CN108595844A - Automatic Pilot control method and device - Google Patents
Automatic Pilot control method and device Download PDFInfo
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- CN108595844A CN108595844A CN201810384303.6A CN201810384303A CN108595844A CN 108595844 A CN108595844 A CN 108595844A CN 201810384303 A CN201810384303 A CN 201810384303A CN 108595844 A CN108595844 A CN 108595844A
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- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
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Abstract
The embodiment of the present invention provides a kind of automatic Pilot control method and device.This method includes：Establish the 3D numbers View Model of sand table and the 3D Digital Transportation device models of all traffic equipments；The location information and movement state information for obtaining all traffic equipments in sand table generate sand table real-time scene according to the 3D Digital Transportation device models of the location information of all traffic equipments, the 3D numbers View Model of sand table and traffic equipment in sand table；Traffic equipment real time kinematics slip condition database is generated according to the movement state information of all traffic equipments in sand table；The traffic route of each traffic equipment is planned according to the sand table real-time scene and the driving strategy of the traffic equipment real time kinematics slip condition database and each traffic equipment, and the traffic route is sent to corresponding traffic equipment, so that corresponding traffic equipment is travelled according to respective carter of the traffic route in the sand table.Thereby, it is possible to reduce the cost of traffic equipment to the maximum extent while realizing unmanned traffic equipment Function for Automatic Pilot.
Description
Technical field
The present invention relates to automatic Pilot control technology fields, in particular to a kind of automatic Pilot control method and dress
It sets.
Background technology
People-transport's device on vent gutter road will realize Function for Automatic Pilot at present, need in unknown, complicated, warp
Often variation in the environment of deal with it is various in the case of other traffic equipments, it is also necessary to high safety.In order to realize above-mentioned function,
People-transport's device of vent gutter road is required for powerful data-handling capacity and corresponding hardware, such as LIDAR laser radars, milli
The sensor of the costliness such as metre wave radar, sonar, 2D cameras, ranging camera head, cost are extremely expensive.
Based on sand table visualization drone's traffic equipment training or tournament system in, when mankind's straighforward operation
When person's quantity is inadequate, when mankind's teleoperator needs to obtain professional training or confrontation, when match medium-long range human operator
Several scenes when broken string needs automatic Pilot to take over, etc. need unmanned traffic tool is standby to drive automatically under these scenes
Sail function, based on sand table visualization drone's traffic equipment training or tournament system in, due to not manned, to peace
The requirement of full property declines to a great extent, on this basis, how while realizing unmanned traffic equipment Function for Automatic Pilot most
The cost for reducing to limits traffic equipment is those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
In order to overcome above-mentioned deficiency in the prior art, the purpose of the present invention is to provide a kind of automatic Pilot control methods
And device, can to the maximum extent be reduced while realizing unmanned traffic equipment Function for Automatic Pilot the cost of traffic equipment at
This.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, the embodiment of the present invention provides a kind of automatic Pilot control method, it is applied to communicate to connect with traffic equipment
The sand dish controls central server, the traffic equipment is located in sand table, the method includes：
Establish the 3D numbers View Model of sand table and the 3D Digital Transportation device models of all traffic equipments；
Obtain the location information and movement state information of all traffic equipments in sand table；
It is handed over according to the 3D numbers of the location information of all traffic equipments, the 3D numbers View Model of sand table and traffic equipment in sand table
Logical device model generates sand table real-time scene；
Traffic equipment real time kinematics slip condition database is generated according to the movement state information of all traffic equipments in sand table；
According to the driving of the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each traffic equipment
The traffic route of each traffic equipment of strategic planning, and the traffic route is sent to corresponding traffic equipment, so that corresponding friendship
Logical device is travelled according to respective carter of the traffic route in the sand table.
