CN119399981A - A driving control method, device, equipment and medium for unmanned vehicle - Google Patents
A driving control method, device, equipment and medium for unmanned vehicle Download PDFInfo
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Abstract
本发明实施例公开了一种无人车的行驶控制方法、装置、设备及介质，适用于自动驾驶领域，该方法包括：获取当前无人车及其它无人车的行驶数据；根据所述当前无人车及其它无人车的行驶数据，从所述其它无人车中确定与当前无人车存在路权冲突的目标无人车；根据所述当前无人车及目标无人车的行驶数据确定当前无人车的路权优先级；根据所述当前无人车的路权优先级确定当前无人车的障碍物存在状态，并根据所述当前无人车的障碍物存在状态控制当前无人车的行驶状态，其中，所述障碍物存在状态用于表征当前无人车前是否存在虚拟障碍物。本发明提供的技术方案，可以解决无人车的路权冲突问题，提高无人车行驶的安全性。
The embodiment of the present invention discloses a driving control method, device, equipment and medium for an unmanned vehicle, which is applicable to the field of autonomous driving. The method includes: obtaining driving data of the current unmanned vehicle and other unmanned vehicles; determining a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from the other unmanned vehicles according to the driving data of the current unmanned vehicle and other unmanned vehicles; determining the right of way priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle; determining the obstacle existence state of the current unmanned vehicle according to the right of way priority of the current unmanned vehicle, and controlling the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle. The technical solution provided by the present invention can solve the right of way conflict problem of unmanned vehicles and improve the safety of unmanned vehicle driving.
Description
Technical Field
The present invention relates to the field of automatic driving, and in particular, to a method, apparatus, device, and medium for controlling driving of an unmanned vehicle.
Background
The railway freight yard contains a large amount of cargoes to be transported, and the cargoes need to be transported safely by vehicles so as to achieve the purpose of being transported to a designated place safely and rapidly.
Currently, there are two main modes of transporting goods, the first mode is to use a manually driven vehicle for carrying, but with the increase of the amount of goods, the labor cost is gradually increased. The second mode is that the unmanned vehicles are adopted for transporting goods, but as a plurality of unmanned vehicles possibly pass through the same intersection at the same time, road right contentions occur, and the safety is not guaranteed.
Disclosure of Invention
The embodiment of the invention provides a driving control method, device, equipment and medium for an unmanned vehicle, and by the technical scheme provided by the embodiment of the invention, the problem that the unmanned vehicle collides through the same intersection due to road right competition can be solved, and the driving safety of the unmanned vehicle is improved.
In a first aspect, an embodiment of the present invention provides a driving control method for an unmanned vehicle, including:
acquiring running data of a current unmanned vehicle and other unmanned vehicles;
according to the running data of the current unmanned vehicle and other unmanned vehicles, determining a target unmanned vehicle with road right conflict with the current unmanned vehicle from the other unmanned vehicles;
determining the road weight priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle;
Determining the existing state of the obstacle of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle, and controlling the running state of the current unmanned aerial vehicle according to the existing state of the obstacle of the current unmanned aerial vehicle, wherein the existing state of the obstacle is used for representing whether a virtual obstacle exists in front of the current unmanned aerial vehicle.
In a second aspect, an embodiment of the present invention provides a travel control apparatus for an unmanned vehicle, including:
the acquisition module is used for acquiring the running data of the current unmanned vehicle and other unmanned vehicles;
the target unmanned aerial vehicle determining module is used for determining the target unmanned aerial vehicle with road right conflict with the current unmanned aerial vehicle from the other unmanned aerial vehicles according to the running data of the current unmanned aerial vehicle and the other unmanned aerial vehicles;
The priority determining module is used for determining the road weight priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle;
The control module is used for determining the barrier existence state of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle and controlling the running state of the current unmanned aerial vehicle according to the barrier existence state of the current unmanned aerial vehicle, wherein the barrier existence state is used for representing whether a virtual barrier exists in front of the current unmanned aerial vehicle.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
At least one processor, and
A memory communicatively coupled to the at least one processor, wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of controlling travel of an unmanned vehicle according to any one of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to execute a method for controlling driving of an unmanned vehicle according to any one of the embodiments of the present invention.
