CN112462781A - Obstacle crossing method and device - Google Patents

Abstract

Translated fromChinese

本发明实施例提供了一种越障方法和装置，所述方法包括：在车辆自动泊车过程中检测泊车区域内的障碍物；获取车辆当前的速度控制信息；所述速度控制信息包括速度信息、加速度信息的至少一种；根据所述当前的速度控制信息，预测所述车辆经过所述障碍物时的冲击惯量；根据所述冲击惯量调节所述车辆的速度控制信息以使所述车辆通过所述障碍物，从而提高自动泊车过程中车辆针对障碍物的通过性。

Embodiments of the present invention provide an obstacle crossing method and device. The method includes: detecting obstacles in a parking area during automatic parking of a vehicle; acquiring current speed control information of the vehicle; the speed control information includes speed at least one of information and acceleration information; according to the current speed control information, predict the impact inertia when the vehicle passes the obstacle; adjust the speed control information of the vehicle according to the impact inertia to make the vehicle Through the obstacle, the passing ability of the vehicle against the obstacle during the automatic parking process is improved.

Description

Obstacle crossing method and device

Technical Field

The invention relates to the technical field of vehicles, in particular to an obstacle crossing method and an obstacle crossing device.

Background

Due to the space limitation of parking lots, the parking spaces in a plurality of parking lots are designed to be relatively narrow, and the operation space for parking is relatively limited; for most drivers, it is therefore necessary to take a lot of effort to be able to drive the vehicle manually into a narrow parking space in a limited space. With the continuous development of the technology, the automatic parking technology is mature, and the automatic parking technology is applied to the vehicle, so that the vehicle can be automatically parked in the position without manual control; the parking difficulty is solved.

However, obstacles such as speed bumps, bricks, etc. often appear in or outside the parking space; in the automatic parking process, the vehicle often passes through the obstacle only by means of the inertia of the vehicle; however, because the vehicle speed is low during parking, the vehicle may not pass through the obstacle.

Disclosure of Invention

In view of the above problems, embodiments of the present invention are proposed to provide an obstacle crossing method and a corresponding obstacle crossing device that overcome or at least partially solve the above problems.

The embodiment of the invention discloses an obstacle crossing method, which comprises the following steps:

detecting an obstacle in a parking area during automatic parking of the vehicle;

acquiring current speed control information of a vehicle; the speed control information comprises at least one of speed information and acceleration information;

predicting an impact inertia of the vehicle when passing the obstacle according to the current speed control information;

adjusting speed control information of the vehicle to cause the vehicle to pass the obstacle according to the impact inertia.

Optionally, the method further comprises:

detecting whether the vehicle collides with the obstacle;

the adjusting speed control information of the vehicle according to the impact inertia to cause the vehicle to pass through the obstacle includes:

increasing speed control information of the vehicle according to the impact inertia to pass the vehicle through the obstacle before the vehicle collides with the obstacle;

reducing the speed control information of the vehicle after the vehicle collides with the obstacle.

Optionally, the increasing the speed control information of the vehicle according to the impact inertia to cause the vehicle to pass through the obstacle before the vehicle collides with the obstacle includes:

determining a preset speed control information interval range matched with the impact inertia before the vehicle collides with the obstacle;

and increasing the speed control information of the vehicle within the range of the preset speed control information interval.

Optionally, the method further comprises:

determining the number of wheels colliding with the obstacle when the vehicle collides with the obstacle;

the reducing the speed control information of the vehicle after the vehicle collides with the obstacle includes:

after the vehicle collides with the obstacle, the speed control information of the vehicle is reduced according to the number of wheels that collide with the obstacle.

Optionally, the detecting whether the vehicle collides with the obstacle includes:

acquiring azimuth information of the obstacle; predicting a motion trajectory of a plurality of wheels of the vehicle;

determining intersection positions of the wheels and the obstacle according to the movement tracks of the wheels and the obstacle information;

determining the distance between the wheel and the obstacle according to the intersection point position;

determining whether the vehicle collides with the obstacle according to distances between the plurality of wheels and the obstacle.

