps: acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track; performing obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle penalty, performing stability constraint on the current vehicle based on the state information, and determining stability penalty; constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty; and adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle. The technical scheme includes that the state information of the vehicle is acquired in real time in the driving process of the vehicle, a track tracking error is determined according to a running track and a reference track contained in the state information, a barrier punishment is determined according to the state information and the position of a barrier in the current environment, a stability punishment is determined according to the state information, a target function is constructed based on the state information, the tracking error, the barrier punishment and the stability punishment, a front wheel rotating angle is determined when the tracking item of the target function is minimum, the current vehicle is controlled to avoid the barrier according to the front wheel rotating angle, the description of the barrier in a dynamic traffic scene according to the target function is realized, the real barrier avoiding scene is accurately described, the constraint of the barrier in the dynamic traffic scene to the target function is converted into the target function, the number of the constraints is reduced, the calculated amount of the online optimization target function is reduced, and the rapid solution of the optimization problem is realized, the real-time performance of obstacle avoidance control is improved, and the safety of vehicle driving is further improved.

Example two

Fig. 4 is a flowchart of an obstacle avoidance control method according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to the case of performing obstacle avoidance control in a dynamic traffic scene. Embodiments of the present invention are embodied on the basis of the above-mentioned embodiments, and explanations of terms identical to or corresponding to the above-mentioned embodiments are omitted here for brevity. Referring to fig. 4, an obstacle avoidance control method provided in the embodiment of the present invention includes:

and step 410, acquiring state information of the current vehicle in the running process, and determining a track tracking error according to the state information and the reference track.

In one embodiment, the state information includes a running track of the current vehicle, and accordingly, determining a track tracking error according to the state information and a reference track includes: and determining the track tracking error according to the running track and the reference track.

Specifically, the current horizontal axis coordinate and the current vertical axis coordinate of the current vehicle in the vehicle coordinate system at the current moment can be determined according to the running track, and the reference horizontal axis coordinate and the reference vertical axis coordinate of the current vehicle in the vehicle coordinate system at the current moment can be determined according to the reference track. Therefore, the track tracking error can be determined according to the difference value between the current longitudinal axis coordinate and the reference longitudinal axis coordinate, and can be used as an item of the obstacle avoidance control target function.

Step 420, determining the load of the front wheel according to the weight, the height of the mass center, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle; and determining the load of the rear wheel according to the weight, the height of the mass center, the distance between the rear wheel and the mass center, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle.

Fig. 5 is a characteristic curve diagram of cornering power of a vehicle tire in an obstacle avoidance control method according to a second embodiment of the present invention, as shown in fig. 5, a horizontal axis represents a cornering angle, and a vertical axis represents a cornering force, and when the cornering angle is small, the cornering force and the cornering angle are in a linear relationship, so that a driver can effectively apply control; as the slip angle increases, the relationship between the slip force and the slip angle gradually becomes nonlinear, in which case the vehicle will be difficult to control; when the working point of the tire is close to a saturation area, instability conditions such as tail flicking, side slipping and the like of the vehicle can occur, and the safety of the vehicle can not be ensured. Therefore, the relationship of the tire cornering angle to the cornering power can be determined as formula 3.

Wherein, # denotes a wheel, # denotes a front wheel, r denotes a rear wheel, C_#Is the cornering stiffness of the tyre, alpha_#Is the tire slip angle, F_z#Is the load mu on the wheel_#Is the tire lateral adhesion coefficient.

Assuming that the load transfer of the left and right tires during steering of the vehicle is small, the load transfer of the left and right tires can be ignored, and only the load transfer of the front and rear tires during steady state when the vehicle is braked is considered. If the inertia force in the longitudinal direction at the center of mass of the vehicle is F_jLongitudinal acceleration of alpha_xThe height of the center of mass from the ground is h, and the center of mass can be adjusted according to a moment balance formulaTo determine F_zr(a+b)+F_jh-mga and F_zf(a+b)＝F_jh + mgb, opposite to the direction of acceleration due to inertial forces, i.e. F_j＝-mα_xThus, it can be determined that the front tire load during braking isRear tire load ofWherein g represents the gravitational acceleration.

In the embodiment of the invention, the load of the front wheel can be determined according to the acquired weight, the height of the mass center, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle; and determining the load of the rear wheel according to the acquired weight, the height of the mass center, the distance between the rear wheel and the mass center, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle.