The embodiment of the invention discloses a running control method, a device, equipment and a medium of an unmanned vehicle, wherein the method comprises the steps of acquiring running data of the current unmanned vehicle and other unmanned vehicles; determining a target unmanned vehicle with road right conflict with the current unmanned vehicle from the other unmanned vehicles according to the running data of the current unmanned vehicle and other unmanned vehicles, determining the road right priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle, determining the barrier existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and controlling the running state of the current unmanned vehicle according to the barrier existence state of the current unmanned vehicle, wherein the barrier existence state is used for representing whether a virtual barrier exists in front of the current unmanned vehicle. Specifically, the road right priority of the current unmanned vehicle can be determined through the running data of the current unmanned vehicle and the target unmanned vehicle, and then the virtual barrier of the current unmanned vehicle can be generated or canceled according to the road right priority of the current unmanned vehicle, and then the running state of the unmanned vehicle can be controlled according to the road right priority of the current unmanned vehicle and whether the virtual barrier exists in front of the current unmanned vehicle. By the technical scheme provided by the embodiment of the invention, the safety problem of the unmanned vehicle caused by the competition of the road rights at the same intersection can be solved, and the driving safety of the unmanned vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a driving control method of an unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving control method of an unmanned vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of generating a virtual obstacle according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a driving control device for an unmanned vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public welfare is not violated.
Example 1
Fig. 1 is a flowchart of a driving control method of an unmanned vehicle, which is provided in an embodiment of the present invention, and the method may be suitable for a scenario in which goods in a railway freight yard are automatically transported by the unmanned vehicle, and may also be suitable for a scenario in which collision of the road rights of the unmanned vehicle is resolved.
As shown in fig. 1, includes:
step 110, obtaining running data of the current unmanned vehicle and other unmanned vehicles.
The unmanned vehicle can be an unmanned vehicle for cargo transportation, and because the unmanned vehicle has a unique transportation route due to different transportation tasks, road right conflicts can exist between the unmanned vehicle and the unmanned vehicle at the same intersection. Other unmanned vehicles are used to characterize unmanned vehicles that may have road right conflicts with current unmanned vehicles. Further, the road right conflict is a conflict generated by the fact that when two or more unmanned vehicles pass through the same intersection at the same time, the passing sequence cannot be determined, the road right conflict is solved, the priority of the passing of the unmanned vehicles is determined, and the passing sequence when the passing of the unmanned vehicles occurs is determined.
The driving data of the unmanned vehicle may include a position, a speed, a driving task, a driving route, and the like of the unmanned vehicle, and the driving route may determine an intersection through which the unmanned vehicle needs to pass.
Specifically, the method can be used for determining the subsequent current unmanned vehicle road weight priority by acquiring the running data of the current unmanned vehicle and other unmanned vehicles.
Optionally, step 110 includes:
acquiring running data of a current unmanned vehicle, and determining the current position of the current unmanned vehicle and a target passing intersection according to the running data of the current unmanned vehicle;
if the distance between the current position of the current unmanned vehicle and the target passing crossing is smaller than a preset threshold value, sending communication request electric waves to other unmanned vehicles in real time;
and under the condition that the communication permission electric wave returned by the other unmanned vehicles for the communication request electric wave is successfully received, the running data of the other unmanned vehicles corresponding to the communication permission electric wave are received.
The driving data can be obtained from an internal memory of the unmanned vehicle, the current position of the unmanned vehicle can be the current GPS coordinate or the ground coordinate of the unmanned vehicle, and the target passing crossing can be the crossing which the current unmanned vehicle is about to pass through or the crossing which the current unmanned vehicle needs to pass through when carrying out the transportation task.
Because the calculation of the road right of the unmanned vehicle needs to be performed before the unmanned vehicle passes through the target traffic intersection, the preset threshold value is used for representing the shortest distance between the current unmanned vehicle and the target traffic intersection when the unmanned vehicle starts to perform the road right calculation.
