CN117908527B - Unmanned equipment control method, device, storage medium and electronic equipment - Google Patents
Unmanned equipment control method, device, storage medium and electronic equipment Download PDFInfo
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Abstract
The specification discloses an unmanned equipment control method, an unmanned equipment control device, a storage medium and electronic equipment, wherein the actual distance between first equipment and second equipment is predicted through running data of the first equipment and the second equipment. And finally determining the target control quantity of the first equipment by the deviation between the actual distance and the expected distance between the first equipment and the second equipment and the control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity. Because the determined driving data and state data are affected by the perceived delay and the communication delay at the current moment or the appointed historical moment, the method provided by the application can offset the influence caused by the perceived delay and the communication delay by determining the deviation between the actual distance and the expected distance, thereby improving the accuracy of determining the target control quantity and improving the traffic efficiency of the road under the condition of ensuring the safety.
Description
Technical Field
The present disclosure relates to the field of autopilot, and in particular, to a method and apparatus for controlling an unmanned device, a storage medium, and an electronic device.
Background
At present, the cooperative self-adaptive cruise system is an unmanned system for controlling unmanned equipment formation, and in the running process of unmanned equipment, the cooperative self-adaptive cruise system can control the longitudinal movement state of each unmanned equipment in the unmanned equipment formation, and under the premise of ensuring safety, the following interval between the unmanned equipment is shortened so as to achieve the purpose of improving the traffic efficiency of a road.
Disclosure of Invention
The present disclosure provides a method and apparatus for controlling an unmanned device, so as to partially solve the above-mentioned problems in the prior art.
The technical scheme adopted in the specification is as follows:
The specification provides a control method of unmanned equipment, which comprises the following steps:
Determining unmanned devices to be controlled in an unmanned device formation as first devices, and unmanned devices located around the first devices in the unmanned device formation as second devices;
Acquiring the actual distance between the position of the first equipment at the current moment and the position of the second equipment at the appointed historical moment, and determining the expected distance between the first equipment at the current moment and the second equipment at the appointed historical moment;
and determining the control quantity of the first equipment at the current moment as a target control quantity according to the deviation between the actual distance and the expected distance and the determined control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity.
Optionally, acquiring the actual distance between the position of the first device at the current moment and the position of the second device at the appointed historical moment specifically includes:
And determining the actual distance between the position of the first equipment at the current moment and the position of the second equipment at the appointed historical moment according to the acquired running data of the first equipment and the acquired running data of the second equipment.
Optionally, the driving data includes: status data and control data; the status data includes: the distance between unmanned devices in the unmanned device formation, the position data of the unmanned devices, the speed of the unmanned devices and the acceleration of the unmanned devices; the control data includes: the unmanned equipment controls the control quantity of self-running;
The method for acquiring the driving data of the first equipment and the second equipment specifically comprises the following steps:
acquiring and storing state data of the first equipment and the second equipment in the running process through a sensor mounted on the first equipment;
and acquiring control data which is sent by the second equipment and is used for controlling the second equipment by a communication module which is arranged on the first equipment.
Optionally, the duration of the specified historical time from the current time is not less than the maximum value of communication delay of the second device for sending control data through the communication module and perceived delay of the first device for collecting data through the sensor.
Optionally, acquiring the actual distance between the position of the first device at the current moment and the position of the second device at the appointed historical moment specifically includes:
And determining the actual distance between the position of the front end of the first device at the current moment and the position of the tail end of the second device at the appointed historical moment according to the position of the first device at the current moment, the position of the second device at the appointed historical moment and the preset device length.
Optionally, determining the expected distance between the first device at the current moment and the second device at the specified historical moment specifically includes:
Determining a basic distance between the first equipment and the second equipment at the appointed historical moment according to the distance traveled by the first equipment in the preset buffer time according to the speed perceived at the current moment and the preset minimum distance between unmanned equipment;
Determining a corrected distance according to the distance travelled by the second device from the specified historical time to the current time according to the speed perceived at the specified historical time;
and determining the expected distance according to the basic distance and the correction distance.
Optionally, determining the control amount for the first device at the current time according to the deviation between the actual distance and the expected distance and the determined control amount of the second device at the specified historical time specifically includes:
determining an intermediate control amount according to the deviation and the determined control amount of the second equipment at the appointed historical moment;
and determining the target control amount according to the intermediate control amount and the preset buffer duration.
