CN220220712U - Unmanned vehicle and reversing control system - Google Patents

Abstract

The disclosure provides an unmanned vehicle and a reversing control system, and belongs to the technical field of unmanned. The unmanned vehicle includes: comprises a head, a tail, a sensing device and a marker; the marker is arranged at the tail of the vehicle and is positioned in the sensing range of the sensing device; the sensing device is arranged on the vehicle head and used for measuring the distance between the sensing device and the marker and measuring the distance between the sensing device and a target reference object of a designated parking area. The present disclosure provides a brand new vehicle structure capable of effectively improving the parking accuracy of an unmanned vehicle.

Description

Unmanned vehicle and reversing control system

Technical Field

The disclosure relates to the technical field of unmanned, in particular to an unmanned vehicle and a reversing control system.

Background

In the intelligent mining area operation scene, unmanned vehicles can automatically complete a series of tasks such as loading, transporting and unloading materials. Taking an unmanned mining truck as an example, in the process of unloading materials by the unmanned mining truck, the unmanned mining truck needs to accurately drive to a fixed unloading position, such as a standard stopping position of a crushing opening, a waste opening and the like, so as to better complete the unloading of the materials.

Currently, unmanned vehicle related art is generally based on a real-time differential RTK (Real time kinematic, RTK) positioning device or lidar mounted near the head of the unmanned vehicle for off-load dock positioning. However, when the vehicle performs the parking operation based on the related art, the parking accuracy is still poor, so that there may be a case where the material cannot be efficiently poured into the unloading area due to the insufficient parking.

Disclosure of Invention

The disclosure provides an unmanned vehicle and a reversing control system, solves the problem of poor unloading and parking precision of the unmanned vehicle, and adopts the following technical scheme:

in a first aspect, there is provided an unmanned vehicle comprising:

the vehicle comprises a vehicle head, a vehicle tail, a sensing device and a marker; wherein,

the marker is arranged at the tail of the vehicle and is positioned in the perception range of the perception device;

the sensing device is arranged on the vehicle head and used for measuring the distance between the sensing device and the marker and measuring the distance between the sensing device and a target reference object of a designated parking area.

In one possible implementation, the sensing device includes a first sensing device and a second sensing device, and the marker includes a first marker and a second marker;

the first sensing device is arranged on the right side of the vehicle head, the first marker is arranged on the right side of the vehicle tail, and the first marker is positioned in the sensing range of the first sensing device;

the second sensing device is arranged on the left side of the vehicle head, the second marker is arranged on the left side of the vehicle tail, and the second marker is positioned in the sensing range of the second sensing device.

In one possible implementation, the first and second sensing devices are symmetrically arranged with respect to the vehicle head; and/or the number of the groups of groups,

the first marker and the second marker are symmetrically arranged relative to the vehicle tail.

In one possible implementation, the sensing device comprises a lidar, and the side of the marker facing the sensing device is provided with a reflective material.

In one possible implementation of the present utility model,

the tail includes a cargo box to which the marker is attached.

In one possible implementation, the tail includes a vehicle chassis under the cargo box, and the marker is attached to the vehicle chassis.

In one possible implementation, the face of the marker facing the head is located on a tangential plane directly behind the rear wheels of the vehicle.

In one possible implementation, the setting height of the marker corresponds to the setting height of the sensing device.

In one possible implementation, the target reference comprises a retaining wall.

In a second aspect, there is provided a reverse control system for an unmanned vehicle, comprising:

the unmanned vehicle in the aspect as described above;

and the reversing control module is remotely or locally connected with the unmanned vehicle and is used for controlling the unmanned vehicle to stop to a target position when reversing.

The beneficial effects of the technical scheme provided by the disclosure at least include:

according to the structure, the sensing device is arranged at the head of the unmanned vehicle, the marker is arranged at the tail of the unmanned vehicle, the marker is positioned in the sensing range of the sensing device, the distance detection between the sensing device and the marker or the target reference object of the appointed parking area can be supported, a brand new vehicle structure is disclosed, the unmanned vehicle can be parked to the target position more accurately based on the vehicle structure, and the parking precision of the unmanned vehicle in a reversing scene is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic illustration of a perspective view of an unmanned vehicle provided by one embodiment of the present disclosure;

FIG. 2 is a schematic top view of an unmanned vehicle according to one embodiment of the present disclosure;

FIG. 3 is a schematic view of the left side of an unmanned vehicle provided by an embodiment of the present disclosure;

fig. 4 is a schematic diagram of an application scenario of an unmanned vehicle provided in one embodiment of the present disclosure.