Illustratively, the distance between the current location of the current unmanned vehicle and the target traffic intersection may be determined by the following equation:
;
wherein R is the earth radius, and the coordinates of the target passing crossing are The ground coordinates of the unmanned vehicle are。
Optionally, the time threshold T may also be used as a transmission condition of the communication request electric wave, specifically, if the time T of the current unmanned vehicle reaching the target traffic intersection is less than the time threshold T, the communication request electric wave is transmitted to other unmanned vehicles in real time. For example, the communication request wave may be sent to other unmanned vehicles one minute before the current unmanned vehicle reaches the target traffic intersection.
Specifically, the communication request electric wave is an interaction electric wave used for requesting data interaction with other unmanned vehicles, and the communication permission electric wave is an electric wave returned after the other unmanned vehicles agree to perform data interaction with the current unmanned vehicles. Further, after the other unmanned vehicles agree to perform data interaction with the current unmanned vehicle, the other unmanned vehicles can send own running data to the current unmanned vehicle.
Optionally, if the current unmanned aerial vehicle receives the communication request electric wave sent by other unmanned aerial vehicles, communication connection with the other unmanned aerial vehicles is established, and running data of the current unmanned aerial vehicle is sent to the other unmanned aerial vehicles in communication connection.
Specifically, after the current unmanned vehicle and other unmanned vehicles are connected in a passing way, respective driving data are sent to the other party, and then any one unmanned vehicle can have communication data of the unmanned vehicle and the other unmanned vehicles at the same time and is used for calculating the priority of subsequent road weights.
And 120, determining a target unmanned vehicle with road right conflict with the current unmanned vehicle from the other unmanned vehicles according to the driving data of the current unmanned vehicle and the other unmanned vehicles.
The other unmanned vehicles may include a target unmanned vehicle having a road right conflict with the current unmanned vehicle, and may also include an unmanned vehicle not having a road right conflict with the current unmanned vehicle. Therefore, it is necessary to determine the target unmanned vehicles in other unmanned vehicles according to the driving data of the current unmanned vehicles and other unmanned vehicles, and further determine the driving sequence of the unmanned vehicles by calculating the road weight priorities of the target unmanned vehicles and the current unmanned vehicles.
By way of example, it may be determined whether the other unmanned vehicle is a target unmanned vehicle by whether the current unmanned vehicle and the other unmanned vehicle simultaneously pass through the target traffic intersection.
And 130, determining the road right priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle.
Specifically, the road right priority can be determined by specifically calculating the speeds, positions and driving tasks of the current unmanned vehicles and the target unmanned vehicles through the distances between the current unmanned vehicles and the target traffic intersection, and the road right priority is exemplary. If the unmanned vehicles are closer to the target intersection, the speed is higher, the driving task is more urgent, and the road right priority is higher.
And 140, determining the barrier existence state of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle, and controlling the running state of the current unmanned aerial vehicle according to the barrier existence state of the current unmanned aerial vehicle, wherein the barrier existence state is used for representing whether a virtual barrier exists in front of the current unmanned aerial vehicle.
Wherein, unmanned vehicles driving state includes driving or stopping.
Specifically, the existing state of the obstacle of the current unmanned aerial vehicle is used for representing whether a virtual obstacle exists in the front of the current unmanned aerial vehicle, the virtual obstacle is a virtual obstacle which is generated on a map by the current unmanned aerial vehicle and used for limiting the running of the unmanned aerial vehicle, if the virtual obstacle exists in the front of the unmanned aerial vehicle, the running of the unmanned aerial vehicle can be stopped, and the running of the unmanned aerial vehicle is continued after the virtual obstacle disappears.
Optionally, if the road weight priority of the current unmanned vehicle is highest, and the obstacle existence state of the current unmanned vehicle indicates that no virtual obstacle exists in front of the current unmanned vehicle, the current unmanned vehicle is controlled to run, and if the virtual obstacle exists in front of the current unmanned vehicle, the current unmanned vehicle is controlled to stop.