And 430, determining the angular speed range according to the longitudinal speed and the rear wheel load, determining the maximum front wheel side slip angle according to the friction coefficient of the current vehicle and the lane, the front wheel load and the front wheel side slip rigidity, and determining the maximum rear wheel side slip angle according to the friction coefficient, the rear wheel load and the rear wheel side slip rigidity.

Fig. 6 is a schematic view of a friction circle of a vehicle in an obstacle avoidance control method according to a second embodiment of the present invention, as shown in fig. 6, the adhesion capability of tires during the running of the vehicle is determined by the friction forces of four tires, so that the resultant force acting in the contact surface between the tires and the ground cannot exceed the maximum friction force that can be provided by the ground, and thus it can be known thatBecause the longitudinal force can occupy the adhesive capacity of the tire, the transverse adhesive coefficient of the front wheel and the rear wheel can be determined by considering the influence of the longitudinal forceWherein, F_x#Is the driving force of the front or rear wheels. Since the vehicle is in advanceMaking uniform deceleration movement in the time domain, so that the longitudinal acceleration a_x<0, front wheel driving force F_xfAnd rear wheel driving force F_xrAre all made ofFurther determining the transverse adhesion coefficient of the front wheelTransverse adhesion coefficient of rear wheel

Determining in the vehicle coordinate system that the yaw rate of the vehicle during steering should be satisfiedMost of the existing vehicles are driven by the rear wheels, so mu_r<μ_fAnd further the angular velocity range can be determined asDetermining that a front wheel side slip angle should satisfy-alpha in a vehicle coordinate system_max,f≤α_f≤α_max,fThe rear wheel side slip angle should satisfy-alpha_max,r≤α_r≤α_max,rAnd the maximum slip angle of the tireTherefore, according to the load F of the tire_z#Transverse adhesion coefficient mu_#And cornering stiffness C_#The maximum front wheel side slip angle can be determinedMaximum rear wheel side slip angle

In the embodiment of the invention, based on consideration of the stability of the vehicle, the angular velocity range, the maximum front wheel side slip angle, and the maximum rear wheel side slip angle may be determined.

And 440, performing obstacle constraint on the current vehicle based on the state information and the obstacle information, determining obstacle penalty, performing stability constraint on the current vehicle based on the state information, and determining stability penalty.

Fig. 7 is a flowchart for determining an obstacle penalty in an obstacle avoidance control method according to a second embodiment of the present invention, as shown in fig. 7, in an implementation manner, the obstacle information includes vehicle information and lane information, the obstacle constraints include vehicle-to-vehicle collision constraints and vehicle-to-road collision constraints, the obstacle penalty includes vehicle-to-vehicle collision penalties and vehicle-to-road collision penalties, accordingly, the obstacle penalty is determined based on the state information and the obstacle information for the current vehicle, and the method includes:

step 4410, determining the current position information of the current vehicle according to the running track included in the state information.

Specifically, the current position information of the current vehicle may be determined according to the current horizontal axis coordinate and the current vertical axis coordinate of the current vehicle in the vehicle coordinate system at the current time included in the travel track.

Step 4420, describing the contour information of the current vehicle and the week vehicle based on the double circle model.

Fig. 8 is a schematic diagram of a double-circle model in the obstacle avoidance control method according to the second embodiment of the present invention, and as shown in fig. 8, the double-circle model is used to describe the contour information of the vehicle, the current vehicle and the surrounding vehicle are both represented by 2 coverage circles, and the radii are respectively denoted as r_vehicleAnd r_obstacle. The radius of the covering circle can be one fourth of the vehicle length, namely the radius of the current vehicle covering circleRadius of the cover circle of the cycleWherein l_vehicleThe length of the current vehicle, /)_obstacleVehicle for weekLong. In the embodiment of the invention, r_vehicleAnd r_obstacleAll are 1 meter.

In the embodiment of the invention, the contour information of the current vehicle and the week vehicle is described based on the double-circle model, so that the distance between the current vehicle and the week vehicle and the distance between the current vehicle and the lane edge can be conveniently calculated.

And 4430, performing vehicle-vehicle collision constraint according to the current position information and the week position information, determining vehicle-vehicle collision punishment, performing vehicle-road collision constraint according to the current position information and the lane position information, and determining vehicle-road collision punishment.