Optionally, determining the control amount of the second device at the specified historical moment specifically includes:
Determining the control quantity of the first equipment at the appointed historical moment, acquiring a first proportional control parameter and a first differential control parameter corresponding to the first equipment, and acquiring a second proportional control parameter and a second differential control parameter corresponding to the second equipment;
Determining a weighted sum value obtained by weighting a control amount of the first device at the specified history time by the first proportional control parameter and a set-order numerical control amount of the first device at the specified history time by the first differential control parameter as a first sum value, and determining a weighted sum value obtained by weighting a control amount of the second device at the specified history time by the second proportional control parameter and a set-order numerical control amount of the second device at the specified history time by the second differential control parameter as a second sum value;
And determining the control quantity of the second equipment at the appointed historical moment by taking the matching of the first sum value and the second sum value as a constraint condition.
Optionally, after determining the target control amount, the stored travel data of the second device before the specified history time is deleted.
The present specification provides an unmanned equipment control apparatus, comprising:
the device determining module is used for determining unmanned devices to be controlled in the unmanned device formation as first devices, and the unmanned devices around the first devices in the unmanned device formation as second devices;
The acquisition module is used for acquiring the actual distance between the position of the first equipment at the current moment and the position of the second equipment at the appointed historical moment, and determining the expected distance between the first equipment at the current moment and the second equipment at the appointed historical moment;
And the control module is used for determining the control quantity of the first equipment at the current moment as a target control quantity according to the deviation between the actual distance and the expected distance and the determined control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity.
The present description provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned device control method.
The present specification provides a unmanned device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above unmanned device control method when executing the program.
The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:
In the unmanned equipment control method provided by the specification, for the first equipment to be controlled in the unmanned equipment formation, the actual distance between the current time position of the first equipment and the position of the second equipment around the first equipment in the unmanned equipment formation at the appointed historical time position can be obtained, and the expected distance between the current time position of the first equipment and the appointed historical time position of the second equipment is determined. And determining the control quantity of the first equipment at the current moment according to the deviation between the predicted actual distance and the expected distance and the control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the control quantity.
As can be seen from the above method, the present method predicts the actual distance between the first device and the second device by the traveling data of the first device and the second device. And finally determining the target control quantity of the first equipment by the deviation between the actual distance and the expected distance between the first equipment and the second equipment and the control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity. Because the determined driving data and state data are affected by the perceived delay and the communication delay at the current moment or the appointed historical moment, the method provided by the application can offset the influence caused by the perceived delay and the communication delay by determining the deviation between the actual distance and the expected distance, thereby improving the accuracy of determining the target control quantity and improving the traffic efficiency of the road under the condition of ensuring the safety.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:
Fig. 1 is a schematic flow chart of a method for controlling an unmanned device in the present specification;
fig. 2 is a schematic diagram of a cooperative cruising of an unmanned vehicle team provided in the present specification;
Fig. 3 is a schematic diagram of an unmanned device control apparatus provided in the present specification;
fig. 4 is a schematic view of the electronic device corresponding to fig. 1 provided in the present specification.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
The cooperative formation control method in the prior art does not consider the delay problem of each system, namely the influence of perception delay, communication delay and control delay on the unmanned equipment controlled by the unmanned system. In order to ensure the safety of the unmanned equipment, the unmanned system needs to control the unmanned equipment to keep a larger following interval, so that the traffic capacity of the road is reduced, and the purpose of improving the traffic efficiency of the road cannot be achieved.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling unmanned equipment in the present specification, which specifically includes the following steps:
S100: and determining unmanned devices to be controlled in the unmanned device formation as first devices, and unmanned devices positioned around the first devices in the unmanned device formation as second devices.
According to the unmanned equipment control method provided by the specification, unmanned equipment can be an unmanned vehicle, an unmanned plane or other unmanned equipment, and the specification is not limited. In this embodiment of the present disclosure, the first device is an unmanned vehicle to be controlled in a formation of unmanned devices, where the unmanned vehicle may include an autonomous vehicle and a vehicle with a driving assistance function, and in one embodiment, the unmanned vehicle may be a delivery vehicle applied in a delivery field.