The embodiment of the invention discloses a driving control method of an unmanned vehicle. The method comprises the steps of obtaining running data of a current unmanned vehicle and other unmanned vehicles, determining a target unmanned vehicle with road right conflict with the current unmanned vehicle from the other unmanned vehicles according to the running data of the current unmanned vehicle and the other unmanned vehicles, determining road right priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle, determining an obstacle existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and controlling the running state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used for representing whether a virtual obstacle exists in front of the current unmanned vehicle. Specifically, the road right priority of the current unmanned vehicle can be determined through the running data of the current unmanned vehicle and the target unmanned vehicle, and then the virtual barrier of the current unmanned vehicle can be generated or canceled according to the road right priority of the current unmanned vehicle, and then the running state of the unmanned vehicle can be controlled according to the road right priority of the current unmanned vehicle and whether the virtual barrier exists in front of the current unmanned vehicle. By the technical scheme provided by the embodiment of the invention, the safety problem of the unmanned vehicle caused by the competition of the road rights at the same intersection can be solved, and the driving safety of the unmanned vehicle is improved.
Example two
Fig. 2 is a flowchart of a driving control method of an unmanned vehicle according to a second embodiment of the present invention, where the steps of the method are further defined based on the above embodiments, and in particular, fig. 2 is shown.
As shown in fig. 2, includes:
Step 210, obtaining running data of the current unmanned vehicle and other unmanned vehicles.
And 220, determining the target passing time of the current unmanned vehicle at the target passing intersection according to the running data of the current unmanned vehicle, wherein the target passing time represents the start-stop time of the current unmanned vehicle passing through the target passing intersection.
The target passing time can be a time period representing the time when the current unmanned vehicle enters the target passing intersection and exits the target passing intersection, and the time of the target passing intersection can be determined according to the positions of the current unmanned vehicle and the target passing intersection, the speed of the unmanned vehicle and the driving route, wherein the driving route can be used for determining the length of the target passing intersection.
Step 230, determining the to-be-passed crossing and the to-be-passed time of other unmanned vehicles according to the running data of the other unmanned vehicles.
The to-be-passed crossing is a crossing through which other unmanned vehicles need to pass, and can be determined according to the driving routes of the other unmanned vehicles, and the to-be-passed time is the start-stop time of the other unmanned vehicles passing through the to-be-passed crossing.
The time to be passed can be determined according to the driving routes of other unmanned vehicles and the positions and the speeds of the intersections to be passed.
Step 240, if the intersection to be passed of the other unmanned vehicles and the target passing intersection of the current unmanned vehicle are the same intersection, and the road right competing relationship between the other unmanned vehicles and the current unmanned vehicle is determined according to the target passing time and the time to be passed, then the other unmanned vehicles are determined to be the target unmanned vehicles.
The road right competing relationship can be a time relationship, which represents that other unmanned vehicles and the current unmanned vehicles can pass through the target passing intersection at the same time, or the target unmanned vehicles can enter the target passing intersection when not completely driven out of the target passing intersection. When the road right competing relationship exists between the unmanned vehicles, collision of the unmanned vehicles possibly occurs, and the safety is affected.
Furthermore, the road right competing relationship can be determined according to different road types, for example, when the target traffic intersection is a double lane, two unmanned vehicles can pass simultaneously, and the road right competing relationship does not exist.
Optionally, if the remaining time of the current unmanned vehicle exiting the target traffic intersection is smaller than the set threshold value, the unmanned vehicle cannot generate a road right competing relationship with the unmanned vehicle which does not enter. Therefore, the efficiency of passing through the target passing intersection by each unmanned vehicle is improved.
Specifically, if there is a road right competing relationship between other unmanned vehicles and the current unmanned vehicle, it is determined that the other unmanned vehicles are target unmanned vehicles, and further, because there is a road right conflict between the target unmanned vehicles and the current unmanned vehicles, the road right priority of the target unmanned vehicles and the current unmanned vehicles needs to be determined according to the method of the embodiment of the invention, so as to control the driving sequence of the target unmanned vehicles and the current unmanned vehicles, and ensure the driving safety of the unmanned vehicles. Further, if the other unmanned vehicles and the current unmanned vehicle have no road right competing relationship, the unmanned vehicle is indicated that the unmanned vehicle is not the target unmanned vehicle, and the unmanned vehicle does not need to continuously receive the driving data, so that the unmanned vehicle can be disconnected, and the communication resources are saved.
