CN110032190B - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN110032190B CN110032190B CN201910339321.7A CN201910339321A CN110032190B CN 110032190 B CN110032190 B CN 110032190B CN 201910339321 A CN201910339321 A CN 201910339321A CN 110032190 B CN110032190 B CN 110032190B
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The embodiment of the invention provides a vehicle control method and a vehicle control device, wherein the method comprises the following steps: detecting whether a target place is in an occupied state; if the vehicle is in the occupied state, acquiring the driving path of each vehicle within the preset range of the target site; determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle; and sending an approaching instruction to each vehicle to be controlled located on the same driving path within a preset range, so that each vehicle to be controlled approaches to a target location, and the safety distance between two adjacent vehicles to be controlled is ensured. According to the embodiment of the invention, each vehicle which is about to pass through the target location is close to the target location, so that the distance between the vehicles is shortened, the space resource occupied by each vehicle waiting for passing through the target location in the driving area can be saved, and the working efficiency of each vehicle in the driving area is improved.
Description
Technical Field
The invention relates to the field of logistics, in particular to a vehicle control method and device.
Background
Generally, the traveling path of an unmanned transport vehicle in the field of warehouse logistics is planned before a task is executed, and each unmanned transport vehicle can travel to a specified place in an activity space according to the planned traveling path. However, the unmanned transportation vehicle needs to be manually involved in loading and unloading the goods during the process of transporting the goods, and therefore, the unmanned transportation vehicle occupies a certain position for a period of time. However, the unmanned vehicle can only wait on the preset coordinate node of the driving area because the stop of the unmanned vehicle can cause that other unmanned vehicles which need to pass through the unmanned vehicle can not pass through the unmanned vehicle. And the unmanned vehicle which is occupied when the occupied position is free and originally occupies the position can move after completely driving away. Each unmanned vehicle which needs to pass through the position stays on different preset coordinate nodes of the driving area, so that more space resources can be occupied, the situation that other unmanned vehicles in the driving area are blocked or slowly driven occurs, and the logistics work efficiency and the traffic capacity in the whole driving area are reduced.
The above information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device, and aims to solve one or more technical problems in the background art.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
detecting whether a target place is in an occupied state;
if the target location is in the occupied state, acquiring the driving path of each vehicle within the preset range of the target location;
determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle;
and sending an approaching instruction to each vehicle to be controlled located on the same driving path within the preset range, so that each vehicle to be controlled approaches to the target location, and the safety distance between two adjacent vehicles to be controlled is ensured.
In one embodiment, the method further comprises:
and sending a vehicle following instruction to each vehicle to be controlled which is close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state.
In one embodiment, the method further comprises:
and sending an interference prevention instruction to the vehicle to be controlled closest to the target site so as to enable the position of the vehicle to be controlled not to interfere with the operation of the obstacle or the vehicle occupying the target site.
In one embodiment, acquiring the driving path of each vehicle within the preset range of the target point comprises:
determining a map road containing the target location based on a map of a driving area;
determining vehicles on the map road within a preset range of the target location;
and acquiring a running path of the vehicle.
In one embodiment, the sending of the approach instruction to the vehicles to be controlled located on the same driving path within the preset range includes:
and if the preset range comprises a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule.
In one embodiment, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
determining the number of vehicles on each of the travel paths;
and sending an approaching instruction to each vehicle to be controlled on the running path with the largest number of vehicles.
In one embodiment, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
determining the time for sending an occupation request by the vehicle to be controlled closest to the target place on each driving path;
and sending an approaching instruction to each vehicle to be controlled on the running path where the vehicle to be controlled which firstly sends the occupation request is located.
In one embodiment, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
determining a moving direction of an obstacle or a vehicle occupying the target site;
and sending an approaching instruction to each vehicle to be controlled on the running path consistent with the moving direction of the obstacle or the vehicle.
In one embodiment, the safety distance is less than a distance between two adjacent coordinate nodes on a map of the driving area, wherein the coordinate nodes are used for parking the vehicle.
In a second aspect, an embodiment of the present invention provides a vehicle control method, including:
determining the occupation state of a target place;
if the mobile terminal is in the occupied state, receiving an approaching instruction sent by a dispatching center;
and according to the approaching instruction, approaching the target location, and ensuring that the vehicle is at a safe distance from the front obstacle or the vehicle.
In one embodiment, the method further comprises:
receiving a car following instruction sent by the dispatching center;
detecting the motion state of the front barrier or the vehicle in real time according to the vehicle following instruction;
and if the change of the motion state of the front obstacle or the vehicle is detected, the front obstacle or the vehicle is started simultaneously.