The execution body of the unmanned device control method provided in the present specification may be the first device itself, or may be another terminal device or a server that implements communication with the first device, where when the execution body is a terminal device, it may be any existing terminal device, for example, a desktop computer, a notebook computer, or the like, and when the execution body is a server, it may also be a cluster server or a distributed server, or the like, which is not limited in this specification. For convenience of description, the following description will be given by taking the first device itself as an execution body as an example, and the unmanned device control method provided in the present specification is described.
In addition, the first device may include a control system and an execution system, where the control system determines a target control amount for the first device by using the unmanned device control method provided in the embodiment of the present disclosure, and sends the target control amount to the execution system (e.g. brake, accelerator, etc.), and the execution system may control, for example, the accelerator to 80% opening according to the received target control amount. In this case, the execution subject of the embodiment of the present specification may be considered as the control system of the first device.
The purpose of the unmanned device control method provided by the present disclosure is to control each unmanned device in the unmanned device formation to move with a safe distance from the unmanned device in front of the unmanned device, generally, the first device needs to keep a safe distance from the unmanned device in front during the movement, so that the second device may be the same as the first device in the unmanned device formation, and the unmanned device in front of the first device, as shown in fig. 2.
Fig. 2 is a schematic diagram of a cooperative cruising of an unmanned vehicle team provided in the present specification.
In fig. 2, each unmanned vehicle (i.e., unmanned equipment) may form an unmanned vehicle formation, and travel in the same direction and in the same lane, and may perform workshop communication between the unmanned vehicles, that is, for any one unmanned vehicle in the formation, the unmanned vehicle may send the travel data collected by the own vehicle radar to other unmanned vehicles in the formation, and after each unmanned vehicle obtains the travel data sent by the other unmanned vehicle, the unmanned vehicle may combine with the own travel data to obtain a control amount for controlling itself, so that two adjacent unmanned vehicles in the formation may maintain to travel in a relatively stable distance, so as to ensure the travel safety of each unmanned vehicle in the formation.
It should be noted that, in the foregoing unmanned aerial vehicle formation, any one of the unmanned aerial vehicles may be the first device, and for any one of the unmanned aerial vehicles, if the unmanned aerial vehicle is the first device, the remaining unmanned aerial vehicles in the unmanned aerial vehicle formation may be regarded as the second device, and of course, considering that, in practical application, the unmanned aerial device should pay attention to the unmanned aerial device adjacent to the unmanned aerial device in the foregoing formation during the driving process, the second device may refer to the preceding device located in the unmanned aerial device formation in the first device, or may be the following device located in the unmanned aerial device formation in the first device, and preferably, the second device may be the unmanned aerial device located in front of the first device in the unmanned aerial device formation.
It should be noted that, since the first device generally performs the situation that the lane change driving is to be performed due to the trajectory planning, the second device may also be an unmanned device that is located in a different lane from the first device and is located in front of the first device in the unmanned device formation, which is not limited in this specification.
S102: and acquiring the actual distance between the position of the first equipment at the current equipment and the position of the second equipment at the appointed historical moment, and determining the expected distance between the first equipment at the current moment and the second equipment at the appointed historical moment.
S104: and determining the control quantity of the first equipment at the current moment as a target control quantity according to the deviation between the actual distance and the expected distance and the determined control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity.
In the embodiment of the present disclosure, the first device is equipped with an acquisition device to acquire the running data of the first device itself and the running data of the second device.
Wherein, the driving data at least comprises: status data and control data of the unmanned device, the status data mainly includes: the location data of the unmanned devices, the unmanned device spacing between each unmanned device in the unmanned device formation, the speed of the unmanned device (including the speed of the first device itself, and the speed of the second device), and the acceleration of the unmanned device. The control data mainly comprises: the unmanned device controls the control amount of self-running.