Optionally, the step of the 3D Digital Transportation device models of the 3D numbers View Model for establishing sand table and all traffic equipments
Suddenly, including：
Sand table design drawing and sand table surveying and mapping data are obtained, and is built according to the sand table design drawing and sand table surveying and mapping data
Found the 3D numbers View Model；And
The vehicle design drawing and traffic equipment surveying and mapping data of each traffic equipment are obtained, and according to the vehicle design figure
Paper establishes the 3D Digital Transportation device models of each traffic equipment with traffic equipment surveying and mapping data.
Optionally, the movement state information includes at least kinematic parameter, inertial navigation data, vehicle wheel rotational speed data, side
To data, throttle data, actuator data.
Optionally, the 3D Digital Transportation device models for the 3D numbers View Model and all traffic equipments for establishing sand table the step of
Before, the method further includes：
Deep learning is carried out to the driving habit of the corresponding user of each traffic equipment, generates the driving plan of each traffic equipment
Slightly.
Optionally, it is additionally provided with for parking area in the sand table, it is described according to the sand table real-time scene and described
The driving strategy of traffic equipment real time kinematics slip condition database and each traffic equipment plans the traffic route of each traffic equipment, and by institute
After stating the step of traffic route is sent to corresponding traffic equipment, the method further includes：
For each traffic equipment, judge whether the communication connection disconnection times between the traffic equipment are more than preset times threshold
Value；
If so, controlling the traffic equipment according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
Parking area parking is driven at the corresponding moment.
Optionally, the charging pile for charging for the traffic equipment is also set up in the sand table, described in the basis
Sand table real-time scene and the driving strategy of the traffic equipment real time kinematics slip condition database and each traffic equipment plan each traffic
The traffic route of device, and after the step of traffic route is sent to corresponding traffic equipment, the method further includes：
Obtain the current continuation of the journey data of each traffic equipment；
For each traffic equipment, judge whether the continuation of the journey data of the traffic equipment are less than default continuation of the journey threshold value；
If so, controlling the traffic equipment according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
The charging pile is rested in charge.
Optionally, described according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each friendship
The driving strategy of logical device plans the traffic route of each traffic equipment, and the traffic route is sent to the step of corresponding traffic equipment
After rapid, the method further includes：
According to the sand table real-time scene and the traffic equipment real time kinematics slip condition database, any two traffic equipment is judged
Between whether there is risk of collision；
There are when risk of collision, send anticollision to instruct to described two traffic equipments between judging any two traffic equipment
At least one of, execute the anticollision instruction.
Optionally, described according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database, judge to appoint
The step of whether there is risk of collision between two traffic equipments of meaning, including：
Two neighboring friendship is calculated in real time according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
Spacing distance between logical device assert that there are risks of collision between two traffic equipments if spacing distance is less than preset distance；Or
Person
The speed of service of each traffic equipment feedback in sand table is obtained in real time；Judge whether two traffic of arbitrary neighborhood
Between device, the latter's speed be more than the former speed the case where；
It is real-time according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database when there are the situation
The real-time relative velocity for calculating the spacing distance between the two neighboring traffic equipment, and being calculated between two traffic equipments；
The ratio for judging the spacing distance and the relative velocity then judges this two when the ratio is less than default ratio
There are risk of collision between traffic equipment.
Optionally, the sand dish controls central server is also communicated to connect with simulator cockpit, and the method further includes：
The current driving condition of each traffic equipment is sent to corresponding simulator cockpit, so that the corresponding simulation is driven
Sail the driving condition that the driver in cabin grasps Current traffic device.
Second aspect, the embodiment of the present invention also provide a kind of automatic Pilot control device, are applied to and traffic equipment communication link
The sand dish controls central server connect, the traffic equipment are located in sand table, and described device includes：
Module is established, the 3D Digital Transportation device models of the 3D numbers View Model and all traffic equipments for establishing sand table；
Acquisition module, location information and movement state information for obtaining all traffic equipments in sand table；
First generation module, for the 3D number View Models according to the location information of all traffic equipments in sand table, sand table
Sand table real-time scene is generated with the 3D Digital Transportation device models of traffic equipment；
Second generation module, for generating traffic equipment real time kinematics according to the movement state information of all traffic equipments in sand table
Slip condition database；
Route planning module, for according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database and
The driving strategy of each traffic equipment plans the traffic route of each traffic equipment, and the traffic route is sent to corresponding traffic
Device, so that corresponding traffic equipment is travelled according to respective carter of the traffic route in the sand table.