Optionally, the detecting an obstacle in a parking area during parking of the vehicle includes:

acquiring an image of a parking area in the process of parking a vehicle;

an obstacle within the parking area is identified from the image.

Optionally, the detecting an obstacle in a parking area during parking of the vehicle includes:

acquiring a sensing signal detected by an inertia measuring unit of a vehicle in the parking process of the vehicle;

determining that an obstacle is detected when the change in the sensing signal is detected.

The embodiment of the invention also discloses an obstacle crossing device, which comprises:

the obstacle detection module is used for detecting obstacles in a parking area in the automatic parking process of the vehicle;

the speed control information acquisition module is used for acquiring the current speed control information of the vehicle; the speed control information comprises at least one of speed information and acceleration information;

the impact inertia prediction module is used for predicting the impact inertia of the vehicle passing through the obstacle according to the current speed control information;

and the speed control information adjusting module is used for adjusting the speed control information of the vehicle according to the impact inertia so that the vehicle passes through the obstacle.

Optionally, the method further comprises:

a collision detection module for detecting whether the vehicle collides with the obstacle;

the speed control information adjusting module includes:

a speed control information increasing submodule for increasing speed control information of the vehicle in accordance with the inertia of impact to cause the vehicle to pass through the obstacle before the vehicle collides with the obstacle;

a speed control information reduction submodule for reducing the speed control information of the vehicle after the vehicle collides with the obstacle.

Optionally, the speed control information increasing sub-module includes:

an interval range determination unit configured to determine a preset speed control information interval range to which the impact inertia is adapted before the vehicle collides with the obstacle;

and the speed control information increasing unit is used for increasing the speed control information of the vehicle within the range of the preset speed control information interval.

Optionally, the method further comprises:

a number determination module for determining the number of wheels colliding with the obstacle when the vehicle collides with the obstacle;

the speed control information reduction sub-module includes:

a speed control information reduction unit for reducing the speed control information of the vehicle according to the number of wheels colliding with the obstacle after the vehicle collides with the obstacle.

Optionally, the collision detection module comprises:

the direction information acquisition submodule is used for acquiring the direction information of the barrier;

a motion trajectory prediction sub-module for predicting motion trajectories of a plurality of wheels of the vehicle;

the intersection point position determining submodule is used for determining intersection point positions of the wheels and the obstacle according to the movement tracks of the wheels and the obstacle information;

the distance determining submodule is used for determining the distance between the wheel and the obstacle according to the intersection point position;

and the collision detection submodule is used for determining whether the vehicle collides with the obstacle according to the distances between the wheels and the obstacle.

Optionally, the obstacle detection module comprises:

the image acquisition sub-module is used for acquiring an image of a parking area in the process of parking the vehicle;

and the obstacle identification submodule is used for identifying obstacles in the parking area from the image.

Optionally, the obstacle detection module comprises:

the sensing signal acquisition sub-module is used for acquiring a sensing signal detected by an inertia measurement unit of the vehicle in the parking process of the vehicle;

and the obstacle detection submodule is used for determining that an obstacle is detected when the change of the sensing signal is detected.

The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing the steps of the obstacle crossing method as described above.

The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the steps of the obstacle crossing method.

The embodiment of the invention has the following advantages:

in the embodiment of the invention, the obstacles in the parking area can be detected in the automatic parking process of the vehicle; acquiring current speed control information of a vehicle; determining impact inertia of the vehicle passing through the obstacle according to the current speed control information; and adjusting the speed control information of the vehicle according to the impact inertia to enable the vehicle to pass through the obstacle, so that the passing performance of the vehicle for the obstacle in the automatic parking process is improved.

Drawings

FIG. 1 is a flow chart of steps of an obstacle crossing method according to an embodiment of the present invention;

FIG. 2 is a flow chart of steps of another obstacle crossing method in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of the relative positions of a vehicle and a speed bump in an embodiment of the invention;

fig. 4 is a block diagram of an obstacle crossing device according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The automatic parking function is a function of automatically completing parking of a vehicle without manual control. A user usually turns on the automatic parking function of the vehicle when the vehicle approaches a parking area, and the vehicle is in a low-speed state during automatic parking, so that parking is smoothly completed. If obstacles such as speed bumps and stones exist in the parking area, the vehicle in a low-speed state may not pass through the obstacles, and the parking cannot be completed.

