CN109709953A - Vehicle follower method in road cleaning operation - Google Patents
Vehicle follower method in road cleaning operation Download PDFInfo
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Abstract
The present invention provides the vehicle follower methods in a kind of road cleaning operation, comprising: obtains the vehicle real-time position information for following target in preset duration to be followed；Real-time position information is spliced, the original travelling route for following target is generated；Original travelling route is handled, target travelling route is generated；When vehicle is carried out according to target travelling route at any time, obtaining the present speed information for following target；Obtain the present speed information of vehicle；It calculates vehicle and follows the current distance of target；According to the present speed information, the present speed information of vehicle and current distance for following target, calculates vehicle and follow the time difference of target；When the time difference being more than preset range, according to the present speed information of time difference and vehicle, control signal is generated；According to control signal, control vehicle follows speed.Thus, it is possible to, to improve sweeping efficiency, save capital invested to following target to follow with the regular hour.
Description
Technical field
The present invention relates to the vehicle follower methods in control technology field more particularly to a kind of road cleaning operation.
Background technique
With the development of economy and the emergence of artificial intelligence technology, it replaces manually carrying out cleaning using tool becoming technology
The inexorable trend of development.
In the prior art, cleaning works can be carried out in closed garden by automatic driving vehicle, but in non-envelope
In closed loop border, the cleaning of vehicle is restricted, even if can be cleaned in non-close environment, still can exist can not be cleaned
Blind area, for example, the region of corner that vehicle can not be swept into or vehicle not easy cleaning, at these dead angles, it is desired nonetheless to people
Work is cleaned.
Therefore, how to overcome defect in the prior art, be followed by vehicle and target is followed to be travelled, to realize blind
Vehicle is cleaned and hand sweeping combines, becomes urgent problem by area.
Summary of the invention
The purpose of the embodiment of the present invention is that the vehicle follower method in a kind of road cleaning operation is provided, to solve existing skill
Cleaning vehicle in art not can be carried out hand sweeping and the combination of automatic cleaning, and the problem that cleaning vehicle capital investment is big.
To solve the above problems, the present invention provides the vehicle follower method in a kind of road cleaning operation, the method
Include:
Obtain the vehicle real-time position information for following target in preset duration to be followed；
The real-time position information is spliced, the original travelling route of target is followed described in generation；
The original travelling route is handled, target travelling route is generated；
When vehicle carries out according to the target travelling route present speed information with following target at any time, described in acquisition；
Obtain the present speed information of the vehicle；
Calculate the vehicle and the current distance for following target；
According to the present speed information for following target, the present speed information of the vehicle and the current distance,
Calculate the vehicle and the time difference for following target；
It is raw according to the present speed information of the time difference and the vehicle when the time difference being more than preset range
At control signal；
According to the control signal, control the vehicle follows speed.
In one possible implementation, the real time position for following target that the acquisition vehicle will be followed is believed
Breath, specifically includes:
Receive the location information of multiple targets；
The I D of the preset I D for following target and the multiple target are compared, determination follows the position of target to believe
Breath.
In one possible implementation, the real time position for following target that the acquisition vehicle will be followed is believed
Breath, specifically includes:
Request message is sent to server, the request message includes the I D for following target；
The response message that server is sent is received, the response message includes the location information for following target.
In one possible implementation, the real time position for following target that the acquisition vehicle will be followed is believed
Breath, specifically includes:
In preset duration, the multiple image information for following target that vehicle is followed is obtained；Every frame described image information
Including obtaining temporal information when described image information；
According to the temporal information, processing is fitted to the multiple image information and the map datum, obtain and
The corresponding location information for following target of each temporal information.
In one possible implementation, the real time position for following target that the acquisition vehicle will be followed is believed
Breath, specifically includes:
According to onboard sensor, real-time azimuthal of the multiple targets of the vehicle periphery relative to vehicle is determined, and by interior
Algorithms screening, which determines, follows the I D of target, and this is followed under the azimuthal projection to vehicle axis system of target, and acquisition follows mesh
Target real-time position information.
In one possible implementation, described that the original travelling route is handled, generate target line route
Line specifically includes:
When the original travelling route includes curve and/or broken line, the original curve followed in path is calculated
Curvature and/or the folding curvature of a curve；
According to the bent curvature of a curve and/or the folding curvature of a curve, the original travelling route is smoothed,
Generate target travelling route.
In one possible implementation, when the bent curvature of a curve is greater than falling for the minimum turning radius of the vehicle
When number, the curve is smoothed；
When the inverse for the minimum turning radius that the folding curvature of a curve is greater than vehicle, the broken line is smoothly located
Reason.