In terms of existing technologies, the invention has the advantages that：
Automatic Pilot control method and device provided in an embodiment of the present invention, by the 3D number View Models for establishing sand table
With the 3D Digital Transportation device models of all traffic equipments, and the location information and movement state information of all traffic equipments in sand table are obtained
According to the 3D Digital Transportation device models of the location information of all traffic equipments, the 3D numbers View Model of sand table and traffic equipment in sand table
Sand table real-time scene is generated, traffic equipment real time kinematics status number is generated further according to the movement state information of all traffic equipments in sand table
According to library, then, according to driving for the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each traffic equipment
The traffic route of each traffic equipment of strategic planning is sailed, and the traffic route is sent to corresponding traffic equipment, so that corresponding
Traffic equipment is travelled according to respective carter of the traffic route in the sand table.As a result, due to known to entire sand table region
Property, the sand dish controls central server by obtaining the accurate location information and motion state of all traffic equipments in sand table region in real time
Information obtains corresponding sand table real-time scene and traffic equipment real time kinematics slip condition database, and combines the driving plan of each traffic equipment
The traffic route of each traffic equipment is slightly planned, to carry out automatic Pilot control, in the process, traffic work to each traffic equipment
Tool need not perceive external environment substantially, therefore need not install the high sensor of cost, and the application is unmanned in realization
The cost of traffic equipment is reduced while traffic equipment Function for Automatic Pilot to the maximum extent.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of application scenarios schematic block diagram of automatic Pilot control method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of automatic Pilot control method provided in an embodiment of the present invention；
Fig. 3 is the sand dish controls center service provided in an embodiment of the present invention for realizing above-mentioned automatic Pilot control method
The structure diagram of device；
Fig. 4 is the functional block diagram of automatic Pilot control device shown in Fig. 3.
Icon：100- the sand dish controls central servers；110- buses；120- processors；130- storage mediums；140- buses
Interface；150- network adapter；160- user interfaces；200- automatic Pilot control devices；210- establishes module；220- obtains mould
Block；The first generation modules of 230-；The second generation modules of 240-；250- route planning modules；300- traffic equipments.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Usually herein
The component of the embodiment of the present invention described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
People-transport's device on vent gutter road will realize Function for Automatic Pilot at present, need in unknown, complicated, warp
Often variation in the environment of deal with it is various in the case of other traffic equipments, it is also necessary to high safety.In order to realize above-mentioned function,
People-transport's device of vent gutter road is required for powerful data-handling capacity and corresponding hardware, such as LIDAR laser radars, milli
The sensor of the costliness such as metre wave radar, sonar, 2D cameras, ranging camera head, cost are extremely expensive.
Based on sand table visualization drone's traffic equipment training or tournament system in, when mankind's straighforward operation
When person's quantity is inadequate, when mankind's teleoperator needs to obtain professional training or confrontation, when match medium-long range human operator
Several scenes when broken string needs automatic Pilot to take over, etc. need unmanned traffic tool is standby to drive automatically under these scenes
Sail function, based on sand table visualization drone's traffic equipment training or tournament system in, due to not manned, to peace
The requirement of full property declines to a great extent, on this basis, how while realizing unmanned traffic equipment Function for Automatic Pilot most
The cost for reducing to limits traffic equipment is those skilled in the art's technical problem urgently to be resolved hurrily.
Defect present in the above scheme in the prior art, is that inventor is obtaining after putting into practice and carefully studying
As a result, therefore, the solution that the discovery procedure of the above problem and the hereinafter embodiment of the present invention are proposed regarding to the issue above
Scheme all should be the contribution that inventor makes the present invention in process of the present invention.