The embodiment of the invention provides an obstacle crossing method which can be applied to an automatic parking scene and can enable a vehicle to pass through an obstacle so as to finish automatic parking.

Referring to fig. 1, a flowchart illustrating steps of an obstacle crossing method according to an embodiment of the present invention is shown, where the method may specifically include the following steps:

instep 101, an obstacle in a parking area is detected during automatic parking of a vehicle.

102, acquiring current speed control information of a vehicle; the speed control information includes at least one of speed information and acceleration information.

And 103, predicting the impact inertia of the vehicle passing through the obstacle according to the current speed control information.

The impact inertia if the vehicle travels past an obstacle according to the current speed control information can be predicted before the vehicle collides with the obstacle.

The impact inertia may represent inertia when the vehicle passes through an obstacle, and the greater the speed and acceleration of the vehicle, the greater the impact inertia. The large impact inertia may allow the vehicle to have sufficient inertia to clear an obstacle after a collision with the obstacle. The larger the impact inertia, the larger the counterforce of the obstacle on the vehicle tire, and the lower the stability of the vehicle passing through the obstacle; the smaller the impact inertia, the higher the stability of the vehicle passing over the obstacle. However, if the inertia of the vehicle is less than a certain value, the vehicle cannot pass through the obstacle.

In the case of vehicles of different models, the impact inertia passing through an obstacle is different when the speed and the acceleration are the same. Under the condition that the speed and the acceleration of the vehicle of the same model are the same, the impact inertia of different obstacles is different. The impact inertia of different obstacles can be measured in advance by vehicles of different models under the conditions of different speeds and accelerations. And calibrating a standard corresponding relation through a large amount of measurement data, for example, calibrating standard values of impact inertia of different obstacles when vehicles of various types are at different speeds and accelerations.

In the actual automatic parking process of the vehicle, the corresponding impact inertia can be searched from the calibrated standard corresponding relation according to the current speed and acceleration.

And 104, adjusting the speed control information of the vehicle according to the impact inertia so that the vehicle passes through the obstacle.

The speed and acceleration of the vehicle can be adjusted according to the impact inertia, so that the vehicle can pass through the obstacle. For example, when the impact inertia is small, the speed and acceleration of the vehicle may be appropriately increased so that the vehicle can smoothly pass through an obstacle. When the impact inertia is large, the speed and acceleration of the vehicle can be appropriately reduced so that the vehicle can smoothly pass through the obstacle.

In the embodiment of the invention, the obstacles in the parking area can be detected in the automatic parking process of the vehicle; acquiring current speed control information of a vehicle; determining impact inertia of the vehicle passing through the obstacle according to the current speed control information; and adjusting the speed control information of the vehicle according to the impact inertia to enable the vehicle to pass through the obstacle, so that the passing performance of the vehicle for the obstacle in the automatic parking process is improved.

Referring to fig. 2, a flowchart illustrating steps of another obstacle crossing method according to an embodiment of the present invention is shown, where the method may specifically include the following steps:

instep 201, an obstacle in a parking area is detected during automatic parking of a vehicle.

In one example, thestep 201 may include the following sub-steps:

in sub-step S11, an image of a parking area is acquired during parking of the vehicle.

The vehicle may be provided with a plurality of cameras, and for example, the cameras may be provided on the front, rear, left, and right of the vehicle. In the automatic parking process, images of parking areas acquired by a plurality of cameras can be acquired.

And a sub-step S12 of identifying an obstacle in the parking area from the image.

The vehicle can identify the obstacles in the parking area from the image, the vehicle can also send the acquired image to the server, and the server can identify the obstacles in the parking area from the image and then send the information of the identified obstacles to the vehicle.

In another example, thestep 201 may include the following sub-steps:

in sub-step S21, a sensing signal detected by an inertia measurement unit of the vehicle is acquired during parking of the vehicle.

And a sub-step S22 of determining that an obstacle is detected when the change in the sensing signal is detected.