Specifically, taking the unmanned device as an example of the unmanned vehicle, the first device is mounted with a sensor, for example, a camera, a laser radar, a doppler radar, or the like, and the first device may collect the position p i(t-δs,i of the vehicle (first device), the vehicle distance d i(t-δs,i), the speed v i(t-δs,i of the vehicle (second device), the speed v i-1(t-δs,i of the front vehicle, or the like at a fixed frequency f s by using the radar mounted thereon, and store the collected data in the storage module of the first device, or upload the data to a server capable of communicating with the first device, which will not be described in the present specification. Since the radar installed on the first device generally operates at a certain acquisition frequency, for example, data acquisition is performed at a frequency of 10Hz to 20Hz, there is generally a delay in sensing the state data of the unmanned device by the radar, that is, a sensing delay, so that the state data of the unmanned device acquired by the radar is actually data before δ s,i seconds, where δ s may be used to represent the sensing delay, and i is used to represent the first device.
Based on the above description, the first device may acquire the position of the first device at the current time through the sensor mounted on the first device. Further, due to the perceived delay, the acquired position of the first device at the current time is actually the position of the first device before δ s,i seconds.
The present specification considers the perceived delay of the sensor mounted on the unmanned device when acquiring data, and then the state data acquired at each current time (time t) is actually the state data corresponding to time t-delta s,i.
The first device is provided with a communication module, and workshop communication is realized between the first device and the second device through technologies such as Internet of vehicles and V2X. The first device may acquire, through a communication module mounted on the device thereof, control data for controlling the second device itself, which is sent by the second device, where the control data includes: the unmanned device controls the control amount of self-running. In one embodiment of the present specification, the control amount may include only a longitudinal control amount that controls the unmanned device in the longitudinal direction. The longitudinal control amount includes a brake and an accelerator, and of course, for an unmanned vehicle that needs to set a gear to realize control, the longitudinal control amount may also include a gear.
Specifically, the first device may acquire the acceleration a i-1(t-δs,i-1-δc,i of the preceding vehicle (the second device) and the longitudinal control amount u i-1(t-δc,i of the preceding vehicle through the communication module), and store the acceleration a i-1(t-δs,i-1-δc,i and the longitudinal control amount u i-1(t-δc,i in the storage module of the first device, or upload the acceleration a i-1(t-δs,i-1-δc,i and the longitudinal control amount u i-1(t-δc,i to a server capable of communicating with the first device. Since the communication module mounted on the first device performs communication according to a certain operating frequency, for example, according to an operating frequency of 10Hz to 16Hz, there is a delay in the communication module, that is, the communication delay, and the longitudinal control amount of the unmanned device acquired by the first device through the communication module is actually data before δ c,i seconds.
For the acceleration of the second device, the second device also has the sensing delay when sensing the acceleration of the second device through the sensor (such as a camera, a laser radar, a doppler radar, etc.), so the second device acquires the acceleration of the second device and sends the acceleration to the first device through the communication module, and the process is influenced by the communication delay and the sensing delay of the second device, so that the acceleration of the second device acquired by the first device is actually data before δ s,i-1+δc,i seconds. Where δ c is used to represent the communication delay and i-1 may be used to represent the second device.
In addition, the unmanned equipment control method provided by the specification is based on a proportional-integral-derivative control system, so that the first equipment can also acquire the control parameter k p,i-1、kd,i-1 of the second equipment transmitted by the second equipment through the communication module, wherein k p,i-1 is the proportional control parameter of the second equipment, and k d,i-1 is the derivative control parameter of the second equipment. Accordingly, k p,i may be used to represent a proportional control parameter of the first device and k d,i may be used to represent a derivative control parameter of the first device.
In the embodiment of the present specification, due to the existence of the perceived delay and the communication delay, the first device cannot accurately acquire the travel data of the first device at each time and the travel data of the second device during the traveling. To improve accuracy, the present description may employ data linear interpolation to calculate the location of the second device at a specified historical time.
The present description embodiment shows a manner of determining the second position:
Determining each adjacent moment in a preset range of the appointed historical moment, fitting the relation between the position of the second equipment and the moment in an interpolation mode according to the stored running data of the second equipment at each adjacent moment to serve as a position function of the second equipment, and then determining the position of the second equipment at the appointed historical moment according to the position function of the second equipment and the appointed historical moment.
In an embodiment of the present disclosure, the above-mentioned location function may be fitted only according to the stored locations of the second device at the two last acquisition moments, and, of course, in order to further fit a more accurate location function, multiple sets of data may be used for fitting.