Description of the reference numerals

10 unmanned vehicle

11 vehicle head

12 vehicle tail

13 sensing device

131 first perception device/first laser radar

132 second perception device/second lidar

14 marker

141 first marker

142 second marker

15 rear wheel

20 target reference

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to be within the scope of this disclosure.

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

Fig. 1 is a schematic diagram of a perspective view of an unmanned vehicle provided by one embodiment of the present disclosure. Fig. 2 is a schematic diagram of a structure of an unmanned vehicle from a top view perspective provided by an embodiment of the present disclosure. Fig. 3 is a schematic view of a left side structure of an unmanned vehicle provided in one embodiment of the present disclosure. Fig. 4 is a schematic diagram of an application scenario of an unmanned vehicle provided in one embodiment of the present disclosure. As shown in fig. 1-4, the unmanned vehicle 10 may include a head 11, a tail 12, a perception device 13, and a marker 14.

The marker 14 is disposed at the tail 12, and the marker 14 is located in the sensing range of the sensing device 13.

The sensing device 13 is disposed on the head 11, and is used for measuring a distance between the sensing device 13 and the marker 14, and measuring a distance between the sensing device 13 and the target reference object 20 of the designated parking area.

According to the embodiment, the sensing device is arranged at the head of the unmanned vehicle, the marker is arranged at the tail of the unmanned vehicle, the marker is in the sensing range of the sensing device, and the distance detection between the sensing device and the marker or the distance detection between the sensing device and the target reference object of the appointed parking area can be supported.

In this embodiment, the unmanned vehicle may include a mining transport vehicle, an unmanned logistics vehicle, or the like. In particular, mining transportation vehicles may include, but are not limited to, unmanned mining trucks, unmanned wide body vehicles, unmanned articulated mining vehicles, and the like.

In this embodiment, the target references 20 may include, but are not limited to, a target landing mark 14 such as a retaining wall, landing pier, etc. The target references 20 may also be determined based on a particular docking scenario. For example, in the case of a particle opening, a waste opening, or the like, the target reference 20 is preferably a retaining wall.

In the present embodiment, the target reference object 20 is disposed in a direction in which the vehicle tail 12 is oriented in a designated parking area. The setting of the target reference 20 needs to be satisfied so as to be sensed by the sensing device 13. In the case of implementing the control function of the present disclosure by a plurality of sensing devices 13 (e.g., 2), the target reference 20 needs to be able to be sensed by the plurality of sensing devices 13. In the case of implementing the control function of the present disclosure by a plurality of sensing devices 13 (e.g., 2), the target reference 20 may be one complete structure or a plurality of separate structures.

Illustratively, the target reference 20 comprises a retaining wall. The retaining wall may be disposed in a direction toward which the rear 12 of the vehicle is oriented in a designated parking area. The provision of the retaining wall needs to be satisfactory for being sensed by the sensing means 13. In the case of implementing the control function of the present disclosure by a plurality of sensing devices 13 (e.g., 2), the retaining wall needs to be able to be sensed by the plurality of sensing devices 13. In the case of implementing the control function of the present disclosure by means of a plurality of sensing devices 13 (e.g., 2), the retaining wall may be one complete structure, or a plurality of separate structures.

In this embodiment, the sensing device 13 includes a first sensing device 131 and a second sensing device 132, and the marker 14 includes a first marker 141 and a second marker 142.

As shown in fig. 4, in one aspect, the first sensing device 131 is disposed on the right side of the vehicle head 11, the first marker 141 is disposed on the right side of the vehicle tail 12, and the first marker 141 is located in the sensing range of the first sensing device 131.

On the other hand, the second sensing device 132 is disposed on the left side of the head 11, the second marker 142 is disposed on the left side of the tail 12, and the second marker 142 is located in the sensing range of the second sensing device 132.

Optionally, the first sensing device 131 and the second sensing device 132 are symmetrically disposed with respect to the vehicle head 11, and/or the first marker 141 and the second marker 142 are symmetrically disposed with respect to the vehicle tail 12.