In one possible implementation, described when the time difference being more than preset range, according to the time difference
With the present speed information of the vehicle, control signal is generated, is specifically included:
When the difference of the time difference and the preset range is not more than first threshold, according to time difference and described
The present speed information of vehicle generates control signal；
When the difference of the time difference and the preset range is greater than first threshold, standby signal is generated, and will be described
Standby signal occurs to follow target to described, so that described follow target to be waited according to the standby signal.
By application road cleaning operation provided in an embodiment of the present invention in vehicle follower method, by make clean vehicle with
The constant time difference to following target to follow, to improve sweeping efficiency, saves capital invested.
Detailed description of the invention
Fig. 1 is the vehicle follower method flow diagram in road cleaning operation provided in an embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Before executing the method in the application, following steps 1 and step 2 can be first carried out, executing subject is vehicle,
Example and it is non-limiting, executing subject be vehicle control unit.
Step 1, the location information of vehicle is obtained.
Specifically, the locating module on vehicle, such as Global Satellite Navigation System (Global can be passed through
Navigation Satellite System, GNSS) obtain vehicle itself location information.It can also be by being sent out to server
It send query messages, after the response message for the carrying location information that resolution server is sent, obtains the location information of vehicle itself.It should
Vehicle can be cleaning vehicle.
Step 2, according to the location information of vehicle, map datum is obtained.
Specifically, when vehicle is in a certain position the ground of the position can be loaded according to the location information of present position
Figure, for example, vehicle is in the street A, the longitude and latitude data of the location information of vehicle are known at this time, can be by the street A
Upper level unit, the map in the city A, is loaded, can also be according to the longitude and latitude data, when load longitude and latitude is in a certain range
Corresponding map datum.As to how load, can be and download from server, be also possible to vehicle and load in advance, the application
This is not limited.
Fig. 1 is the vehicle follower method flow diagram in road cleaning operation provided in an embodiment of the present invention.This method
Executing subject can be the control unit of vehicle, which can be automatic Pilot cleaning vehicle.As shown in Figure 1, this method
The following steps are included:
Step 101, the vehicle real-time position information for following target in preset duration to be followed is obtained.
It is one that vehicle will be followed, which follows target, and vehicle is available, and to different moments, this follows the real-time of target
Location information, for example, getting the position 1 for following target, position 2, these three positions of position 3 according to the sequencing of time
Information.
Wherein, each location information in environment in the location information of multiple targets may include temporal information.
Follow target as how vehicle determines, example and it is non-limiting, can according to the mode of Image Feature Matching, than
Such as, follow target be people when, face characteristic or facial image can be prestored in the car, acquired image information is carried out
Processing, obtains face characteristic to be matched, and face characteristic to be matched is carried out with the face characteristic or facial image prestored
Matching can determine successful match when matching degree is greater than matching threshold, the face in the image information is to follow target.Or
Person can get the license plate for following target, as to be matched by way of Car license recognition when following target is vehicle
The license plate to be matched is matched with the license plate prestored, when successful match, that is, can determine that license plate to be matched is corresponding by license plate
Vehicle is to follow target.
Each location information of target is followed to be specifically described to how obtaining below.
In one example, in vehicle travel process and the vehicle on periphery can use vehicle and vehicle in real time
(Vehicle to Vehicle, V2V) communication system is communicated.With the non-vehicle on periphery, such as cleanup crew, can pass through
Positioning signal generator, mobile phone, the wearable device etc. that cleanup crew carries communicate.
In the V2V communication system, vehicle in the process of moving, can get itself by the locating module of itself
Location information, the location information may include latitude and longitude information, transmits information, velocity information and mark (Identify,
ID).And by the location information according to certain frequency, it is transmitted to multiple targets in a certain range, and receives multiple targets
The location information of the target of return.Wherein, which can be preset, for example, a certain range can be with vehicle
It is the center of circle, within the scope of the 100m of periphery.For example, within the scope of vehicle-surroundings 100m, there is A, B, C and D a total of four target, then this
Four targets all can send location information to vehicle.
It should be noted that time when location information can also include temporal information, i.e. acquisition location information.
Similarly, it when cleanup crew carries such as positioning signal generator, mobile phone, wearable device etc., can adopt
With mode similar to the above, by the locating module and vehicle in positioning signal generator, mobile phone or wearable device
Locating module, for example locating signal receiver communicated, and details are not described herein again.
In another example, after the location information of itself is sent to server by vehicle, position of the server to vehicle
Information is stored.Then, it according to the location information of the vehicle, obtains centered on the location information, it is more in preset range
The location information of a target.Then, vehicle receives the location information for multiple targets that server is sent.Finally, vehicle is according to pre-
The ID for following target first determined in the location information for determining multiple targets, follows the location information of target.