In a third aspect, an embodiment of the present invention provides a vehicle control apparatus including:
the detection module is used for detecting whether the target site is in an occupied state or not;
the acquisition module is used for acquiring the driving path of each vehicle within the preset range of the target site if the vehicle is in the occupied state;
the determining module is used for determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle;
and the approach instruction module is used for sending an approach instruction to each vehicle to be controlled located on the same driving path within the preset range, so that each vehicle to be controlled approaches the target location, and the safe distance between two adjacent vehicles to be controlled is ensured.
In one embodiment, the method further comprises:
and the vehicle following instruction module is used for sending a vehicle following instruction to each vehicle to be controlled close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state.
In one embodiment, the method further comprises:
and the interference instruction module is used for sending an anti-interference instruction to the vehicle to be controlled closest to the target site so as to enable the position of the vehicle to be controlled not to interfere with the operation of the obstacle or the vehicle occupying the target site.
In one embodiment, the obtaining module comprises:
a first determination submodule configured to determine a map road including the target point based on a map of a travel area;
a second determining submodule, configured to determine vehicles on the map road within a preset range of the target location;
and the acquisition submodule is used for acquiring the running path of the vehicle.
In a fourth aspect, an embodiment of the present invention provides a vehicle control apparatus, including:
the state determining module is used for determining the occupation state of the target site;
the approach instruction receiving module is used for receiving an approach instruction sent by the dispatching center if the mobile terminal is in an occupied state;
and the control module is used for approaching the target site according to the approaching instruction and ensuring that the safety distance between the control module and the front barrier or the vehicle is kept.
In one embodiment, the method further comprises:
the car following instruction receiving module is used for receiving a car following instruction sent by the dispatching center;
the detection module is used for detecting the motion state of the front obstacle or the vehicle in real time according to the vehicle following instruction;
and the follow-up module is used for starting along with the obstacle or the vehicle if the change of the motion state of the obstacle or the vehicle in front is detected.
In a fifth aspect, an embodiment of the present invention provides a vehicle control terminal, where functions of the vehicle control terminal may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the vehicle control terminal has a structure including a processor and a memory, the memory is used for storing a program for supporting the vehicle control terminal to execute the vehicle control method, and the processor is configured to execute the program stored in the memory. The vehicle control terminal may further include a communication interface for communicating with other devices or a communication network.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions for a vehicle control terminal, which includes a program for executing the vehicle control method.
One of the above technical solutions has the following advantages or beneficial effects: according to the embodiment of the invention, the vehicles which are about to pass through the target location are close to the target location, so that the distance between the vehicles is shortened, the space resource occupied by the vehicles waiting for passing through the target location in the driving area can be saved, and the working efficiency of the vehicles in the driving area is improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a flowchart of a vehicle control method according to an embodiment of the invention.
Fig. 2 shows a flowchart of a vehicle control method according to another embodiment of the invention.
Fig. 3 shows a flowchart of a vehicle control method according to another embodiment of the invention.
Fig. 4 shows a detailed flowchart of step S200 of the vehicle control method according to the embodiment of the invention.
Fig. 5 shows a flowchart of a vehicle control method according to another embodiment of the invention.
Fig. 6 shows a flowchart of a vehicle control method according to another embodiment of the invention.
Fig. 7 shows a flowchart of a vehicle control method according to another embodiment of the invention.
Fig. 8 shows a block diagram of the structure of a vehicle control device according to an embodiment of the invention.
Fig. 9 shows a block diagram of a vehicle control apparatus according to another embodiment of the invention.
Fig. 10 shows a block diagram of a vehicle control apparatus according to another embodiment of the invention.
Fig. 11 shows a block diagram of a vehicle control apparatus according to another embodiment of the invention.
Fig. 12 shows a block diagram of a vehicle control apparatus according to another embodiment of the invention.
Fig. 13 shows a schematic configuration diagram of a vehicle control terminal according to an embodiment of the present invention.
Fig. 14 is a schematic diagram showing an application of the vehicle control method according to the embodiment of the invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flowchart of a vehicle control method of an embodiment of the invention. As shown in fig. 1, the vehicle control method includes:
s100: and detecting whether the target place is in an occupied state.
Wherein the target point represents a point where the vehicle needs to arrive or pass. The target point may be any point that can be traveled in the travel area. For example, each node in the grid map corresponding to the travel area may be a target point. The driving region is understood to be the region of the working space in which the vehicle is moving. For example, the ground of a warehouse or a workstation is the driving area.