As shown in fig. 4, the sensing device 13 may include a first sensing device 131 and a second sensing device 132, and the markers 14 may include a first marker 141 and a second marker 142. The first sensing device 131 may be disposed on the right side of the vehicle head 11, the first marker 141 may be disposed on the right side of the vehicle tail 12, the first marker 141 may be located in a sensing range of the first sensing device 131, and the first sensing device 131 is configured to sense a first distance L1 corresponding to the right side of the vehicle and a second distance L2 corresponding to the right side.

Specifically, the first distance L1 corresponding to the right side may be a distance between the first sensing device 131 sensed by the first sensing device on the right side and the target reference 20 designating the parking area, for example, a retaining wall. The second distance L2 corresponding to the right side is the distance between the first sensing device 131 and the first marker 141 sensed by the first sensing device 131 on the right side.

Optionally, as shown in fig. 4, the second sensing device 132 is disposed on the left side of the vehicle head 11, the second marker 142 is disposed on the left side of the vehicle tail 12, the second marker 142 is located in a sensing range of the second sensing device 132, and the second sensing device 132 is configured to sense a first distance L3 corresponding to the left side of the vehicle and a second distance L4 corresponding to the left side.

Specifically, the first distance L3 corresponding to the left side may be a distance between the second sensing device 132 of the left side sensed by the second sensing device 132 and the target reference 20 designating the parking area, for example, the retaining wall 20. The second distance L4 corresponding to the left side is the distance between the second sensing device 132 and the second marker 142 sensed by the second sensing device 132 on the left side.

Specifically, sensing devices 13 may include, but are not limited to, lidar, laser rangefinder, and other sensing devices 13 that may measure distance. The sensing device 13 may be a sensing device 13 additionally provided by the vehicle to implement the functions of the disclosure, or may also be a sensing device 13 conventionally provided by the vehicle, which is particularly required to be adjusted such that the sensing range of the sensing device 13 can cover the area where the marker 14 is located.

Alternatively, the marker may be a member protruding from the outer wall of the tail 12, or may be a specific mark attached to the outer wall of the tail 12.

In this embodiment, the sensing device 13 comprises a lidar, and the side of the marker 14 facing the sensing device 13 is provided with a reflective material.

Alternatively, the specific identifier may be a reflective material. The reflective material may include reflective strips, and the like.

Here, the sensing device is a laser radar, and the side of the marker 14 facing the laser radar may be provided with a reflective strip, and the laser radar may have as many wires as possible to scan the marker 14.

In the present embodiment, the tail 12 is a portion opposite to the head. The tail 12 may include a cargo box and a vehicle chassis or the like under the cargo box.

Alternatively, the tail 12 may be a cargo box. The markers 14 are attached to the cargo box.

Alternatively, the tail 12 may be a vehicle chassis beneath the cargo box to which the markers 14 are attached.

The markers 14 may be fixedly attached, such as welded, to the outer wall of the cargo box or to the vehicle chassis below the cargo box. In this way, the stability of the marker 14 can be ensured.

Alternatively, the marker 14 may be removably attached to a side wall of the tail 12 of the unmanned vehicle 10.

Illustratively, the tag 14 may be removably attached to a side wall of the tail 12 of the unmanned vehicle 10 via a snap-fit connection.

Optionally, the marker 14 protrudes from the side wall of the tail 12 when the reversing control function is started, and is attached to the side wall of the tail 12 when the reversing control function is not started, so that the occupied space of the vehicle body can be saved when the reversing control function is not started, and the vehicle body is prevented from being scratched when the vehicle passes through a narrow road section.

Optionally, when the reversing control function of the present disclosure is started, the marker 14 may be automatically controlled to pop up from the accommodating cavity formed in the side wall, and when the reversing control function is closed, the marker 14 is automatically controlled to retract into the accommodating cavity.

Alternatively, the automatic control flag 14 retracts the accommodation chamber when the vehicle is traveling in the forward direction to a narrow road section.

Alternatively, in the case where the tail 12 includes a cargo box, the marker 14 may be provided at any position on the cargo box that can be sensed by the sensing device 13, with respect to the provided position of the marker.

Where the tail 12 includes a chassis, the markers 14 may be provided at any location on the chassis that can be sensed by the sensing device 13.

In this embodiment, the side of the marker 14 facing the head 11 is located on a tangential plane directly behind the rear wheels 15 of the vehicle.

In particular, the face of the marker 14 facing the head (the plane in which it lies) is tangential to the immediate rear of the rear wheel 15 of the vehicle.