To solve the above-mentioned problems, referring to Fig. 1, being one kind of automatic Pilot control method provided in an embodiment of the present invention
Application scenarios schematic block diagram.In the present embodiment, the automatic Pilot control method is applied to the sand communicated to connect with traffic equipment 300
Disk control centre server 100, the traffic equipment 300 are located in sand table, and the sand table region is the traffic equipment of a set of scaled down version
Training, competition area, for example, the topographic map in a city to be zoomed to the size in a football pitch, then by prototype traffic equipment
300 progress equal proportions scale to obtain the traffic equipment 300 in sand table, in this way, can obtain one contains scaled down version city and friendship
The sand table region of logical device 300.Wherein, the relevant parameter in sand table region, for example, road conditions, pedestrian, traffic equipment 300 simulation
Carry out quasi- true simulation.
The movable information of itself can be uploaded to the sand dish controls center service by the traffic equipment 300 in the process of moving
Device 100.Further, the traffic equipment 300 can also be communicated to connect with virtual driving cabin, and virtual driving cabin can be with remote control
Traffic equipment 300 travels in scaled down version city, and the every terms of information in driving process is fed back to virtual driving cabin by traffic equipment 300,
Virtual driving cabin carries out corresponding actions according to these information or traffic equipment 300 can the sand dish controls central server 100
Automatic Pilot control instruction travelled in sand table region, and the every terms of information in driving process is fed back into virtual driving cabin,
Virtual driving cabin carries out corresponding actions according to these information.
In the present embodiment, the sand dish controls central server 100 should be understood that offer processing, data bank, communication are set
The service point applied.For example, the sand dish controls central server 100 can refer to related communication and data storage and data bank
The single physical processor of facility or it can refer to the set of networking or the processor gathered, related network and storing unit
Body, and to software and one or more document library systems and support the service that the sand dish controls central server 100 is provided
Application software is operated.The sand dish controls central server 100 can be widely different in configuration or performance, but the sand dish controls
Central server 100 generally may include one or more central processing unit and storage unit.The sand dish controls central server
100 can also include one or more large-scale storage area equipment, one or more power supplys, one or more wired or wireless networks
Component, one or more input output assemblies or one or more operating systems, such as, Windows Server, Mac OS
X, Unix, Linux, FreeBSD etc..
Automatic Pilot control method is provided for the embodiments of the invention below based on this application scenarios to do furtherly
It is bright.Referring to Fig. 2, for automatic Pilot control method provided in an embodiment of the present invention a kind of flow diagram, the method by
The sand dish controls central server 100 shown in Fig. 1 executes.It should be noted that automatic Pilot provided in an embodiment of the present invention
Control method is not limitation with Fig. 2 and particular order as described below, which can be as follows
It realizes：
Step S110 establishes the 3D numbers View Model of sand table and the 3D Digital Transportation device models of all traffic equipments 300.
In the present embodiment, the sand dish controls central server 100 can be surveyed and drawn by obtaining sand table design drawing and sand table
Data, and the 3D numbers View Model is established according to the sand table design drawing and sand table surveying and mapping data, meanwhile, it obtains each
The vehicle design drawing of traffic equipment 300 and traffic equipment surveying and mapping data, and surveyed according to the vehicle design drawing and traffic equipment
Paint the 3D Digital Transportation device models that data establish each traffic equipment 300.Wherein, above-mentioned sand table design drawing and sand table surveying and mapping data
It is consistent with 300 place sand table data of Current traffic device, similarly, above-mentioned vehicle design drawing and traffic equipment surveying and mapping data with work as
Preceding 300 data of traffic equipment in sand table region are consistent.
Step S120 obtains the location information and movement state information of all traffic equipments 300 in sand table.