S200: and if the target location is in an occupied state, acquiring the driving path of each vehicle within the preset range of the target location.
The preset range may include a region preset by a user, and may be a planar coverage region of any shape and any area that is expanded with a target location as a center. The specific shape and area can be adaptively adjusted according to the driving area or the working requirement. The driving path may include a traveling track planned in advance by each vehicle according to the task to be executed, or may include a traveling track generated in real time by each vehicle according to the task to be executed and the traffic state of the driving area.
S300: and determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle. Since the driving tracks of the vehicles within the preset range are different, it is necessary to determine which vehicles pass through the target point. It is then further determined which vehicles are located on road segments that have passed the destination point and which are located on road segments that have not passed the destination point. And screening out all vehicles on the driving path which do not pass through the target location as the vehicles to be controlled.
S400: and sending an approaching instruction to each vehicle to be controlled located on the same driving path within a preset range, so that each vehicle to be controlled approaches to a target location, and the safety distance between two adjacent vehicles to be controlled is ensured.
The vehicles to be controlled are located on the same driving path, and the vehicles to be controlled are located on the same track. For example, the vehicles to be controlled are arranged on the same straight line or curve path at intervals. The approach of each vehicle to be controlled to the target location can be understood as shortening the distance between each vehicle to be controlled on the same driving path, and further shortening the distance between each vehicle to be controlled and the target location on the same driving path, so that the space resources occupied by each vehicle waiting to pass through the target location in the driving area can be saved, and the working efficiency of each vehicle in the driving area is improved. The safe distance is understood to be the distance which is reserved to avoid a collision of the vehicle to be controlled with a preceding vehicle or an obstacle.
In one embodiment, as shown in fig. 2, the vehicle control method further includes:
s500: and sending a vehicle following instruction to each vehicle to be controlled which is close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state. The target location being in a non-occupied state may be understood as an obstacle or vehicle that originally occupied the target location beginning, about to leave, or completely leaving the target location. The obstacles may include cargo, shelves, vehicles, etc. For example, when the obstacle is a vehicle, when the vehicle starts to move and gradually leaves the target location, the remaining vehicles to be controlled simultaneously move synchronously along with the vehicle on the originally occupied target location. Preferably, in order to avoid collision, each vehicle to be controlled can move at the same driving speed as the vehicle originally occupying the target place.
It should be noted that the process of following each vehicle to be controlled with the obstacle or vehicle occupying the target location may be the following process that each vehicle to be controlled uses its own detector (e.g. obstacle avoidance radar) to detect the motion state of the obstacle or vehicle ahead, or the following process that each vehicle to be controlled realizes according to the received control instruction.
In one embodiment, in order to ensure that a safe distance can be always maintained between the vehicles to be controlled, the distance between the vehicle to be controlled and the vehicle in front or the obstacle needs to be monitored in real time. Specifically, when the vehicle to be controlled detects that the distance from the front vehicle (or the obstacle) is equal to the safe distance, the vehicle is normally driven. When the distance to the front vehicle (or the obstacle) is detected to be larger than the safe distance, accelerating the vehicle to the distance to the front vehicle (or the obstacle) to be equal to the safe distance. And when the distance from the front vehicle (or the obstacle) is detected to be less than the safe distance, stopping or decelerating the vehicle until the distance from the front vehicle (or the obstacle) is equal to the safe distance.
According to the embodiment of the invention, the approaching instruction and the vehicle following instruction are sent to the vehicles to be controlled, so that the vehicle distance of the vehicles to be controlled is reduced, the occupied space of the driving space is saved, the following of the vehicles to be controlled is realized, the transportation efficiency of the vehicles is effectively improved, and the communication cost for controlling the movement of the vehicles and the cost for disassembling and scheduling the tasks executed by the vehicles are saved.
In one embodiment, as shown in fig. 3, the vehicle control method further includes:
s600: and sending an interference prevention instruction to the vehicle to be controlled closest to the target site so that the position of the vehicle to be controlled does not interfere with the operation of the obstacle or the vehicle occupying the target site. That is, when the vehicle to be controlled closest to the target point is moved to the target point, the stopped position cannot interfere with an obstacle or a vehicle at the target point to perform a work operation.