For example, a marker 14 is provided on the cargo box, and an extension surface of a surface of the marker 14 facing the vehicle head (sensing device 13) is tangential to the right rear of the vehicle rear wheel 15.

For another example, the marker 14 is provided on the vehicle chassis below the cargo box, and an extension surface of a surface of the marker 14 facing the head (the sensing device 13) is tangent to the right rear of the vehicle rear wheel 15.

The tangents may be absolute tangents, or may be within an allowable range.

Optionally, the setting height of the marker 14 corresponds to the setting height of the sensing device 13.

In this embodiment, the sensing device 13 may be a lidar. The first sensing device 131 may be a first laser radar 131, and the second sensing device 132 may be a second laser radar 132.

For example, the first lidar 131 may be disposed on the right side of the vehicle head, the first marker 141 may be disposed on the right side of the vehicle tail 12, the first marker 141 may be located within a sensing range of the first lidar 131, and the first lidar 131 may be configured to sense a first distance corresponding to the right side of the vehicle and a second distance corresponding to the right side.

The corresponding first distance on the right side may be the distance between the first lidar 131 sensed by the first lidar 131 on the right side and the target reference 20 specifying the landing area. The corresponding second distance on the right side may be the distance between the first lidar 131 and the first marker 141 sensed by the first lidar 131 on the right side.

Specifically, the second lidar 132 is disposed on the left side of the vehicle head, the second marker 142 is disposed on the left side of the vehicle tail 12, the second marker 142 is located in the sensing range of the second lidar 132, and the second lidar 132 is configured to sense a first distance corresponding to the left side of the vehicle and a second distance corresponding to the left side.

Specifically, the first distance corresponding to the left side may be a distance between the second lidar 132 of the left side sensed by the second lidar 132 and the target reference 20 of the designated landing area. The corresponding second distance to the left is the distance between the second lidar 132 and the second marker 142 as sensed by the second lidar 132 to the left.

Illustratively, as shown in fig. 2 and 3, the first lidar 131 is mounted on the right chassis of the vehicle head. The side of the first marker 141 on the right facing the head 11 is located on a tangential plane directly behind the right rear wheel of the vehicle, for example, the marker may be fixedly connected to the right outer wall of the cargo box. The second lidar 132 may be mounted on the left chassis of the vehicle head. The side of the second marker 142 on the left facing the head 11 is located on a tangential plane directly behind the left rear wheel of the vehicle, for example, the second marker 142 may be fixedly connected to the left outer wall of the cargo box.

Illustratively, the first and second markers 141, 142 may be stainless steel, have a thickness of 0.3 cm to 1 cm, a width of 20 cm to 40 cm, a height of 60 cm to 80 cm, and a distance from the ground of 150 cm to 160 cm. The first marker 141 and the second marker 142 are provided with reflective strips on the sides facing the lidar. Thus, the stability of the marker can be ensured, and meanwhile, the laser radar is ensured to have as many wire harnesses as possible to scan the marker.

One embodiment of the present disclosure provides a reverse control system of an unmanned vehicle, which includes the unmanned vehicle 10 and a position determination module (not shown) and a reverse control module (not shown) in the foregoing embodiments.

As shown in fig. 4, the sensing device 13 is configured to sense a surrounding environment of the vehicle, and the marker 14 is located within a sensing range of the sensing device 13. The sensing device 13 is configured to sense a first distance between the sensing device 13 and the target reference object 20 of the designated parking area, which is sensed by the sensing device 13, and a second distance between the sensing device 13 and the marker 14, which is sensed by the sensing device 13.

And the position judging module is connected with the unmanned vehicle remotely or locally and can be used for judging whether the vehicle falls to a target position according to the first distance and the second distance.

And the reversing control module is remotely or locally connected with the unmanned vehicle and can be used for controlling the vehicle to adjust the driving strategy until the position judging module judges that the vehicle is reversed to the target position under the condition that the position judging module judges that the vehicle is not reversed to the target position.

Specifically, the location determination module may be located locally to the vehicle or may be located remotely. For example, the distance data may be received and the determination may be made by a cloud control platform that establishes a communication connection with the vehicle.

Specifically, the reverse control module may be located locally to the vehicle or may be located remotely. For example, reverse control may be performed through a cloud control platform that establishes a communication connection with the vehicle; alternatively, the control may be performed by a remote control driving platform that establishes a communication connection with the vehicle.