Preferably, determining a vehicle collision punishment according to the current position information and the week position information includes: determining a first circle center distance between each coverage circle center of each week vehicle and each coverage circle center of the current vehicle in the double-circle model, and determining vehicle collision punishment according to the first circle center distance, the current position information and the week vehicle position information; correspondingly, determining a vehicle-road collision penalty according to the current position information and the lane position information, comprising: and determining a second circle center distance between each coverage circle center of the current vehicle and the lane in the double-circle model, and determining the vehicle-road collision punishment according to the second circle center distance, the current position information and the lane position information.

Fig. 9 is a schematic view of vehicle collision restraint in the obstacle avoidance control method according to the second embodiment of the present invention, and as shown in fig. 9, first circle center distances between the circle centers of the coverage circles of the vehicle and the circle centers of the coverage circles of the current vehicle during the obstacle avoidance process should be greater than the critical collision distance, that is, d_j,k≥r_vehicle+r_obstacleJ is {1,2}, k is {1,2, ·,12}, where d is_j,kRepresents the distance from the jth coverage circle of the current vehicle to the kth coverage circle of the peripheral vehicle, r_vehicle+r_obstacleRepresenting a first circle center distance. The dynamic traffic scene in the embodiment of the invention comprises 6 vehicles, so that 24 vehicle-to-vehicle collision constraints between 12 coverage circles of the vehicles and 2 coverage circles of the current vehicle exist.

FIG. 10 shows an embodiment of the present inventionIn the schematic diagram of the vehicle-road collision constraint in the obstacle avoidance control method according to the second embodiment, as shown in fig. 10, distances between the center of each coverage circle of the current vehicle and second centers before the left edge and the right edge of the lane in the obstacle avoidance process should be greater than the radius of the coverage circle of the current vehicle, that is, d_j,r≥r_vehicleAnd j is {1,2,3,4}, wherein, when j is {1,2}, d_j,rDistances from the 1 st and 2 nd coverage circles of the current vehicle to the left edge of the lane, respectively, and when j is {3, 4}, d_j,rThe distances r from the 1 st and 2 nd coverage circles of the current vehicle to the right edge of the lane_vehicleRepresenting a second circle center distance.

Further, vehicle collision punishment can be determinedWherein d is_j,k,iThe distance between the jth coverage circle of the current vehicle and the kth coverage circle of the peripheral vehicle when the predicted step number is i is P₁To preset penalty factors, ρ₁For a predetermined relaxation factor, relu (x) max (0, x) is a linear rectification function. When d is_j,k,i>ρ₁(r_vehicle+r_obstacle) When no vehicle collision occurs, the penalty item I for vehicle collision₁Is 0. When d is_j,k,i<ρ₁(r_vehicle+r_obstacle) When is, -d_j,k,i+ρ₁(r_vehicle+r_obstacle) The larger, I₁The larger the size, the more the obstacle can be avoided by the current vehicle. In the embodiment of the invention, in order to increase the vehicle-vehicle collision punishment on the nearby vehicles and simplify the optimization problem, the vehicle-vehicle collision punishment can be determined asWherein d is_j,k,iThe smaller the distance between the current vehicle and the surrounding vehicle is, the smaller the vehicle-vehicle collision punishment I₁The larger the vehicle can be made to avoid obstacles. In addition, r_vehicleAnd r_obstacleCan influence the parameter P₁And (4) determining.

Vehicle road collision penalty can also be determinedWherein d is_j,r,iThe distance between the jth coverage circle of the current vehicle and the outermost lane edge when the predicted step number is i is obtained. Likewise, P₂Also for a predetermined penalty factor, ρ₂Also a predetermined relaxation factor, d_j,r,iThe positive or negative of (d) depends on the position relationship between the vehicle and the lane edge, and if the vehicle exceeds the lane edge, d_j,r,iIs negative, otherwise d_j,r,iPositive values.

And performing vehicle-vehicle collision constraint on the current vehicle and the surrounding vehicle based on the double-circle model, determining vehicle-vehicle collision punishment, performing vehicle-road collision constraint on the current position information and the lane position information, and determining vehicle-road collision punishment.