In one embodiment, as shown in fig. 4, acquiring a driving path of each vehicle within a preset range of a target point includes:
s210: based on the map of the travel area, a map road containing the target point is determined. In order to enable the vehicles to travel orderly in the travel area, it is therefore necessary to construct a map of the travel area and plan a map road on the map so that the vehicles located in the travel area can travel according to the map road specification. For example, when the map is in a grid shape, each of the horizontal and vertical grid lines is an area in which each vehicle is allowed to travel.
S220: and determining vehicles on the map road within the preset range of the target location.
S230: a travel path of a vehicle is acquired. The travel route is a travel track of the vehicle planned based on each map road.
In one embodiment, the sending of the approach instruction to each vehicle to be controlled located on the same driving path within the preset range includes:
and if the preset range comprises a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one driving path according to a preset rule.
In one embodiment, as shown in fig. 5, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
s410: the number of vehicles on each travel path is determined.
S420: and sending an approaching instruction to each vehicle to be controlled on the driving path with the largest number of vehicles.
In one embodiment, as shown in fig. 5, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
s430: and determining the time for sending the occupation request by the vehicle to be controlled closest to the target position on each driving path.
S440: and sending an approaching instruction to each vehicle to be controlled on the running path where the vehicle to be controlled which firstly sends the occupation request is located.
In one embodiment, as shown in fig. 5, if a plurality of driving paths are included in the preset range, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule includes:
s450: the direction of movement of an obstacle or vehicle occupying the target location is determined.
S460: and sending an approaching instruction to each vehicle to be controlled on a driving path consistent with the moving direction of the obstacle or the vehicle.
That is, fig. 5 shows three embodiments of step S400.
In one embodiment, the safety distance is less than the distance between two adjacent coordinate nodes on the map of the driving area, wherein the coordinate nodes are used for parking the vehicle. The map of the travel area includes travel roads and coordinate nodes. For example, in a grid map, grid lines are driving roads, and intersections of the grid lines are coordinate nodes. The map can accurately acquire the accurate position of each vehicle running in the map through the coordinate nodes.
In one embodiment, the vehicle control method of each of the above embodiments may be applied to a logistics scheduling system.
Fig. 6 shows a flowchart of a vehicle control method of the embodiment of the invention. As shown in fig. 6, the vehicle control method includes:
s10: and determining the occupancy state of the target site.
S20: and if the mobile terminal is in the occupied state, receiving an approaching instruction sent by the dispatching center.
S30: and according to the approaching command, approaching to the target site and ensuring that the vehicle is at a safe distance from the front obstacle or vehicle.
In one embodiment, as shown in fig. 7, the vehicle control method further includes:
s40: and receiving a car following instruction sent by the dispatching center.
S50: and detecting the motion state of the front obstacle or the vehicle in real time according to the vehicle following command.
S60: if the change of the motion state of the front obstacle or the vehicle is detected, the front obstacle or the vehicle is started simultaneously.
In one embodiment, the process of following each vehicle to be controlled with an obstacle or a vehicle occupying a target location may be the following process that each vehicle to be controlled detects a motion state of a preceding obstacle or vehicle by using a self-detector (such as an obstacle avoidance radar), or the following process that each vehicle to be controlled realizes according to control of a dispatching center.
In order to ensure that the vehicles to be controlled can always keep a safe distance, the distance between the vehicle to be controlled and a front vehicle or an obstacle needs to be monitored in real time. Specifically, when the vehicle to be controlled detects that the distance from the front vehicle (or the obstacle) is equal to the safe distance, the vehicle is normally driven. When the distance to the front vehicle (or the obstacle) is detected to be larger than the safe distance, accelerating the vehicle to the distance to the front vehicle (or the obstacle) to be equal to the safe distance. When the distance to the front vehicle (or the obstacle) is detected to be less than the safe distance, stopping or decelerating to drive until the distance to the front vehicle (or the obstacle) is equal to the safe distance.
It should be noted that the terms used in the above embodiments may be understood with reference to the corresponding explanations in the foregoing, and are not described again here.
In one embodiment, the vehicle control method of each embodiment may be applied to an unmanned vehicle in the field of warehouse logistics.
Fig. 8 shows a configuration diagram of a vehicle control device of the embodiment of the invention. As shown in fig. 8, the vehicle control apparatus includes:
the detection module 10 is configured to detect whether the target location is in an occupied state.
The obtaining module 20 is configured to obtain a driving path of each vehicle within a preset range of a target location if the vehicle is in an occupied state.
The determining module 30 is configured to determine, according to the driving path of each vehicle, each vehicle to be controlled that needs to pass through the target location.