In this way, whether the vehicle is parked in place or not can be judged according to the first distance and the second distance sensed by the sensing device 13, so as to adjust the driving strategy, control the unmanned vehicle to park to the target position more accurately, and improve the parking precision of the unmanned vehicle in the reversing scene.

Optionally, the position determining module may be further configured to obtain a difference between the first distance and the second distance as a target difference, determine whether the target difference reaches a difference reference value, and determine whether the vehicle falls to the target position based on a determination result. Determining that the vehicle falls to the target position when the target difference value reaches a difference reference value or the target difference value is close enough to the difference reference value; and determining that the vehicle does not fall to the target position under the condition that the target difference value does not reach the difference reference value or the target difference value is not close enough to the difference reference value, and continuously controlling the vehicle adjustment position.

Optionally, the position judging module may further use a deep learning algorithm to pre-train the model, and throw the first distance and the second distance into the pre-trained model, and determine whether the vehicle falls to the target position according to the result output by the model.

In this implementation, the difference reference value may include a first difference reference value and a second difference reference value.

Optionally, the position determining module may be further configured to obtain, as a first target difference, a difference between a first distance corresponding to the right side and a second distance corresponding to the right side, and obtain, as a second target difference, a difference between a first distance corresponding to the left side and a second distance corresponding to the left side, so as to determine whether the first target difference reaches a first difference reference value and whether the second target difference reaches a second difference reference value, so as to determine whether the vehicle falls to the target position.

As shown in fig. 4, the first target difference may be a difference between a first distance L1 corresponding to the right side and a second distance L2 corresponding to the right side. The second target difference may be a difference between the first distance L3 corresponding to the left side and the second distance L4 corresponding to the left side.

Optionally, if the first target difference value reaches the first difference value reference value and the second target difference value reaches the second difference value reference value, it may be determined that the unmanned vehicle falls to the target position, and the unmanned vehicle may be parked at the target position.

Optionally, if the first target difference value does not reach the first difference value reference value, and/or the second target difference value does not reach the second difference value reference value, determining that the unmanned vehicle does not fall to the target position.

In this embodiment, the reversing control module may be further configured to obtain a difference between the first target difference and the second target difference when the position determination module determines that the vehicle does not fall to the target position, and further determine steering control information according to the difference between the first target difference and the second target difference, so that a driving direction of the vehicle may be adjusted based on the steering control information until the position determination module determines that the vehicle falls to the target position.

In the present embodiment, the steering control information may include steering direction information and steering magnitude information.

Specifically, the steering direction information may be determined based on the positive or negative of the difference between the first target difference and the second target difference, and/or the steering amplitude information may be determined based on the absolute value of the difference between the first target difference and the second target difference.

In this way, the first distance and the second distance on the left side and the right side of the vehicle can be obtained through the sensing devices and the markers 14 arranged on the left side and the right side of the vehicle, and the distance information for controlling the parking of the vehicle can be obtained more abundantly, so that the driving strategy of the vehicle can be determined based on the two distance information on the left side and the right side of the vehicle, the accurate parking of the vehicle is controlled to be at the target position, the adverse effects of the difference of the vehicle and the ground condition of the parking area on the parking accuracy can be avoided as much as possible, and particularly, the measurement error caused by non-rigid connection of the head and the tail 12 can be effectively avoided, and the parking accuracy of the unmanned vehicle is further improved.

In this embodiment, the difference reference value is related to the loading condition of the vehicle and the standard parking position of the designated parking area.

Here, different vehicle loading situations and/or different standard parking positions of the designated parking area correspond to different difference reference values. Compared with the method that only a single difference value reference value is set, the method can solve the parking error caused by the change of the vehicle body of the same vehicle under different empty and heavy load conditions. And a proper difference value reference value can be set for different unloading areas, so that each unloading area can be ensured to realize accurate stopping.

Alternatively, the loading conditions of the unmanned vehicle may include, but are not limited to, empty load, heavy load, etc. Alternatively, the present disclosure may be directed to scenarios where loading or unloading occurs after reverse parking. Under the condition of loading after the reversing is stopped, the vehicle is in an idle state in the reversing process; and under the condition of unloading after the reversing is stopped, the vehicle is in a heavy-load state in the reversing process. For example, it may be suitable for use in the scene of a particle opening, a waste opening, etc. Or the method can be also suitable for any scene needing reversing and stopping, such as oiling, charging, maintenance, inspection, temporary stopping and the like, after reversing and stopping.