In the present embodiment, the traffic equipment 300 real-time perception IMU inertial navigation modules, wheel can turn during the motion
The movement state information of the sensors such as fast sensor, direction sensor, throttle sensor, brake, while being determined by itself
Position module or the communication base station in sand table get location information, and location information and movement state information are sent to
The sand dish controls central server 100.Wherein, the movement state information include at least kinematic parameter, inertial navigation data,
Vehicle wheel rotational speed data, bearing data, throttle data, actuator data.
Step S130, according to the location information of all traffic equipments 300, the 3D numbers View Model of sand table and traffic in sand table
The 3D Digital Transportation device models of device 300 generate sand table real-time scene.
In the present embodiment, the sand table real-time scene of generation can reflect the reality of each traffic equipment 300 in current sand table region
When situation.
Step S140 generates 300 real time kinematics shape of traffic equipment according to the movement state information of all traffic equipments 300 in sand table
State database.
In the present embodiment, obtaining in sand table after the movement state information of all traffic equipments 300, you can generate the traffic
300 real time kinematics slip condition database of device, 300 real time kinematics slip condition database of the traffic equipment can reflect every in current sand table region
The real time kinematics state of a traffic equipment 300.
Step S150, according to the sand table real-time scene and 300 real time kinematics slip condition database of the traffic equipment and each
The driving strategy of traffic equipment 300 plans the traffic route of each traffic equipment 300, and the traffic route is sent to corresponding friendship
Logical device 300.
In the present embodiment, the sand dish controls central server 100 can be within the scope of time in the past to each traffic equipment 300
The driving habit of corresponding user carries out deep learning, generates the driving strategy of each traffic equipment 300, is driven to record user
Custom is sailed, further, it is also possible to drive scoring by setting user, to be directed to different 300 corresponding users of traffic equipment, is used
Different driving strategies.
In actual implementation, the sand dish controls central server 100 is according to the sand table real-time scene and the traffic
The driving strategy of 300 real time kinematics slip condition database of device and each traffic equipment 300 is to each traffic equipment 300 in the sand table region
Interior traffic route is planned, and the traffic route is sent to corresponding traffic equipment 300, the corresponding traffic equipment
300 travel according to respective carter of the traffic route in the sand table.
As a result, due to the intellectual in entire sand table region, the sand dish controls central server 100 by obtaining sand table area in real time
The accurate location information of all traffic equipments 300 and movement state information obtain corresponding sand table real-time scene and traffic equipment in domain
300 real time kinematics slip condition databases, and the driving strategy of each traffic equipment 300 is combined to plan the roadway of each traffic equipment 300
Line, to carry out automatic Pilot control to each traffic equipment 300, in the process, the vehicles need not perceive outside substantially
Environment, therefore the high sensor of cost need not be installed, the application is realizing unmanned 300 Function for Automatic Pilot of traffic equipment
While reduce the cost of traffic equipment 300 to the maximum extent.
Optionally, it is also provided with for parking area in the sand table, the sand dish controls central server 100 is also
It can be directed to each traffic equipment 300, judge whether the communication connection disconnection times between the traffic equipment 300 are more than preset times
Threshold value (such as three times), if so, according to the 300 real time kinematics slip condition database control of the sand table real-time scene and the traffic equipment
It makes the traffic equipment 300 and drives into parking area parking at the corresponding moment.
Optionally, the charging pile to charge for the traffic equipment 300, the sand are may be provided in the sand table
Disk control centre server 100 can also obtain the current continuation of the journey data of each traffic equipment 300, and be directed to each traffic equipment 300,
Judge whether the continuation of the journey data of the traffic equipment 300 are less than default continuation of the journey threshold value (such as remaining continuation of the journey is less than 10% total continuation of the journey), if
It is that then controlling the traffic equipment 300 according to the sand table real-time scene and 300 real time kinematics slip condition database of the traffic equipment stops
It charges in the charging pile.