In another example, according to onboard sensors such as laser radars, determine surrounding objects relative to the real-time of vehicle
Orientation, and the Target id for determining and needing to follow is screened by internal algorithm, and the target bearing of being followed is projected to vehicle
Under coordinate system (Vehicle Coordinate System, VCS), the real-time position information for following target is obtained.
When following target for some reason, when cannot be with vehicle interaction locations information, can by image information into
Row processing, to obtain the location information for following target.It is possible, firstly, to which what acquisition vehicle was followed follows mesh in preset duration
Target multiple image information；Every frame image information includes temporal information when obtaining image information；Further according to temporal information, to more
Frame image information and map datum are fitted processing, obtain the location information for following target corresponding with each temporal information.
Wherein, according to the difference for following scene, follow target also different.It, should when applying the method in cleaning applications
Target is followed to can be cleaner or cleaning vehicle.Preset duration can be 10 minutes, in 10 minutes, get multiframe
Image information.Every frame image information includes temporal information when obtaining image information.
There is the first acquisition device, to acquire the video information for following target on vehicle.First acquisition device can be with
It is camera, subsequent in order to calculate vehicle and follow the distance between target, camera can be binocular camera.Binocular camera shooting
Head can be handled the video data of acquisition, video frame be extracted, to extract image information from video frame.
The above method is specifically described below.
Firstly, handling every frame image information, the environmental data in every frame image information is obtained.Then, by environment
Data and map datum are fitted, and when environmental data and map datum coincidence, determine environmental data in map datum
Position.Finally, determining the corresponding location information for following target of every frame image according to position.
It wherein, include environmental data, such as building mark, traffic mark, road markings etc. in image information.
After environmental data and map datum are fitted, the same characteristic features in the two, such as barrier can be carried out
Integrated treatment calculates the location information for following target.
Obstacle information herein can be building, fixed traffic sign (ratio on fixed obstacle, such as map
Such as, for fixing the bar of traffic lights), fixed object (for example, static vehicle, pedestrian, curb).These obstacle informations, can
To directly obtain by image information and map datum.
Step 102, real-time position information is spliced, generates the original travelling route for following target.
Specifically, can be ranked up according to temporal information to each location information for following target；It is tied according to sequence
Fruit is spliced, and the original travelling route for following target is obtained.
For example, collected location information include 1,2,3,4,5, corresponding temporal information be 10:51,10:52,10:54,
10:53 and 10:55 is then ordered as 1,2,4,3,5 to these location informations, splices to it, available original traveling
Route.
Step 103, original travelling route is handled, generates target travelling route.
After determining to follow the original travel track of target, if to be followed according to the target trajectory, exist
Some problems, for example, have broken line or curvature of curve excessive etc. in track, at this point it is possible to target trajectory is smoothed,
In order to which vehicle is followed.
Specifically, calculating the original song for following the curve in path when original travelling route includes curve and/or broken line
Rate and/or folding curvature of a curve；
According to bent curvature of a curve and/or folding curvature of a curve, original travelling route is smoothed, target is generated and advances
Route.
Wherein, when bent curvature of a curve is greater than the inverse of the minimum turning radius of vehicle, which is smoothed,
When rolling over the inverse for the minimum turning radius that curvature of a curve is greater than vehicle, broken line is smoothed.
Wherein, the minimum turning radius of vehicle is known parameter, such as 1.5m.
Step 104, when vehicle is carried out according to target travelling route at any time, obtaining the present speed information for following target.
Specifically, can according to follow the current time of target with it is current before moment corresponding two location informations, with
And the duration of two location informations, calculate the present speed information for following target.
Step 105, the present speed information of vehicle is obtained.
Specifically, the present speed information of vehicle can be got according to the differential GPS on vehicle.
Step 106, it calculates vehicle and follows the current distance of target.
Wherein it is possible to be determined by the binocular range measurement principle of binocular camera or the laser distance measuring principle of laser radar
Vehicle and the current distance for following target.
Step 107, it according to the present speed information, the present speed information of vehicle and current distance for following target, calculates
Vehicle and the time difference for following target.
Step 108, when the time difference being more than preset range, according to the present speed information of time difference and vehicle, control is generated
Signal processed.
Step 109, according to control signal, control vehicle follows speed.
Specifically, according to the present speed information of vehicle, the present speed information and distance between the two of target are followed,
Calculate the time difference between the two.
For example, in one example, the time difference of calculating is 5.5s, preset range 4.9-5.1s, and first threshold is
0.5s, the time difference not within a preset range, and are 0.4s with the difference of the upper limit of preset range, which is less than first threshold
Control signal then can be generated in 0.5s, which may include the acceleration information etc. of vehicle, so that vehicle is in the control
Under the control of information processed, it is within the scope of 4.9-5.1s with the time difference of target is followed.