Specifically, the control system of the first device may calculate, by using the data linear interpolation method, the position of the second device before β i seconds, that is, the position p i-1(t-δs,i-1-βi of the second device at the specified historical time, and the speed v i-1(t-δs,i-1-βi), the acceleration a i-1(t-δs,i-1-βi, and the control amount u i-1(t-βi of the second device at the specified historical time, by using the pre-stored travel data of the first device and the travel data of the second device.
Where β i is a constant that characterizes a length of time from a specified time to a specified historical time, a communication delay for the second device to send control data through the communication module, and a maximum value in the acquisition delay when the first device acquires data through the sensor, i.e., β i≥max{δc,i,max,δs,i. In the embodiment of the present disclosure, the influence caused by the acquisition delay and the communication delay may be ignored by the above-mentioned value interval.
Each of the unmanned devices in the unmanned device formation may be the same model of device, that is, the hardware parameters such as the device length of each unmanned device may be the same.
Based on the above conditions, in the embodiment of the present specification, the control system of the first device may determine the actual distance between the first device and the second device during traveling to determine the longitudinal control amount for the first device.
Specifically, first, without considering the communication delay and the perceived delay, the actual distance between the first device and the second device should be: p i-1(t)-pi(t)-Li, wherein L i is the length of the unmanned device. Therefore, what is actually meant here is the distance between the front end of the device of the first device to the rear end of the second device.
Whereas the actual spacing between the first device and the second device should be, taking into account only the perceived delay as described above: p i-1(t-δs,i-1-βi)-pi(t-δs,i)-Li. Similarly, the actual spacing herein represents the distance between the device front end of the first device and the tail end of the second device, taking into account perceived delay.
On the basis, the distance between the first device and the second device which is expected to be kept under the condition that the second device is not moved can be determined, and the following formula can be specifically referred to:
dr,i(t)＝vi(t-δs,i)×αi+dmin
Where v i (t) is the speed of the first device at the current time, α i is used to represent the reaction time allowed when the first device travels from the position where the front end of its device is located to the tail end of the second device, so it may be called a buffer time, d min is the distance between unmanned devices in the unmanned device formation in a stationary state (when parking), i.e. the parking clearance, and α i＞0,dmin > 0 in order to ensure the safety during the travel of the unmanned device.
Since the above formula actually represents the desired spacing between the second device and the second time in the case where the second device is stationary, it may be referred to as the base spacing.
However, in practical applications, the first device and the second device are in the same formation, so the first device and the second device are generally in a state of co-cruising, so the distance desired to be maintained between the first device and the second device in consideration of the second device also traveling can be expressed by the following formula:
For the distance traveled by the second device in the past [ t-delta s,i-1-βi,t-δs,i-1 ]. This distance may serve to correct the base pitch, and therefore may be referred to as a corrected pitch.
It can be seen that the actual desired distance between the first device and the second device can be determined by correcting the base distance by the corrected distance.
On the basis, the first device predicts the actual distance between the position of the first device at the current moment and the position of the second device at the appointed historical moment, and the following formula can be specifically referred to:
pi-1(t-δs,i-1-βi)-pi(t-δs,i)-Li，
it can be seen here that the actual spacing determined at this time is affected by the perceived delay.
Further, the first device may determine a deviation between the actual pitch obtained by the above formula and the determined desired pitch corresponding to the actual pitch, with reference to the following formula:
Then, since p i-1(t-δs,i-1-βi)-pi(t-δs,i)-Li and The distance traveled by the second device in the past [ t-delta s,i-1-βi,t-δs,i-1 ] is taken into account, so the distance traveled by the second device in the past [ t-delta s,i-1-βi,t-δs,i-1 ] can be removed from both terms, resulting in a simplified formula as follows:
ei(t)＝[pi-1(t-βi)-pi(t)-Li]-[vi(t)×αi+dmin]
It can be seen here that in this way the influence of the perceived delay can be eliminated, so that the control quantity for the mutual control of the first device can be determined in the subsequent process by means of known variables.