An inertial Measurement unit (imu) is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object, and an inertial Measurement unit of a vehicle can detect sensing signals such as an acceleration signal or a pitch angle signal. When a change in the sensing signal is detected, it can be considered that an obstacle has been collided. The obstacle is detected only when the vehicle collides with the obstacle, and the obstacle cannot be detected before the vehicle does not collide with the obstacle.

In the embodiment of the invention, for obstacles such as deceleration strips and the like which are fixed in a parking area in advance, the deceleration strip information can be measured by a vehicle in advance, or the vehicle can directly obtain the deceleration strip information of the parking area from a high-definition map.

Step 202, acquiring current speed control information of a vehicle; the speed control information includes at least one of speed information and acceleration information.

And step 203, predicting the impact inertia of the vehicle passing through the obstacle according to the current speed control information.

Step 204, detecting whether the vehicle collides with the obstacle.

The vehicle can detect whether a collision with an obstacle occurs.

In an alternative embodiment of the present invention, thestep 204 may comprise the following sub-steps:

and a substep S31 of acquiring orientation information of the obstacle.

The orientation information may include position information and/or pose information.

For obstacles with small size, such as small stones, bricks and the like, usually only collide with one wheel of the vehicle, and whether the obstacles collide with the vehicle can be judged only by knowing the position information of the obstacles.

For an obstacle with a large size, such as a deceleration strip, one or more wheels of a vehicle may collide with the obstacle, and position information and posture information of the obstacle need to be known to judge whether the obstacle collides with the vehicle.

The direction information of the obstacle may be direction information of the obstacle with respect to the vehicle, or may be direction information of the obstacle with respect to another reference object. For the purpose of uniform calculation, the orientation may be converted into a preset coordinate system. In one example the predetermined coordinate system may be a vehicle coordinate system, with the conversion of the orientation information to the vehicle coordinate system being less computationally intensive relative to the other coordinate systems. Of course, those skilled in the art may select other coordinate systems, which is not limited in the embodiments of the present invention.

And a substep S32 of predicting a motion trajectory of a plurality of wheels of the vehicle.

A motion trajectory prediction model may be utilized for each wheel of the vehicle to predict a motion trajectory of each wheel based on an angle of a steering wheel of the vehicle.

Referring to fig. 3, a schematic diagram of the relative positions of a vehicle and a deceleration strip in the embodiment of the invention is shown. The point C can be a projection point of the point O on an extension line of the point AB, and can be used for assisting in calculating the intersection point of the vehicle track and the deceleration strip. W1, W2, W3, W4 may be center points of 4 wheels, respectively, and R1, R2, R3, R4 may be turning radii corresponding to the centers of 4 wheels, respectively.

And a substep S33 of determining intersection positions of the plurality of wheels and the obstacle according to the movement trajectories of the plurality of wheels and the obstacle information.

The intersection position may be calculated based on the predicted motion estimation and the position information and attitude information located to the vehicle coordinate system.

And a substep S34 of determining a distance between the wheel and the obstacle based on the intersection position.

And a substep S35 of determining whether the vehicle collides with the obstacle according to the distances between the plurality of wheels and the obstacle.

When the distance of at least one wheel from the obstacle is 0, it may be determined that the vehicle collides with the obstacle.

And step 205, before the vehicle collides with the obstacle, increasing speed control information of the vehicle according to the impact inertia to allow the vehicle to pass through the obstacle.

Before the vehicle collides with the obstacle, the speed and acceleration of the vehicle may be increased to increase the impact inertia of the vehicle, so that the vehicle has sufficient inertia to pass over the obstacle after colliding with the obstacle.

For example, the speed bump has a convex part, and the vehicle needs to go up a slope and then go down the slope during passing through the speed bump. If the impact inertia of the vehicle is too small, the vehicle may not be able to ascend a grade, and therefore the vehicle may be accelerated before it collides with an obstacle.

In an embodiment of the present invention, thestep 205 may include the following sub-steps:

and a substep S41 of determining the impact inertia adapted preset speed control information interval range before the vehicle collides with the obstacle.