Step 250, determining the current positions, speeds and driving tasks of the target unmanned aerial vehicle and the current unmanned aerial vehicle according to the driving data of the target unmanned aerial vehicle and the driving data of the current unmanned aerial vehicle.
The data interaction between the current unmanned vehicle and the target unmanned vehicle is performed in real time, and the current positions, speeds and driving tasks of the target unmanned vehicle and the current unmanned vehicle can be updated in real time.
The driving task characterizes a task which is required to be completed by the unmanned vehicle in driving. Different driving tasks can be preset with different emergency degrees, and further, driving tasks with high emergency degrees need to be completed as soon as possible. Therefore, the unmanned vehicle having the driving task with high emergency degree can preferentially pass through the target passing intersection.
Step 260, determining the road right priority of the current unmanned vehicle according to the current positions, speeds and driving tasks of the target unmanned vehicle and the current unmanned vehicle.
The road right priority of the current unmanned vehicle can be determined through road right calculation results of the current unmanned vehicle and the target unmanned vehicle. The current position, speed and driving task of the unmanned vehicle can correspond to different parameters in the road weight calculation formula, and the different parameters have different weights.
Illustratively, the road right calculation formula may be:
;
wherein A represents the road right calculation result of the unmanned vehicles, n represents different unmanned vehicles, The speed weight coefficient is represented, and V represents the speed of the unmanned vehicle; The distance weight is represented, and S represents the distance between the unmanned vehicle and the target passing intersection; The weight of the emergency degree is represented, W represents the driving task of the unmanned vehicle (the driving task of the unmanned vehicle in the goods yard can be packaged, unloaded, checked, charged and parked); The road weight is represented, and R represents the travel path of the unmanned vehicle.
Further, the road right priority of the current unmanned vehicle can be determined through the road right calculation result of the current unmanned vehicle. If the road weight calculation result of the unmanned vehicle is larger, the road weight priority of the unmanned vehicle is higher.
Step 270, determining the existing state of the obstacle of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle, and controlling the running state of the current unmanned aerial vehicle according to the existing state of the obstacle of the current unmanned aerial vehicle, wherein the existing state of the obstacle is used for representing whether a virtual obstacle exists in front of the current unmanned aerial vehicle.
Specifically, if the unmanned vehicle with the highest road weight priority is not the current unmanned vehicle, generating a virtual barrier in front of the current unmanned vehicle, and if the unmanned vehicle with the highest road weight priority is the current unmanned vehicle and the virtual barrier exists in front of the current unmanned vehicle, canceling the virtual barrier in front of the current unmanned vehicle.
Further, the current generation method of the virtual obstacle of the unmanned vehicle comprises the following steps:
acquiring the current position, speed, center point coordinates of a target passing intersection and road width of a current unmanned vehicle;
determining a current distance according to the current position and the central point of the target traffic intersection;
determining the arrival time of the target traffic intersection according to the current distance and the speed;
determining the size of a virtual barrier according to the central point coordinates and road width of the target passing intersection;
And generating a virtual obstacle of the current unmanned vehicle according to the arrival time and the size of the virtual obstacle.
The method comprises the steps of determining the arrival time of a current unmanned vehicle at a target passing intersection according to the current position, the speed and the central point coordinate of the target passing intersection, and determining the size of a virtual barrier according to the central point coordinate and the road width of the target passing intersection so as to ensure that the virtual barrier can be generated in front of the current unmanned vehicle when the arrival time is reached, so that the current unmanned vehicle is prevented from running and is stopped. It should be noted that, since the unmanned vehicle generally includes an automatic obstacle avoidance function, the size of the virtual obstacle needs to be limited, and if the virtual obstacle is too small, the unmanned vehicle may bypass, so that the purpose of controlling the unmanned vehicle to stop can not be achieved.
Optionally, virtual obstacles with different sizes can be set for different intersection types, where the size m=x×y×z of the virtual obstacle is the length, width and height of each of X, Y and Z. The size of the virtual barriers of different types meeting the road conditions can be set in advance according to the type of the intersection, so that the virtual object generation speed is improved. In particular, the width of the virtual obstacle may be determined according to the road width, e.g., the width of the virtual obstacle may be equal to the road width.