In one embodiment, the stability constraint includes an angular velocity range, a maximum front wheel side slip angle, and a maximum rear wheel side slip angle, the stability penalty includes an angular velocity penalty, a front wheel side slip angle penalty, and a rear wheel side slip angle penalty, and accordingly, the stability constraint is performed on the current vehicle based on the status information, and the stability penalty is determined, including:

In particular, angular velocity penalties may be determined from the velocity rangesA front wheel side slip angle penalty may be determined based on the maximum front wheel side slip angleDetermining a rear wheel side slip angle penalty based on the maximum rear wheel side slip angleWherein, P₃、P₄And P₅For the penalty coefficient, the penalty coefficient rho can be adjusted according to the actual scene₃、ρ₄And ρ₅Is a preset relaxation factor.

And 450, constructing an objective function according to the state information, the track tracking error, the barrier penalty and the stability penalty.

In one embodiment, the objective function includes a constraint term, a tracking term, and a control term, and accordingly, step 450 may specifically include:

carrying out stress analysis on the current vehicle in a vehicle coordinate system to determine the stress condition of the current vehicle; determining a state equation of the running track, a state equation of the running angle, a state equation of the longitudinal speed and a state equation of the angular speed according to the stress condition and the state information; constructing the constraint term based on the state information, and constructing the tracking term and the control term based on the trajectory tracking error, the obstacle penalty, and the stability penalty.

Preferably, determining the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed, and the state equation of the angular speed according to the stress condition and the state information may specifically include:

determining a state equation of the running track according to the longitudinal speed and the running angle; determining a state equation of the operation angle according to the angular speed; determining a state equation of the longitudinal speed according to the running track, the front wheel side deviation force, the rear wheel side deviation force, the weight of the current vehicle, the longitudinal speed and the angular speed; and determining the state equation of the angular velocity according to the distance between the front wheel and the mass center, the distance between the rear wheel and the mass center, the front wheel cornering force, the running track and the yaw inertia moment.

The state equation capable of determining the running track in the embodiment of the invention isThe equation of state for determining the angle of operation isDetermine the equation of state of the longitudinal velocity asThe equation of state for determining yaw rate isDiscrete equations of state for the vehicle may then be determined. The constraint term x can be determined according to equation 1_i+1＝f(x_i,u_i+1) Thus, the objective function can be determined as:

and 460, adjusting the front wheel rotating angle of the current vehicle based on the tracking item of the target function, and controlling the current vehicle to avoid the obstacle according to the front wheel rotating angle.

In one embodiment, adjusting the front wheel angle of the current vehicle based on the tracking term of the objective function includes:

Specifically, the tracking item may be determined according to a current state of the current vehicle, and the front wheel rotation angle may be adjusted to the left if the tracking item is a positive number, and adjusted to the right if the tracking item is a negative number. Of course, the angle of the front wheel steering angle can be continuously adjusted according to the size of the tracking item until the current vehicle realizes obstacle avoidance control.

EXAMPLE III

Fig. 11 is a schematic structural diagram of an obstacle avoidance control device according to a third embodiment of the present invention. The device and the obstacle avoidance control method of each embodiment belong to the same inventive concept, and details which are not described in detail in the embodiment of the obstacle avoidance control device can refer to the embodiment of the obstacle avoidance control method.

The specific structure of the obstacle avoidance control device is shown in fig. 11, and includes:

an obtaining module 1110, configured to obtain state information of a current vehicle in a driving process, and determine a track tracking error according to the state information and a reference track;

a determining module 1120, configured to perform obstacle constraint on the current vehicle based on the state information and the obstacle information, and determine an obstacle penalty, perform stability constraint on the current vehicle based on the state information, and determine a stability penalty;

a construction module 1130 configured to construct an objective function according to the state information, the trajectory tracking error, the obstacle penalty, and the stability penalty;

and the execution module 1140 is configured to adjust a front wheel steering angle of the current vehicle based on the tracking item of the objective function, and control the current vehicle to avoid an obstacle according to the front wheel steering angle.

On the basis of the foregoing embodiment, the state information includes the running track of the current vehicle, and accordingly, the obtaining module 1110 is specifically configured to:

and acquiring state information of the current vehicle in the running process, and determining the track tracking error according to the running track and the reference track.