The preset speed control information interval range may include: a speed interval range and an acceleration interval range. The impact inertia of the vehicle needs to be increased before the vehicle collides with the obstacle, and the speed and acceleration of the vehicle need to reach a certain value in order to allow the impact inertia to allow the vehicle to pass through the obstacle.

In order to improve the ability of the vehicle to pass over an obstacle, the speed interval range and the acceleration interval range required for the vehicle to pass over the obstacle at the current moment of inertia may be predetermined. When the vehicle needs to cross the obstacle, the preset speed control information interval range matched with the current impact inertia can be searched from the preset speed control information interval range measured in advance.

And a substep S42 of increasing the speed control information of the vehicle within the preset speed control information interval.

Step 206, after the vehicle collides with the obstacle, reducing the speed control information of the vehicle.

After the vehicle collides with the obstacle, the speed and acceleration of the vehicle may be reduced to reduce the impact inertia of the vehicle, so that the vehicle is more stable.

In an embodiment of the present invention, thestep 206 may include: after the vehicle collides with the obstacle, the speed control information of the vehicle is reduced according to the number of wheels that collide with the obstacle.

In embodiments of the invention, one or more wheels of the vehicle may collide with and pass over an obstacle. When the vehicle passes over an obstacle, the vehicle jumps, resulting in a jerky vehicle, the more wheels that pass over the obstacle, the more jerky the vehicle.

In order to make the vehicle smoother, the speed control information of the vehicle may be reduced according to the number of wheels colliding with the obstacle. The more wheels collide with an obstacle, the greater the reduced speed and acceleration of the vehicle; the smaller the wheel colliding with the obstacle, the smaller the speed and acceleration of the vehicle are reduced.

In the embodiment of the invention, the obstacles in the parking area are detected in the automatic parking process of the vehicle, and the current speed control information of the vehicle is obtained; determining impact inertia of the vehicle passing through the obstacle according to the current speed control information; whether the vehicle collides with the obstacle or not is detected, and before the vehicle collides with the obstacle, the speed control information of the vehicle is increased according to the impact inertia to enable the vehicle to pass through the obstacle, so that the passing performance of the vehicle for the obstacle in the automatic parking process is improved. After the vehicle collides with the obstacle, the speed control information of the vehicle is reduced, the stability of the vehicle passing through the obstacle is improved, and the user comfort is improved.

It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.

Referring to fig. 4, a structural block diagram of an obstacle crossing device according to an embodiment of the present invention is shown, and specifically, the obstacle crossing device may include the following modules:

anobstacle detection module 401, configured to detect an obstacle in a parking area during an automatic parking process of a vehicle;

a speed controlinformation obtaining module 402, configured to obtain current speed control information of a vehicle; the speed control information comprises at least one of speed information and acceleration information;

an impactinertia prediction module 403, configured to predict an impact inertia of the vehicle when the vehicle passes through the obstacle according to the current speed control information;

a speed controlinformation adjustment module 404 configured to adjust speed control information of the vehicle to cause the vehicle to pass the obstacle according to the impact inertia.

In this embodiment of the present invention, the apparatus may further include:

a collision detection module for detecting whether the vehicle collides with the obstacle;

the speed control information adjusting module includes:

a speed control information increasing submodule for increasing speed control information of the vehicle in accordance with the inertia of impact to cause the vehicle to pass through the obstacle before the vehicle collides with the obstacle;

a speed control information reduction submodule for reducing the speed control information of the vehicle after the vehicle collides with the obstacle.

In an embodiment of the present invention, the speed control information increasing sub-module may include:

an interval range determination unit configured to determine a preset speed control information interval range to which the impact inertia is adapted before the vehicle collides with the obstacle;

and the speed control information increasing unit is used for increasing the speed control information of the vehicle within the range of the preset speed control information interval.

In the embodiment of the present invention, the apparatus may further include:

a number determination module for determining the number of wheels colliding with the obstacle when the vehicle collides with the obstacle;

the speed control information reduction sub-module includes:

a speed control information reduction unit for reducing the speed control information of the vehicle according to the number of wheels colliding with the obstacle after the vehicle collides with the obstacle.