And the approach instruction module 40 is configured to send an approach instruction to each vehicle to be controlled located on the same driving path within a preset range, so that each vehicle to be controlled approaches to a target location, and a safety distance between two adjacent vehicles to be controlled is ensured.
In one embodiment, as shown in fig. 9, the vehicle control apparatus further includes:
and the vehicle following instruction module 50 is configured to send a vehicle following instruction to each vehicle to be controlled that is close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state.
In one embodiment, as shown in fig. 10, the vehicle control apparatus further includes:
and the interference instruction module 60 is configured to send an anti-interference instruction to the vehicle to be controlled closest to the target location, so that the vehicle to be controlled is located without interfering with an obstacle or a vehicle occupying the target location.
In one embodiment, the obtaining module 20 includes:
a first determination submodule for determining a map road containing the target point based on the map of the travel area.
And the second determining submodule is used for determining vehicles on the map road within the preset range of the target location.
And the acquisition submodule is used for acquiring the running path of the vehicle.
Fig. 11 shows a configuration diagram of a vehicle control device of the embodiment of the invention. As shown in fig. 11, the vehicle control apparatus includes:
a state determining module 100, configured to determine an occupancy state of the target location.
The approaching instruction receiving module 200 is configured to receive an approaching instruction sent by the scheduling center if the mobile terminal is in the occupied state.
And the control module 300 is used for approaching the target location according to the approaching instruction and ensuring that the safety distance is kept between the control module and the front obstacle or vehicle.
In one embodiment, as shown in fig. 12, the vehicle control apparatus further includes:
and the car following instruction receiving module 400 is configured to receive a car following instruction sent by the scheduling center.
The detecting module 500 is configured to detect a motion state of a preceding obstacle or a vehicle in real time according to a vehicle following instruction.
And the follow-up module 600 is used for starting simultaneously with the obstacle or the vehicle if the change of the motion state of the obstacle or the vehicle in front is detected.
The functions of each module in each apparatus in the embodiments of the present invention may refer to the corresponding description in the above method, and are not described herein again.
Fig. 13 shows a block diagram of the structure of a vehicle control terminal according to an embodiment of the present invention. As shown in fig. 13, the terminal includes: a memory 910 and a processor 920, the memory 910 having stored therein computer programs operable on the processor 920. The processor 920 implements the vehicle control method in the above-described embodiment when executing the computer program. The number of the memory 910 and the processor 920 may be one or more.
The terminal further comprises:
and a communication interface 930 for communicating with an external device to perform data interactive transmission.
If the memory 910, the processor 920 and the communication interface 930 are implemented independently, the memory 910, the processor 920 and the communication interface 930 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 13, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 910, the processor 920 and the communication interface 930 are integrated on a chip, the memory 910, the processor 920 and the communication interface 930 may complete communication with each other through an internal interface.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method in any one of the above embodiments.
The technical effects of the embodiments of the present invention are explained below by an application example.
As shown in fig. 14, point a in the travel area is a target point, and vehicles a, b, and c are vehicles to be controlled that need to pass point a. A, B, C, D in the travel area is a coordinate node in the travel area map. The straight line X and the vertical line Y are two map roads in the driving area map.
If the method of the embodiment of the invention is not applied, when the node A is occupied, the dispatching system sends task instructions respectively reaching B, C, D to the vehicles a, b and c; assuming that a point a is released at a certain time, and the system delay is not calculated, assuming that the average speed of the vehicle is V, the time is T, and the distance is d, the total time consumption of 3 vehicles passing the point a is:
T1＝(d AB +d AC +d AD )/V。
if the method of the embodiment of the invention is applied, when the node A is occupied, the dispatching system sends the car following motion instruction reaching the point B to all the 3 trolleys; the vehicle a stays at the point B for waiting, and the vehicles B and c stay for waiting immediately after the vehicle a; at a certain moment, A point is released, and dispatch system can send the car instruction with following through A point simultaneously for 3 platform trucks, and a car is after the start, and b, c car are followed immediately and are started, and 3 platform trucks are through the total time consumption of A point:
T2＝(d AB +d ab +d bc )/V。
from this, it is clear that T2< T1. Therefore, the mode of the embodiment of the invention obviously improves the working efficiency.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (15)
1. A control method of an unmanned transportation vehicle, characterized by comprising:
detecting whether a target place is in an occupied state;
if the target location is in the occupied state, acquiring the driving path of each vehicle within the preset range of the target location;
determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle;
sending an approaching instruction to each vehicle to be controlled located on the same running path within the preset range, so that each vehicle to be controlled approaches the target location, and the safety distance between two adjacent vehicles to be controlled is ensured;
and sending a vehicle following instruction to each vehicle to be controlled which is close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state.