It should be noted that the above formula only considers the perceived delay, but in practice the acquisition delay mentioned above should also be considered, and then the acquisition delay needs to be added to the above formula. However, the actual distance or the expected distance is influenced by the acquisition delay and the perception delay, so that the influence of the perception delay and the acquisition delay can be eliminated by the method, and the control quantity of the first equipment which is determined later is not influenced by the acquisition delay and the perception delay.
Further, since the first device and the second device may be devices of the same specification, and in the process of traveling by the formation, it is actually desirable that the unmanned devices can maintain a relatively stable distance therebetween for cooperative cruising, the control amount of the second device at the time of specifying the history time may be determined using this as a constraint condition.
Specifically, the first device may determine a control amount of the first device at a specified historical time, obtain a first proportional control parameter and a first derivative control parameter corresponding to the first device, and obtain a second proportional control parameter and a second derivative control parameter corresponding to the second device. Since the first device may store its own data, the control amount, the first proportional control parameter, and the first derivative control parameter of the first device at the time of specifying the history time may be acquired from the first device itself. The second proportional control parameter and the second derivative control parameter may be obtained from the second device via a communication connection with the second device.
Further, the first device may determine, as the first sum, a weighted sum obtained by weighting the control amount of the second device at the specified history time by the first proportional control parameter and the set-order numerical control amount of the second device at the specified history time by the first differential control parameter, and determine, as the second sum, a weighted sum obtained by weighting the control amount of the first device at the specified history time by the second proportional control parameter and the set-order numerical control amount of the first device at the specified history time by the second differential control parameter. The setting order mentioned herein may be determined according to actual requirements, and in the embodiment of the present disclosure, the control amount of the setting order may refer to a first order value of the control amount.
Finally, the first device can determine the control quantity of the second device at the appointed historical moment by using the first sum value and the second sum value as constraint conditions. The following formula can be specifically referred to:
Wherein r i (t) is used to represent the control amount of the first device at the current time, and u i-1 (t) is used to represent the control amount of the second device at the current time. Where k p,i is used to represent a first proportional control parameter, k d,i is used to represent a first derivative control parameter, k p,i-1 is used to represent a second proportional control parameter, and k d,i-1 is used to represent a second derivative control parameter.
So that the number of the parts to be processed,Can be used to represent the second sum mentioned above, and
Where applicable to represent the first sum mentioned above.
After determining the control amount of the second device at the specified historical time, the first device may determine the control amount of the second device at the current time according to the deviation between the actual pitch and the expected pitch corresponding to the actual pitch and the control amount of the second device at the specified historical time.
In particular, a formula can be introducedAnd then the intermediate control quantity is smoothed by a first order to obtain a longitudinal control quantity, wherein the formula for obtaining the control quantity of the first equipment at the current moment is as follows: q i(t)＝ui(t)+αi×ui (t).
In the above formula, q i (t) is an intermediate control amount, k p and k d are a proportional term coefficient and a differential term coefficient, respectively, and k p>0,kd>0,ui (t) is a longitudinal control amount, that is, a target control amount, to be satisfied.
In addition, after the above-described actual pitch is determined, the present specification illustratively provides a manner of determining the target control amount, for example, a differential conversion function may be constructed in advance, the differential conversion function being used to characterize a conversion relationship between the target control amount and the differential, and the determined target control amount being obtained by using the differential conversion function according to the differential between the actual pitch and the reference pitch. For example only, the differential transfer function may be composed of a proportional term, a derivative term, and a constant term, and the differential transfer function may further include an integral term, and in an embodiment of the present disclosure, coefficients of each item in the differential transfer function may be predetermined constants.
Based on the unmanned equipment control method shown in fig. 1, for a first equipment to be controlled in unmanned equipment formation, determining the position of the first equipment at the current moment according to the acquired driving data of the first equipment, and determining the second position of the second equipment at the appointed historical moment according to the acquired driving data of the second equipment around the first equipment. And determining the actual distance between the current position of the first device and the position of the second device at the appointed historical moment through the first position and the second position. And determining the control quantity of the first equipment at the current moment according to the deviation between the actual distance and the expected distance and the control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the control quantity.
Because the determined driving data and state data are affected by the perceived delay and the communication delay at the current moment or the appointed historical moment, the method provided by the embodiment of the application can offset the influence caused by the perceived delay and the communication delay by determining the deviation between the actual distance and the expected distance, thereby improving the accuracy of determining the target control quantity and improving the traffic efficiency of the road under the condition of ensuring the safety.