Optionally, during the automatic Pilot of traffic equipment 300, the sand dish controls central server 100 can be with root
According to 300 real time kinematics slip condition database of the sand table real-time scene and the traffic equipment, judge between any two traffic equipment 300
With the presence or absence of risk of collision.For example, in one embodiment, which can be according to each traffic
The current location information of device 300 calculates the spacing distance between two traffic equipments 300 of arbitrary neighborhood in real time, and will be calculated
Spacing distance is compared with preset distance, if the spacing distance between two traffic equipments 300 is less than preset distance, assert two
There are risks of collision between a traffic equipment 300.For example, be subject to traffic equipment 300 traveling direction, the traffic of two adjacent travelings
Device 300, to travel preceding traffic equipment 300 for the former, to travel posterior traffic equipment 300 as the latter.When the former brakes suddenly
Or when the latter's brake failure, the spacing distance between the former with the latter will reduce, when the spacing distance is less than preset distance,
Show that two vehicles may collide, that is, there is risk of collision.Also i other words, which is that two traffic equipments 300 may hair
The risk distance of raw collision.
In another example in another embodiment, the sand dish controls central server 100 can also obtain every in sand table in real time
The speed of service that a traffic equipment 300 is fed back, between two traffic equipments 300 for then judging whether arbitrary neighborhood, the latter's speed
Degree is more than the case where the former speed.When there are the situation, the sand dish controls central server 100 is according to each traffic equipment 300
Current location information calculates the spacing distance between the two neighboring traffic equipment 300 in real time, while two traffic are calculated
Real-time relative velocity between device 300, then judges the ratio of the spacing distance and the relative velocity, is preset when the ratio is less than
(it is less than default ratio, indicate that the latter can may catch up with the former quickly) when ratio, then judges exist between two traffic equipments 300
Risk of collision.This judgment mode is carried out in the case where the latter's speed is more than the former speed, because only that the latter's speed is big
In the case of the former speed, can just collide danger.
Then, there are when risk of collision, send anticollision to instruct to described two between judging any two traffic equipment 300
At least one of a traffic equipment 300 executes the anticollision instruction.For example, when the sand dish controls central server 100 assert two
There are when risk of collision between a adjacent traffic equipment 300, the sand dish controls central server 100 will send anticollision instruct to
It is at least one in two traffic equipments 300, to prevent traffic equipment 300 from colliding, cause the damage of traffic equipment 300.
Specifically, the sand dish controls central server 100 sends assisted instruction to the former in two traffic equipments 300, it is preceding
Person executes assisted instruction, gives it the gun to pull open at a distance from the latter, to prevent from colliding.Or the sand dish controls central server
100 send deceleration instructions to the latter in two traffic equipments 300, and the latter executes deceleration instruction, pulled open with Reduced Speed Now and the former
Distance, to prevent from colliding.
Alternatively, the sand dish controls central server 100 had not only sent assisted instruction to the former in two traffic equipments 300, but also
Deceleration instruction is sent to avoid colliding so that two traffic equipments 300 space out to the latter in two traffic equipments 300.
As another embodiment, which can also judge in two traffic equipments 300
Be located in the former and sand table this former before a traffic equipment 300 between spacing distance, preset if the distance is more than first
Threshold value, at this point, the sand dish controls central server 100 just sends assisted instruction to the former, control the former give it the gun pull open with
The latter's distance, while avoiding collision, the former gives it the gun and is unlikely to touch with the traffic equipment 300 at this before the former
It hits, better assures that the safety of adjacent traffic device.
It is readily comprehensible, if the former and a traffic equipment positioned at this before the former in sand table in two traffic equipments 300
Spacing distance between 300 is less than the first predetermined threshold value, if then the sand dish controls central server 100 continue to control the former accelerate with
When avoiding colliding with the latter, the former may be made to collide with a traffic equipment 300 before the former, then the sand at this time
Disk control centre server 100 will send deceleration instruction to the latter in two traffic equipments 300, and control the latter is slowed down, to realize
The distance between the former with the latter is pulled open, to avoid the former and the latter from colliding.