In an embodiment of the present invention, the collision detection module may include:

the direction information acquisition submodule is used for acquiring the direction information of the barrier;

a motion trajectory prediction sub-module for predicting motion trajectories of a plurality of wheels of the vehicle;

the intersection point position determining submodule is used for determining intersection point positions of the wheels and the obstacle according to the movement tracks of the wheels and the obstacle information;

the distance determining submodule is used for determining the distance between the wheel and the obstacle according to the intersection point position;

and the collision detection submodule is used for determining whether the vehicle collides with the obstacle according to the distances between the wheels and the obstacle.

In an embodiment of the present invention, the obstacle detection module may include:

the image acquisition sub-module is used for acquiring an image of a parking area in the process of parking the vehicle;

and the obstacle identification submodule is used for identifying obstacles in the parking area from the image.

In an embodiment of the present invention, the obstacle detection module may include:

the sensing signal acquisition sub-module is used for acquiring a sensing signal detected by an inertia measurement unit of the vehicle in the parking process of the vehicle;

and the obstacle detection submodule is used for determining that an obstacle is detected when the change of the sensing signal is detected.

In the embodiment of the invention, the obstacles in the parking area can be detected in the automatic parking process of the vehicle; acquiring current speed control information of a vehicle; determining impact inertia of the vehicle passing through the obstacle according to the current speed control information; and adjusting the speed control information of the vehicle according to the impact inertia to enable the vehicle to pass through the obstacle, so that the passing performance of the vehicle for the obstacle in the automatic parking process is improved.

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

An embodiment of the present invention further provides a vehicle, including:

the obstacle crossing method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the obstacle crossing method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.

The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements each process of the above-mentioned obstacle crossing method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The obstacle crossing method and the obstacle crossing device provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