Further, regarding the resolution of the unmanned vehicles to the types of the intersections, the unmanned vehicles can process the intersection types through a preset labeling method, namely, different road types are labeled into different values, and then the unmanned vehicles can determine the road types according to the values of the current driving roads. For example, the left boundary point and the right boundary point of the road can be marked to determine the width range of the road. Further, the coordinates of different labeling points can be determined by establishing the corresponding relation between the map and the labeling result.
Optionally, the coordinates of the central point of the target traffic intersection may be determined according to the coordinates of the left boundary and the right boundary of the road of the target traffic intersection. The specific mode is as follows:
;
。
Wherein atan2 () is an arctangent function of double type;
;
。
The coordinates of the central point of the target passing crossing are as follows ,Is the left boundary coordinate of the road,Is the right boundary coordinates of the road.
Fig. 3 is a schematic diagram illustrating virtual obstacle generation according to an embodiment of the present invention, where high-precision map preprocessing is to label all road scenes in a map, and scene labeling is to label scenes according to intersection types, and further, a start point and an end point of a specific type of road may be determined according to a result of scene labeling, so that virtual obstacles are generated on roads meeting the virtual obstacle generation conditions according to the embodiment of the present invention.
The embodiment provides a driving control method of an unmanned aerial vehicle, which can determine a target unmanned aerial vehicle with road right conflict with a current unmanned aerial vehicle from other unmanned aerial vehicles through driving data of the unmanned aerial vehicle, further determine the road right priority of the current unmanned aerial vehicle according to the driving data of the target unmanned aerial vehicle and the current unmanned aerial vehicle, determine the existence state of an obstacle of the current unmanned aerial vehicle, and control the driving state of the current unmanned aerial vehicle through the existence state of the obstacle of the current unmanned aerial vehicle. By the scheme of the embodiment of the invention, the problem of road right conflict of the unmanned vehicle can be solved, and the safety of the unmanned vehicle is improved.
Example III
Fig. 4 is a schematic structural diagram of a driving control device for an unmanned vehicle according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes:
An acquisition module 410, configured to acquire driving data of a current unmanned vehicle and other unmanned vehicles;
The target unmanned aerial vehicle determining module 420 is configured to determine, according to the driving data of the current unmanned aerial vehicle and other unmanned aerial vehicles, a target unmanned aerial vehicle that has a collision of road rights with the current unmanned aerial vehicle from the other unmanned aerial vehicles;
a priority determining module 430, configured to determine a road weight priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle;
the control module 440 is configured to determine a current existence state of an obstacle of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle, and control a running state of the current unmanned aerial vehicle according to the current existence state of the obstacle, where the existence state of the obstacle is used to represent whether a virtual obstacle exists in front of the current unmanned aerial vehicle.
According to the running control device for the unmanned aerial vehicle, the current road right priority of the unmanned aerial vehicle can be determined according to the running data of the current unmanned aerial vehicle and the running data of the target unmanned aerial vehicle, virtual barriers of the current unmanned aerial vehicle can be generated or canceled according to the current road right priority of the unmanned aerial vehicle, and the running state of the unmanned aerial vehicle is controlled according to the current road right priority of the unmanned aerial vehicle and whether the virtual barriers exist in front of the current unmanned aerial vehicle. By the technical scheme provided by the embodiment of the invention, the safety problem of the unmanned vehicle caused by the competition of the road rights at the same intersection can be solved, and the driving safety of the unmanned vehicle is improved. Optionally, the acquiring module 410 includes:
The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring running data of a current unmanned vehicle and determining the current position and a target passing intersection of the current unmanned vehicle according to the running data of the current unmanned vehicle;
The judging unit is used for sending communication request electric waves to other unmanned vehicles in real time if the distance between the current position of the current unmanned vehicle and the target passing crossing is smaller than a preset threshold value;
And the receiving unit is used for receiving the running data of other unmanned vehicles corresponding to the communication permission electric wave under the condition that the communication permission electric wave returned by the other unmanned vehicles aiming at the communication request electric wave is successfully received.
Optionally, the obtaining module 410 further includes:
And the sending module is used for establishing communication connection with other unmanned vehicles if the current unmanned vehicle receives communication request electric waves sent by other unmanned vehicles and sending running data of the current unmanned vehicles to the other unmanned vehicles in communication connection.