Optionally, in one possible implementation manner of this embodiment, the location determining module may be configured to perform a recognition process on the first distance and the second distance by using a preset location recognition model, and determine whether the vehicle falls to the target location according to the recognition result.

Specifically, first, the first distance and the second distance may be acquired. And secondly, inputting the first distance and the second distance into a preset position identification model, and outputting an identification result representing that the vehicle falls to the target position, or outputting an identification result representing that the vehicle does not fall to the target position.

For example, if the recognition result is 1, it may be characterized that the vehicle falls to the target position; if the identification result is 0, the vehicle can be characterized as not falling to the target position.

It can be understood that under the condition of outputting the recognition result representing that the vehicle does not fall to the target position, the current position information of the vehicle can be further obtained, and then the vehicle can be controlled to adjust the driving strategy according to the current position information until the vehicle is judged to fall to the target position.

It will be appreciated that whether the vehicle is dumped to the target location may also be determined based on other means that exist, and may not be specifically limited herein.

Optionally, in a possible implementation manner of this embodiment, the reversing control system of the unmanned vehicle may further include a difference reference value obtaining module.

Specifically, the difference reference value obtaining module may be configured to obtain, in a case where the vehicle is parked to a standard parking position of the designated parking area with a designated loading condition, an initial first distance between the sensing device 13 and the target reference object 20 of the designated parking area, and an initial second distance between the sensing device 13 and the marker 14, and obtain the difference reference value based on the initial first distance and the initial second distance.

Optionally, based on the initial first distance and the initial second distance, obtaining the difference reference value may include: and calculating a difference value between the initial first distance and the initial second distance, and taking the difference value as a difference value reference value.

Alternatively, the initial first distances between the sensing device 13 and the target reference object 20 of the designated parking area may be measured multiple times, so as to obtain multiple initial first distances, and an average value of the multiple initial first distances is taken as a final initial first distance. The calculation of the final initial second distance and the initial first distance may be similar and will not be described in detail herein.

Alternatively, the initial first distance and the initial second distance corresponding to different environments may be obtained, and the difference reference value corresponding to different environments may be calculated and stored. In the process of executing the reverse control, a difference reference value corresponding to the current environment is determined according to the current environment and used as the difference reference value used in the current judging step. Alternatively, the environmental conditions may include weather, time zone, and the like.

Alternatively, the vehicle may be parked at a desired distance from the rear target reference 20 as a standard parking position. Alternatively, the standard parking position of the unmanned vehicle may be determined when the distance between the rear axle and the target reference object 20 of the unloading zone is the ideal distance with the rear axle of the unmanned vehicle as the reference point.

The process of obtaining the difference reference value covers the same or similar error sources with the subsequent reversing control process (namely the reversing control process based on the obtained difference reference value), so that the subsequent reversing control based on the obtained difference reference value can offset errors as far as possible, and more accurate reversing positioning is realized.

Alternatively, the sensing device 13 may be a lidar. The sensing means 13 may comprise a first sensing means 131 and a second sensing means 132. The first sensing device 131 may be a first laser radar 131, and the second sensing device 132 may be a second laser radar 132.

In one aspect, the first point cloud data obtained by the first laser radar 131 may be specifically obtained, and then the target reference object identification model may be used to identify the first point cloud data, so as to obtain the point cloud data of the target reference object, so that the first distance corresponding to the right side may be obtained based on the point cloud data of the target reference object. On the other hand, the first point cloud data can be identified by using the first marker identification model, and the second distance corresponding to the right side can be obtained based on the point cloud data of the first marker.

Specifically, the point cloud data of the target reference object may be point cloud data of a right side portion of the target reference object, that is, the right side portion of the target reference object may be a target reference object portion that may be sensed by the first lidar 131 disposed at the right side of the head of the unmanned vehicle.

Specifically, the target reference object recognition model may be a target detection model. The target reference identification model may include, but is not limited to, a PointNet-based model, a PointCNN-based model. The target reference object identification model may be pre-trained using point cloud data of the sample target reference object.

In particular, the first marker recognition model may be a target detection model. The first marker identification model may include, but is not limited to, a PointNet-based model, a PointCNN-based model. The first marker identification model may be pre-trained using point cloud data of the sample first marker.

It will be appreciated that the distance between the lidar and the target reference, and the distance between the lidar and the first marker may also be obtained using existing lidar ranging methods. For example, the corresponding distance may be obtained by the first lidar 131 based on pulse ranging, phase ranging, interferometric ranging, or the like. Specifically, the distance measurement method is not particularly limited herein.