In another example, the time difference of calculating be 5.7s, preset range 4.9-5.1s, first threshold 0.5s,
The time difference not within a preset range, and is 0.6s with the difference of the upper limit of preset range, which is greater than first threshold 0.5s,
Standby signal is then generated at this time, and will be prompted to signal and occur to following target, so as to which target is followed to be carried out according to standby signal etc.
To.
Wherein, which may include waiting for duration, for example waiting time is 0.2s, then follows target can basis
Waiting time is waited.
Further, this method further includes:
The operational order for following target to send described in vehicle reception；
According to the operational order, start the manual operation device in the purging system.
Specifically, the purging system of sweeper further includes other than having the cleaning brush being arranged below, water injector
Manual operation device, such as manual dust collector, during cleaning vehicle is followed by and target is followed to be travelled, when cleaning blind area
When, the starting of the manual operation device can be triggered according to the operational order for following target, started in the manual operation device
Afterwards, sweeper can be cleaned manually or automatic cleaning and manually clean and meanwhile carry out.
By application road cleaning operation provided in an embodiment of the present invention in vehicle follower method, by make clean vehicle with
Regular hour to following target to follow, to improve sweeping efficiency, saves capital invested.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (9)
1. the vehicle follower method in a kind of road cleaning operation, which is characterized in that the described method includes:
Obtain the vehicle real-time position information for following target in preset duration to be followed；
The real-time position information is spliced, the original travelling route of target is followed described in generation；
The original travelling route is handled, target travelling route is generated；
When vehicle carries out according to the target travelling route present speed information with following target at any time, described in acquisition；
Obtain the present speed information of the vehicle；
Calculate the vehicle and the current distance for following target；
According to the present speed information for following target, the present speed information of the vehicle and the current distance, calculate
The vehicle and the time difference for following target；
When the time difference being more than preset range, according to the present speed information of the time difference and the vehicle, control is generated
Signal processed；
According to the control signal, control the vehicle follows speed.
2. the method according to claim 1, wherein the reality for following target for obtaining vehicle and being followed
When location information, specifically include:
Receive the location information of multiple targets；
The ID of the preset ID for following target and the multiple target are compared, determine the location information for following target.
3. the method according to claim 1, wherein the reality for following target for obtaining vehicle and being followed
When location information, specifically include:
Request message is sent to server, the request message includes the ID for following target；
The response message that server is sent is received, the response message includes the location information for following target.
4. the method according to claim 1, wherein the reality for following target for obtaining vehicle and being followed
When location information, specifically include:
In preset duration, the multiple image information for following target that vehicle is followed is obtained；Every frame described image information includes
Obtain temporal information when described image information；
According to the temporal information, processing is fitted to the multiple image information and the map datum, is obtained and each
The corresponding location information for following target of the temporal information.
5. the method according to claim 1, wherein the reality for following target for obtaining vehicle and being followed
When location information, specifically include:
According to onboard sensor, real-time azimuthal of the multiple targets of the vehicle periphery relative to vehicle is determined, and calculated by internal
Method screening, which determines, follows the ID of target, and this is followed under the azimuthal projection to vehicle axis system of target, and acquisition follows target
Real-time position information.
6. being generated the method according to claim 1, wherein described handle the original travelling route
Target travelling route, specifically includes:
When the original travelling route includes curve and/or broken line, the original bent curvature of a curve followed in path is calculated
And/or the folding curvature of a curve；
According to the bent curvature of a curve and/or the folding curvature of a curve, the original travelling route is smoothed, is generated
Target travelling route.
7. according to the method described in claim 6, it is characterized in that, when the minimum that the bent curvature of a curve is greater than the vehicle turns
When the inverse of curved radius, the curve is smoothed；
When the inverse for the minimum turning radius that the folding curvature of a curve is greater than vehicle, the broken line is smoothed.
8. the method according to claim 1, wherein after the method further include:
The operational order for following target to send described in vehicle reception；
According to the operational order, start the manual operation device in the purging system.
9. the method according to claim 1, wherein it is described when the time difference be more than preset range when, according to
The present speed information of the time difference and the vehicle generate control signal, specifically include:
When the difference of the time difference and the preset range is not more than first threshold, according to the time difference and the vehicle
Present speed information, generate control signal；
When the difference of the time difference and the preset range is greater than first threshold, standby signal is generated, and by the prompt
Signal occurs to follow target to described, so that described follow target to be waited according to the standby signal.
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| CN114803384A (en) * | 2022-05-30 | 2022-07-29 | 博众精工科技股份有限公司 | Motion following anti-collision method and device and battery replacement station |
| CN114803384B (en) * | 2022-05-30 | 2024-04-02 | 博众精工科技股份有限公司 | Motion following anti-collision method and device and power exchange station |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Applicant after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Applicant before: Beijing Idriverplus Technology Co.,Ltd. |
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Application publication date: 20190503 |