Optionally, the target drone determination module 420 includes:
The first analysis unit is used for determining the target passing time of the current unmanned vehicle at the target passing intersection according to the running data of the current unmanned vehicle, and the target passing time represents the starting and stopping time of the current unmanned vehicle passing through the target passing intersection;
The second analysis unit is used for determining the to-be-passed crossing and the to-be-passed time of other unmanned vehicles according to the running data of the other unmanned vehicles;
The judgment unit is used for determining that the other unmanned vehicles are target unmanned vehicles if the to-be-passed intersection of the other unmanned vehicles and the target passing intersection of the current unmanned vehicles are the same intersection and determining that the other unmanned vehicles and the current unmanned vehicles have a road right competing relationship according to the target passing time and the to-be-passed time.
Optionally, the priority determining module 430 includes:
the analysis unit is used for determining the current positions, the speeds and the driving tasks of the target unmanned vehicle and the current unmanned vehicle according to the driving data of the target unmanned vehicle and the driving data of the current unmanned vehicle;
And the computing unit is used for determining the road right priority of the current unmanned vehicle according to the current positions, speeds and driving tasks of the target unmanned vehicle and the current unmanned vehicle.
Optionally, the control module 440 includes:
The obstacle existence state determining unit is used for generating a virtual obstacle in front of the current unmanned vehicle if the unmanned vehicle with the highest road weight priority is not the current unmanned vehicle, and canceling the virtual obstacle in front of the current unmanned vehicle if the road weight priority of the current unmanned vehicle is the highest and the virtual obstacle exists in front of the current unmanned vehicle.
The obstacle existence state determining unit comprises a generating subunit, a current distance determining unit and a virtual obstacle size determining unit, wherein the generating subunit is used for acquiring the current position and speed of the current unmanned vehicle, the central point coordinate and the road width of the target traffic intersection, determining the current distance according to the current position and the central point of the target traffic intersection, determining the arrival time for reaching the target traffic intersection according to the current distance and the speed, determining the size of the virtual obstacle according to the central point coordinate and the road width of the target traffic intersection, and generating the virtual obstacle of the current unmanned vehicle according to the arrival time and the size of the virtual obstacle.
The control unit is used for controlling the current unmanned vehicle to run if the road weight priority of the current unmanned vehicle is highest and the obstacle existence state of the current unmanned vehicle indicates that no virtual obstacle exists in front of the current unmanned vehicle, and controlling the current unmanned vehicle to stop if the virtual obstacle exists in front of the current unmanned vehicle.
The running control device of the unmanned aerial vehicle provided by the embodiment of the invention can execute the running control method of the unmanned aerial vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, a running control method of the unmanned vehicle.
In some embodiments, the method of controlling the travel of the drone may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above-described travel control method of the unmanned vehicle may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of controlling the travel of the drone by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (11)
1. A travel control method of an unmanned vehicle, comprising:
acquiring running data of a current unmanned vehicle and other unmanned vehicles;
according to the running data of the current unmanned vehicle and other unmanned vehicles, determining a target unmanned vehicle with road right conflict with the current unmanned vehicle from the other unmanned vehicles;
determining the road weight priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle;
Determining the existing state of the obstacle of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle, and controlling the running state of the current unmanned aerial vehicle according to the existing state of the obstacle of the current unmanned aerial vehicle, wherein the existing state of the obstacle is used for representing whether a virtual obstacle exists in front of the current unmanned aerial vehicle.
2. The method of claim 1, wherein the obtaining travel data for the current drone and other drones includes:
acquiring running data of a current unmanned vehicle, and determining the current position of the current unmanned vehicle and a target passing intersection according to the running data of the current unmanned vehicle;
if the distance between the current position of the current unmanned vehicle and the target passing crossing is smaller than a preset threshold value, sending communication request electric waves to other unmanned vehicles in real time;
and under the condition that the communication permission electric wave returned by the other unmanned vehicles for the communication request electric wave is successfully received, the running data of the other unmanned vehicles corresponding to the communication permission electric wave are received.