In this way, the distance between the first laser radar 131 and the target reference object of the designated parking area can be obtained based on the point cloud data of the target reference object, and the distance between the first laser radar 131 and the first marker can be obtained based on the point cloud data of the first marker, so that more accurate distance data can be obtained, the accuracy of the measured distance is improved, and the parking accuracy of the vehicle is further improved.

On the other hand, the second point cloud data obtained by the second laser radar can be obtained, and further, on the one hand, the first point cloud data is identified by utilizing a target reference object identification model to obtain the point cloud data of the target reference object, so that the first distance corresponding to the left side can be obtained based on the point cloud data of the target reference object; on the one hand, the second marker identification model can be used for carrying out identification processing on second point cloud data, and the point cloud data of the second marker is used for obtaining a second distance corresponding to the left side based on the point cloud data of the second marker.

In the present embodiment, the point cloud data of the target reference object may be point cloud data of a left portion of the target reference object, that is, the left portion of the target reference object may be a target reference object portion that may be sensed by the second lidar 132 provided at the left side of the head of the unmanned vehicle.

In the present implementation, the target reference identification model may include, but is not limited to, a PointNet-based model, a PointCNN-based model. The target reference object identification model may be pre-trained using point cloud data of the sample target reference object. The second marker identification model may include, but is not limited to, a PointNet-based model, a PointCNN-based model. The second marker identification model may be pre-trained using point cloud data of the sample second markers.

Therefore, the distance between the head of the unmanned vehicle and the target reference object of the appointed parking area can be obtained based on the point cloud data of the target reference object, and the distance between the head of the unmanned vehicle and the second marker can be obtained based on the point cloud data of the second marker, so that more accurate distance data can be obtained, the accuracy of the measured distance is improved, and the parking accuracy of the vehicle in a reversing scene is further improved.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the utility model.

Claims (10)

1. An unmanned vehicle is characterized by comprising a vehicle head (11), a vehicle tail (12), a sensing device (13) and a marker (14); wherein,

the marker (14) is arranged at the tail (12), and the marker (14) is positioned in the perception range of the perception device (13);

the sensing device (13) is arranged on the vehicle head (11) and is used for measuring the distance between the sensing device (13) and the marker (14) and measuring the distance between the sensing device (13) and the target reference object (20) of the appointed parking area.

2. The unmanned vehicle according to claim 1, wherein the sensing means (13) comprises a first sensing means (131) and a second sensing means (132), the markers (14) comprising a first marker (141) and a second marker (142);

the first sensing device (131) is arranged on the right side of the vehicle head (11), the first marker (141) is arranged on the right side of the vehicle tail (12), and the first marker (141) is positioned in the sensing range of the first sensing device (131);

the second sensing device (132) is arranged on the left side of the vehicle head (11), the second marker (142) is arranged on the left side of the vehicle tail (12), and the second marker (142) is positioned in the sensing range of the second sensing device (132).

3. The unmanned vehicle according to claim 2, wherein the first and second perception devices (131, 132) are symmetrically arranged with respect to the head (11); and/or the number of the groups of groups,

the first marker (141) and the second marker (142) are symmetrically arranged relative to the vehicle tail (12).

4. The unmanned vehicle according to claim 1, wherein the perception device (13) comprises a lidar, and the side of the marker (14) facing the perception device (13) is provided with a reflective material.

5. The unmanned vehicle of claim 1, wherein the tail (12) comprises a cargo box to which the marker (14) is attached.

6. The unmanned vehicle of claim 1, wherein the tail (12) comprises a vehicle chassis under a cargo box, the marker (14) being attached to the vehicle chassis.

7. The unmanned vehicle according to any of claims 1 to 6, wherein the face of the marker (14) facing the head (11) is located on a tangent plane directly behind the rear wheels (15) of the vehicle.

8. The unmanned vehicle according to any of claims 1 to 6, wherein the set height of the markers (14) corresponds to the set height of the perception device (13).

9. The unmanned vehicle according to any of claims 1 to 6, wherein the target reference (20) comprises a retaining wall.

10. A reversing control system of an unmanned vehicle, comprising:

the unmanned vehicle of any of claims 1-9;

and the reversing control module is remotely or locally connected with the unmanned vehicle and is used for controlling the unmanned vehicle to stop to a target position when reversing.