Translated fromChinese

1.一种越障方法，其特征在于，包括：1. an obstacle crossing method, is characterized in that, comprises:在车辆自动泊车过程中检测泊车区域内的障碍物；Detect obstacles in the parking area during the automatic parking process of the vehicle;获取车辆当前的速度控制信息；所述速度控制信息包括速度信息、加速度信息的至少一种；Acquire current speed control information of the vehicle; the speed control information includes at least one of speed information and acceleration information;根据所述当前的速度控制信息，预测所述车辆经过所述障碍物时的冲击惯量；predicting the impact inertia when the vehicle passes the obstacle according to the current speed control information;根据所述冲击惯量调节所述车辆的速度控制信息以使所述车辆通过所述障碍物。The vehicle's speed control information is adjusted based on the impact inertia to allow the vehicle to pass the obstacle.2.根据权利要求1所述的方法，其特征在于，所述方法还包括：2. The method according to claim 1, wherein the method further comprises:检测所述车辆是否与所述障碍物发生碰撞；detecting whether the vehicle collides with the obstacle;所述根据所述冲击惯量调节所述车辆的速度控制信息以使所述车辆通过所述障碍物，包括：The adjusting the speed control information of the vehicle according to the impact inertia to make the vehicle pass the obstacle, comprising:在所述车辆碰撞到所述障碍物之前，根据所述冲击惯量增大所述车辆的速度控制信息以使所述车辆通过所述障碍物；before the vehicle collides with the obstacle, increasing the speed control information of the vehicle according to the impact inertia to allow the vehicle to pass the obstacle;在所述车辆碰撞到所述障碍物之后，减小所述车辆的速度控制信息。After the vehicle collides with the obstacle, the speed control information of the vehicle is reduced.3.根据权利要求2所述的方法，其特征在于，所述在所述车辆碰撞到所述障碍物之前，根据所述冲击惯量增大所述车辆的速度控制信息以使所述车辆通过所述障碍物，包括：3 . The method according to claim 2 , wherein, before the vehicle collides with the obstacle, the speed control information of the vehicle is increased according to the impact inertia to allow the vehicle to pass through the obstacle. 4 . obstacles, including:在所述车辆碰撞到所述障碍物之前，确定所述冲击惯量适配的预设速度控制信息区间范围；Before the vehicle collides with the obstacle, determining a preset speed control information interval range for which the impact inertia is adapted;在所述预设速度控制信息区间范围内增大所述车辆的速度控制信息。The speed control information of the vehicle is increased within the range of the preset speed control information interval.4.根据权利要求3所述的方法，其特征在于，所述方法还包括：4. The method according to claim 3, wherein the method further comprises:当所述车辆与所述障碍物发生碰撞时，确定与所述障碍物发生碰撞的车轮的数量；When the vehicle collides with the obstacle, determining the number of wheels that collide with the obstacle;所述在所述车辆碰撞到所述障碍物之后，减小所述车辆的速度控制信息，包括：The reducing the speed control information of the vehicle after the vehicle collides with the obstacle includes:在所述车辆碰撞到所述障碍物之后，根据与所述障碍物发生碰撞的车轮的数量，减小所述车辆的速度控制信息。After the vehicle collides with the obstacle, the speed control information of the vehicle is reduced according to the number of wheels that collide with the obstacle.5.根据权利要求2所述的方法，其特征在于，所述检测所述车辆是否与所述障碍物发生碰撞，包括：5. The method according to claim 2, wherein the detecting whether the vehicle collides with the obstacle comprises:获取所述障碍物的方位信息；预测所述车辆的多个车轮的运动轨迹；Acquiring orientation information of the obstacle; predicting the motion trajectories of multiple wheels of the vehicle;根据多个车轮的运动轨迹与所述障碍物信息，确定所述多个车轮与障碍物的交点位置；According to the motion trajectories of the plurality of wheels and the obstacle information, determine the position of the intersection of the plurality of wheels and the obstacle;根据所述交点位置，确定所述车轮与所述障碍物的距离；determining the distance between the wheel and the obstacle according to the position of the intersection;根据所述多个车轮与所述障碍物的距离，确定所述车辆是否与所述障碍物碰撞。Whether the vehicle collides with the obstacle is determined according to the distances between the plurality of wheels and the obstacle.6.根据权利要求1所述的方法，其特征在于，所述在车辆泊车过程中检测泊车区域内的障碍物，包括：6. The method according to claim 1, wherein the detecting an obstacle in the parking area during the vehicle parking process comprises:在车辆泊车过程中获取泊车区域的图像；Obtain images of the parking area during the parking process of the vehicle;从所述图像中识别泊车区域内的障碍物。Obstacles in the parking area are identified from the image.7.根据权利要求1所述的方法，其特征在于，所述在车辆泊车过程中检测泊车区域内的障碍物，包括：7. The method according to claim 1, wherein the detecting an obstacle in the parking area during the vehicle parking process comprises:在车辆泊车过程中获取车辆的惯性测量单元检测的传感信号；Acquiring sensing signals detected by the inertial measurement unit of the vehicle during the parking process of the vehicle;当检测到所述传感信号变化时确定检测到障碍物。It is determined that an obstacle is detected when a change in the sensing signal is detected.8.一种越障装置，其特征在于，包括：8. An obstacle crossing device, characterized in that, comprising:障碍物检测模块，用于在车辆自动泊车过程中检测泊车区域内的障碍物；The obstacle detection module is used to detect obstacles in the parking area during the automatic parking process of the vehicle;速度控制信息获取模块，用于获取车辆当前的速度控制信息；所述速度控制信息包括速度信息、加速度信息的至少一种；a speed control information acquisition module, used for acquiring the current speed control information of the vehicle; the speed control information includes at least one of speed information and acceleration information;冲击惯量预测模块，用于根据所述当前的速度控制信息，预测所述车辆经过所述障碍物时的冲击惯量；an impact inertia prediction module, configured to predict the impact inertia when the vehicle passes the obstacle according to the current speed control information;速度控制信息调节模块，用于根据所述冲击惯量调节所述车辆的速度控制信息以使所述车辆通过所述障碍物。A speed control information adjustment module, configured to adjust the speed control information of the vehicle according to the impact inertia to make the vehicle pass the obstacle.9.一种车辆，其特征在于，包括：处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1-7中任一项所述的越障方法的步骤。9. A vehicle, comprising: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the claims The steps of the obstacle crossing method of any one of claims 1-7.10.一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求1至7中任一项所述的越障方法的步骤。10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned method according to any one of claims 1 to 7 is implemented. steps of the barrier method.

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