In the embodiment of the application, in order to save the local storage space of the first device, the first device can delete the driving data with the time less than t-beta i-δs,i-1. That is, the stored travel data of the second device before the specified history time will be deleted. Therefore, the data stored in the first device will actually change continuously, and as the first device continuously runs, new running data is continuously written into the storage space of the first device, and meanwhile, the first device also continuously deletes the data with overlong time from the storage space.
The above method for controlling the unmanned equipment provided for one or more embodiments of the present disclosure further provides a corresponding device for controlling the unmanned equipment based on the same concept, as shown in fig. 3.
Fig. 3 is a schematic diagram of a control device of an unmanned device provided in the present specification, specifically including:
a device determining module 301, configured to determine, as a first device, an unmanned device to be controlled in the unmanned device formation, and, as a second device, unmanned devices around the first device;
An obtaining module 302, configured to obtain an actual distance between a location of the first device at a current time and a location of the second device at a specified historical time, and determine an expected distance between the first device at the current time and the second device at the specified historical time;
And the control module 303 is configured to determine, as a target control amount, a control amount for the first device at the current time according to the deviation between the actual pitch and the desired pitch and the determined control amount of the second device at the specified historical time, and control the first device according to the target control amount.
Optionally, the acquiring module 302 is specifically configured to determine, according to the acquired driving data of the first device and the driving data of the second device, an actual distance between a position of the first device at a current time and a position of the second device at a specified historical time.
Optionally, the driving data includes: status data and control data; the status data includes: the distance between unmanned devices in the unmanned device formation, the position data of the unmanned devices, the speed of the unmanned devices and the acceleration of the unmanned devices; the control data includes: the unmanned equipment controls the control quantity of self-running;
The acquiring module 302 is specifically configured to collect and store, by using a sensor mounted on the first device, status data of the first device and status data of the second device during a driving process; and acquiring control data which is sent by the second equipment and is used for controlling the second equipment by a communication module which is arranged on the first equipment.
Optionally, the duration of the specified historical time from the current time is not less than the maximum value of communication delay of the second device for sending control data through the communication module and perceived delay of the first device for collecting data through the sensor.
Optionally, the acquiring module 302 is specifically configured to determine, according to the position of the first device at the current time, the position of the second device at the specified historical time, and a preset device length, an actual distance between the position of the front end of the first device at the current time and the position of the tail end of the second device at the specified historical time.
Optionally, the acquiring module 302 is specifically configured to determine, according to a distance traveled by the first device in a preset buffer time according to a speed perceived at the current time and a preset minimum distance between unmanned devices, a basic distance between the current time and the second device at the specified historical time; determining a corrected distance according to the distance travelled by the second device from the specified historical time to the current time according to the speed perceived at the specified historical time; and determining the expected distance according to the basic distance and the correction distance.
Optionally, the control module 303 is specifically configured to determine an intermediate control amount according to the deviation and the determined control amount of the second device at the specified historical moment; and determining the target control amount according to the intermediate control amount and the preset buffer duration.
Optionally, the control module 303 is further configured to determine a control amount of the first device at the specified historical moment, obtain a first proportional control parameter and a first differential control parameter corresponding to the first device, and obtain a second proportional control parameter and a second differential control parameter corresponding to the second device; determining a weighted sum value obtained by weighting a control amount of the second device at the specified history time by the first proportional control parameter and a set-order numerical control amount of the second device at the specified history time by the first differential control parameter as a first sum value, and determining a weighted sum value obtained by weighting a control amount of the first device at the specified history time by the second proportional control parameter and a set-order numerical control amount of the first device at the specified history time by the second differential control parameter as a second sum value; and determining the control quantity of the second equipment at the appointed historical moment by taking the matching of the first sum value and the second sum value as a constraint condition.
Optionally, the apparatus further comprises:
And a deleting module 304, configured to delete the stored travel data of the second device before the specified historical time after the device determines the target control amount.
It should be noted that, all actions of acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The present specification also provides a computer readable storage medium storing a computer program operable to perform the unmanned device control method provided in fig. 1 above.