In one embodiment, the obstacle information includes a week position information and a lane position information, the obstacle constraints include a vehicle-to-vehicle collision constraint and a vehicle-to-road collision constraint, the obstacle penalty includes a vehicle-to-vehicle collision penalty and a vehicle-to-road collision penalty, and accordingly, the obstacle constraint is performed on the current vehicle based on the state information and the obstacle information, and the obstacle penalty is determined, including:

determining the current position information of the current vehicle according to the running track contained in the state information; describing the contour information of the current vehicle and the week vehicle based on a double-circle model; and carrying out vehicle-vehicle collision constraint according to the current position information and the week vehicle position information, determining vehicle-vehicle collision punishment, carrying out vehicle-road collision constraint according to the current position information and the lane position information, and determining vehicle-road collision punishment.

Optionally, determining a vehicle collision punishment according to the current position information and the weekly position information includes:

optionally, determining a vehicle-road collision penalty according to the current position information and the lane position information includes:

In one embodiment, the state information further includes a longitudinal speed, the stability constraints include an angular speed range, a maximum front wheel side slip angle, and a maximum rear wheel side slip angle, the stability penalties include an angular speed penalty, a front wheel side slip angle penalty, and a rear wheel side slip angle penalty, and accordingly, the stability constraints are applied to the current vehicle based on the state information, and the stability penalties are determined, including:

determining the front wheel load according to the weight, the height of the center of mass, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle; determining the rear wheel load according to the weight, the height of the center of mass, the distance between the rear wheel and the center of mass, the distance between the front wheel and the rear wheel and the longitudinal acceleration of the current vehicle; determining the angular speed range according to the longitudinal speed and the rear wheel load, determining the maximum front wheel side slip angle according to the friction coefficient of the current vehicle and the lane, the front wheel load and the front wheel side slip stiffness, and determining the maximum rear wheel side slip angle according to the friction coefficient, the rear wheel load and the rear wheel side slip stiffness; and determining the angular speed penalty according to the angular speed range, determining the front wheel side deflection angle penalty according to the maximum front wheel side deflection angle, and determining the rear wheel side deflection angle penalty according to the maximum rear wheel side deflection angle.

On the basis of the foregoing embodiment, the objective function includes a constraint term, a tracking term, and a control term, and accordingly, the building module 1130 is specifically configured to:

In one embodiment, the state information further includes an operation angle and an angular velocity, and accordingly, the constraint term is constructed based on the state information, including:

carrying out stress analysis on the current vehicle in a vehicle coordinate system to determine the stress condition of the current vehicle; determining a state equation of the running track, a state equation of the running angle, a state equation of the longitudinal speed and a state equation of the angular speed according to the stress condition and the state information; and determining the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed and the state equation of the angular speed as the constraint term.

Optionally, determining the state equation of the running track, the state equation of the running angle, the state equation of the longitudinal speed, and the state equation of the angular speed according to the stress condition and the state information includes:

On the basis of the foregoing embodiment, the execution module 1140 is specifically configured to:

The obstacle avoidance control device provided by the embodiment of the invention can execute the obstacle avoidance control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the obstacle avoidance control method.

It should be noted that, in the embodiment of the obstacle avoidance control device, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

Example four

Fig. 12 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. FIG. 12 illustrates a block diagram of an exemplary vehicle 12 suitable for use in implementing embodiments of the present invention. The vehicle 12 shown in fig. 12 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.

As shown in FIG. 12, the vehicle 12 is embodied in the form of a general purpose computing electronic device. The components of the vehicle 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

The vehicle 12 typically includes a variety of computer system readable media. These media may be any available media that is accessible by the vehicle 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The vehicle 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 12, and commonly referred to as a "hard drive"). Although not shown in FIG. 12, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

The vehicle 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the vehicle 12, and/or with any devices (e.g., network card, modem, etc.) that enable the vehicle 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the vehicle 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown in fig. 12, the network adapter 20 communicates with other modules of the vehicle 12 via the bus 18. It should be appreciated that although not shown in FIG. 12, other hardware and/or software modules may be used in conjunction with the vehicle 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and page displays by running a program stored in the system memory 28, for example, to implement the obstacle avoidance control method provided by the embodiment of the present invention, where the method includes:

acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track;

constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

Of course, those skilled in the art can understand that the processor may also implement the technical solution of the obstacle avoidance control method provided by any embodiment of the present invention.

EXAMPLE five

An embodiment five of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements, for example, an obstacle avoidance control method provided in the embodiment of the present invention, where the method includes:

acquiring state information of a current vehicle in a running process, and determining a track tracking error according to the state information and a reference track;

constructing a target function according to the state information, the track tracking error, the barrier penalty and the stability penalty;

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

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