2. The method of claim 1, further comprising:
and sending an interference prevention instruction to the vehicle to be controlled closest to the target site so as to enable the position of the vehicle to be controlled not to interfere with the operation of the obstacle or the vehicle occupying the target site.
3. The method of claim 1, wherein obtaining the travel path of each vehicle within a preset range of the target location comprises:
determining a map road containing the target location based on a map of a driving area;
determining vehicles on the map road within a preset range of the target location;
and acquiring a running path of the vehicle.
4. The method of claim 1, wherein sending an approach instruction to each vehicle to be controlled located on the same travel path within the preset range comprises:
and if the preset range comprises a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule.
5. The method according to claim 4, wherein if the preset range includes a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule, includes:
determining the number of vehicles on each of the travel paths;
and sending an approaching instruction to each vehicle to be controlled on the running path with the largest number of vehicles.
6. The method according to claim 4, wherein if the preset range includes a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule, includes:
determining the time for the vehicle to be controlled closest to the target place on each driving path to send an occupation request;
and sending an approaching instruction to each vehicle to be controlled on the running path where the vehicle to be controlled which firstly sends the occupation request is located.
7. The method according to claim 4, wherein if the preset range includes a plurality of driving paths, sending an approaching instruction to each vehicle to be controlled on one of the driving paths according to a preset rule, includes:
determining a moving direction of an obstacle or a vehicle occupying the target site;
and sending an approaching instruction to each vehicle to be controlled on the running path consistent with the moving direction of the obstacle or the vehicle.
8. The method of claim 1, wherein the safe distance is less than a distance between two adjacent coordinate nodes on a map of the travel area, wherein the coordinate nodes are used to park the vehicle.
9. A control method of an unmanned transportation vehicle, characterized by comprising:
determining the occupation state of a target place;
if the mobile terminal is in the occupied state, receiving an approaching instruction sent by a dispatching center;
according to the approaching instruction, approaching to the target place and ensuring that the target place is in a safe distance with a front obstacle or a vehicle;
receiving a car following instruction sent by the dispatching center;
detecting the motion state of the front barrier or the vehicle in real time according to the vehicle following instruction;
and if the change of the motion state of the front obstacle or the vehicle is detected, starting the front obstacle or the vehicle at the same time.
10. A control device of an unmanned transport vehicle, characterized by comprising:
the detection module is used for detecting whether the target site is in an occupied state or not;
the acquisition module is used for acquiring the driving path of each vehicle within the preset range of the target site if the vehicle is in the occupied state;
the determining module is used for determining each vehicle to be controlled which needs to pass through the target location according to the running path of each vehicle;
the approach instruction module is used for sending an approach instruction to each vehicle to be controlled located on the same driving path within the preset range, so that each vehicle to be controlled approaches to the target location, and the safe distance between two adjacent vehicles to be controlled is ensured;
and the vehicle following instruction module is used for sending a vehicle following instruction to each vehicle to be controlled close to the target location, so that each vehicle to be controlled can move simultaneously when the target location is in a non-occupied state.
11. The apparatus of claim 10, further comprising:
and the interference instruction module is used for sending an anti-interference instruction to the vehicle to be controlled closest to the target site so as to enable the position of the vehicle to be controlled not to interfere with the operation of the obstacle or the vehicle occupying the target site.
12. The apparatus of claim 10, wherein the obtaining module comprises:
a first determination submodule configured to determine a map road including the target point based on a map of a travel area;
a second determination sub-module configured to determine vehicles on the map road within a preset range of the target location;
and the acquisition submodule is used for acquiring the running path of the vehicle.
13. A control device of an unmanned transport vehicle, characterized by comprising:
the state determination module is used for determining the occupation state of the target site;
the approach instruction receiving module is used for receiving an approach instruction sent by the dispatching center if the mobile terminal is in an occupied state;
the control module is used for approaching the target site according to the approaching instruction and ensuring that the control module is in a safe distance with a front obstacle or a vehicle;
the car following instruction receiving module is used for receiving a car following instruction sent by the dispatching center;
the detection module is used for detecting the motion state of the front obstacle or the vehicle in real time according to the vehicle following instruction;
and the follow-up module is used for starting along with the obstacle or the vehicle if the change of the motion state of the obstacle or the vehicle in front is detected.
14. A vehicle control terminal, characterized by comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-9.
15. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 9.
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