The present specification also provides a schematic structural diagram of the electronic device shown in fig. 4. At the hardware level, the unmanned device includes a processor, an internal bus, a network interface, memory, and non-volatile storage, as described in fig. 4, although other hardware required by the business is possible. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to realize the unmanned equipment control method described in the above figure 1. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable GATE ARRAY, FPGA)) is an integrated circuit whose logic functions are determined by user programming of the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented with "logic compiler (logic compiler)" software, which is similar to the software compiler used in program development and writing, and the original code before being compiled is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but HDL is not just one, but a plurality of kinds, such as ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language), and VHDL (Very-High-SPEED INTEGRATED Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, 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, 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.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (6)
1. A method of controlling an unmanned device, comprising:
Determining unmanned devices to be controlled in an unmanned device formation as first devices, and unmanned devices located around the first devices in the unmanned device formation as second devices;
According to the acquired driving data of the first device and the driving data of the second device, determining an actual distance between a position of the first device at a current moment and a position of the second device at a specified historical moment, and determining an expected distance between the first device at the current moment and the second device at the specified historical moment, wherein the determining the actual distance between the position of the first device at the current moment and the position of the second device at the specified historical moment specifically comprises:
determining an actual distance between a position of a front end of the first device at the current moment and a position of a tail end of the second device at the appointed historical moment according to the position of the first device at the current moment, the position of the second device at the appointed historical moment and a preset device length, wherein the determining the expected distance between the first device at the current moment and the second device at the appointed historical moment comprises determining a basic distance between the first device at the current moment and the second device at the appointed historical moment according to a distance traveled by the first device in a preset buffer time according to a speed perceived at the current moment and a preset minimum distance between unmanned devices;
determining a correction distance according to the distance travelled by the second equipment from the appointed historical moment to the current moment according to the speed perceived at the appointed historical moment;
Determining the expected distance according to the basic distance and the corrected distance;
And determining the control quantity of the first equipment at the current moment as a target control quantity according to the deviation between the actual distance and the expected distance and the determined control quantity of the second equipment at the appointed historical moment, and controlling the first equipment according to the target control quantity.
2. The method of claim 1, wherein the travel data comprises: status data and control data; the status data includes: the distance between unmanned devices in the unmanned device formation, the position data of the unmanned devices, the speed of the unmanned devices and the acceleration of the unmanned devices; the control data includes: the unmanned equipment controls the control quantity of self-running;
The method for acquiring the driving data of the first equipment and the second equipment specifically comprises the following steps:
acquiring and storing state data of the first equipment and the second equipment in the running process through a sensor mounted on the first equipment;
and acquiring control data which is sent by the second equipment and is used for controlling the second equipment by a communication module which is arranged on the first equipment.
3. The method of claim 2, wherein the specified historical time is not longer than a maximum of a communication delay of the second device sending control data through the communication module and a perceived delay of the first device collecting data through the sensor from the current time.
4. A method according to claim 1 or 3, characterized in that determining the control quantity of the second device at the specified history time, in particular comprises:
Determining the control quantity of the first equipment at the appointed historical moment, acquiring a first proportional control parameter and a first differential control parameter corresponding to the first equipment, and acquiring a second proportional control parameter and a second differential control parameter corresponding to the second equipment;
Determining a weighted sum value obtained by weighting a control amount of the second device at the specified history time by the first proportional control parameter and a set-order numerical control amount of the second device at the specified history time by the first differential control parameter as a first sum value, and determining a weighted sum value obtained by weighting a control amount of the first device at the specified history time by the second proportional control parameter and a set-order numerical control amount of the first device at the specified history time by the second differential control parameter as a second sum value;
determining the control amount of the second device at the specified history time by the following formula with the constraint condition that the first sum value is matched with the second sum value,
Wherein, For indicating the control quantity of the first device at the current moment,For representing a control quantity of the second device at the current moment, wherein,For the purpose of representing a first proportional control parameter,For the representation of the first differential control parameter,For the purpose of representing a second proportional control parameter,For representing a second differential control parameter.
5. The method of claim 1, wherein the method further comprises:
And deleting the stored driving data of the second equipment before the appointed historical moment after the target control quantity is determined.
6. An unmanned device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of the preceding claims 1-5 when the program is executed by the processor.
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