3. The method as recited in claim 1, further comprising:
If the current unmanned aerial vehicle receives communication request electric waves sent by other unmanned aerial vehicles, communication connection with the other unmanned aerial vehicles is established, and running data of the current unmanned aerial vehicle are sent to the other unmanned aerial vehicles in communication connection.
4. The method of claim 2, wherein the determining a target drone from the other drones that has a collision of road rights with the current drone based on the travel data of the current drone and the other drones, comprises:
Determining the target passing time of the current unmanned vehicle at the target passing intersection according to the running data of the current unmanned vehicle, wherein the target passing time represents the starting and stopping time of the current unmanned vehicle passing through the target passing intersection;
determining intersections to be passed and time to be passed of other unmanned vehicles according to the running data of the other unmanned vehicles;
If the intersection to be passed of other unmanned vehicles and the target passing intersection of the current unmanned vehicle are the same intersection, and the road right competing relationship between the other unmanned vehicles and the current unmanned vehicle is determined according to the target passing time and the time to be passed, the other unmanned vehicles are determined to be the target unmanned vehicles.
5. The method of claim 1, wherein determining the current unmanned vehicle road weight priority based on the current unmanned vehicle and the target unmanned vehicle travel data comprises:
determining the current positions, speeds and driving tasks of the target unmanned vehicle and the current unmanned vehicle according to the driving data of the target unmanned vehicle and the driving data of the current unmanned vehicle;
And determining the road weight priority of the current unmanned vehicle according to the current positions, the speeds and the driving tasks of the target unmanned vehicle and the current unmanned vehicle.
6. The method of claim 5, wherein determining the current unmanned vehicle's obstacle presence status based on the current unmanned vehicle's road weight priority comprises:
If the unmanned vehicle with the highest road weight priority is not the current unmanned vehicle, generating a virtual barrier in front of the current unmanned vehicle;
and if the road weight priority of the current unmanned vehicle is highest and the virtual obstacle exists in front of the current unmanned vehicle, canceling the virtual obstacle in front of the current unmanned vehicle.
7. The method of claim 6, wherein the generating a virtual obstacle in the current unmanned aerial vehicle front comprises:
acquiring the current position, speed, center point coordinates of a target passing intersection and road width of a current unmanned vehicle;
determining a current distance according to the current position and the central point of the target traffic intersection;
determining the arrival time of the target traffic intersection according to the current distance and the speed;
determining the size of a virtual barrier according to the central point coordinates and road width of the target passing intersection;
And generating a virtual obstacle of the current unmanned vehicle according to the arrival time and the size of the virtual obstacle.
8. The method of claim 1, wherein said controlling the current vehicle travel state based on the current vehicle obstacle presence state comprises:
if the road weight priority of the current unmanned vehicle is highest, and the obstacle existence state of the current unmanned vehicle represents that no virtual obstacle exists in front of the current unmanned vehicle, controlling the current unmanned vehicle to run;
And if the virtual obstacle exists in front of the current unmanned vehicle, controlling the current unmanned vehicle to park.
9. A travel control device for an unmanned vehicle, comprising:
the acquisition module is used for acquiring the running data of the current unmanned vehicle and other unmanned vehicles;
the target unmanned aerial vehicle determining module is used for determining the target unmanned aerial vehicle with road right conflict with the current unmanned aerial vehicle from the other unmanned aerial vehicles according to the running data of the current unmanned aerial vehicle and the other unmanned aerial vehicles;
The priority determining module is used for determining the road weight priority of the current unmanned vehicle according to the running data of the current unmanned vehicle and the target unmanned vehicle;
The control module is used for determining the barrier existence state of the current unmanned aerial vehicle according to the road weight priority of the current unmanned aerial vehicle and controlling the running state of the current unmanned aerial vehicle according to the barrier existence state of the current unmanned aerial vehicle, wherein the barrier existence state is used for representing whether a virtual barrier exists in front of the current unmanned aerial vehicle.
10. An electronic device, the electronic device comprising:
At least one processor, and
A memory communicatively coupled to the at least one processor, wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of controlling the travel of an unmanned vehicle according to any one of claims 1 to 8.
11. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to execute a method for controlling driving of an unmanned vehicle according to any one of claims 1 to 8.
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