In another example as another embodiment, which also judges two traffic equipments 300
In the latter and sand table in spacing distance between a traffic equipment 300 after the latter, if the spacing distance is more than second
Predetermined threshold value shows that there are enough safe distances between a traffic equipment 300 after the latter and the latter, then the sand dish controls
Central server 100 just sends deceleration instruction to the latter, and control the latter is slowed down to pull open the distance between the former, ensured simultaneously
The latter is unlikely to collide with a traffic equipment 300 after the latter.
It is readily comprehensible, if a traffic equipment 300 after the latter in the latter and sand table in two traffic equipments 300 it
Between spacing distance be less than the second predetermined threshold value, then the sand dish controls central server 100 continue control the latter slow down with pull open with
The distance between the former, it is possible to so that the latter collides with the traffic equipment 300 after the latter, and then at this point, the sand table control
Central server 100 processed sends assisted instruction to the former in two traffic equipments 300, controls the former and accelerates, to pull open and the latter
The distance between, prevent two vehicles from colliding.
In another example as another embodiment, which also can control two traffic equipments
The motion path of any one traffic equipment 300 in 300 such as turns left or turns right, and can also control appointing in two traffic equipments 300
One traffic equipment 300 of meaning executes the technologies such as drift to avoid colliding with adjacent traffic device.In addition, when genuinely convinced in the sand dish controls
Business device 100 has intervened two traffic equipments 300 there are risk of collision, when avoiding two traffic equipments 300 and colliding, the sand table
Control centre's server 100 also sends prompt message to the simulation storehouse where corresponding traffic equipment 300, which can be
" sand table center finds that you have great risk of collision with other traffic equipments 300, and prior involvement avoids accident " etc., to accuse in time
Know user.Due to, directly to intervening the traffic equipment to collide 300, being taken by the sand dish controls central server 100
The time of action is faster than operating personnel, and then can avoid colliding between traffic equipment 300 in time, preferably protects traffic equipment
300, avoid property loss.
Further, the sand dish controls central server 100 can also be communicated to connect with simulator cockpit, described automatic
Driving control method can also include the following steps：
The current driving condition of each traffic equipment 300 is sent to corresponding simulator cockpit, that is, each traffic equipment
The driving condition of itself is sent to the sand dish controls central server 100, the sand table control by 300 during automatic Pilot
100 driving condition of central server processed feeds back to the row that the driver in corresponding simulator cockpit grasps Current traffic device 300
Sail situation.Thus, it is possible to for eliminating influence when simulator cockpit breaks with the traffic equipment 300, or it is used for current mould
Driver's automatic Pilot experience in quasi- cockpit, or for the driver in present day analog cockpit driving training when
Deng.
Referring to Fig. 4, being the sand dish controls provided in an embodiment of the present invention for realizing above-mentioned automatic Pilot control method
The structure diagram of central server 100.As shown in figure 4, the sand dish controls central server 100 can make one by bus 110
As the bus architecture of property realize.According to the concrete application of the sand dish controls central server 100 and overall design constraints item
Part, bus 110 may include any number of interconnection bus and bridge joint.Bus 110 is electrically connected to various together, these electricity
Road includes processor 120, storage medium 130 and bus interface 140.Optionally, the sand dish controls central server 100 can use
Network adapter 150 is waited and is connected via bus 110 by bus interface 140.Network adapter 150 can be used for realizing in the sand dish controls
The signal processing function of physical layer in central server 100, and sending and receiving for radiofrequency signal is realized by antenna.User interface
160 can connect external equipment, such as：Keyboard, display, mouse or control stick etc..Bus 110 can also connect it is various its
Its circuit, such as timing source, peripheral equipment, voltage regulator or management circuit, these circuits are known in the art
, therefore be no longer described in detail.
It can replace, the sand dish controls central server 100 may also be configured to generic processing system, such as be commonly referred to as core
Piece, the generic processing system include：The one or more microprocessors of processing function are provided, and storage medium 130 is provided
At least part of external memory, it is all these to be all connected to one by external bus architecture and other support circuits
It rises.
Alternatively, the sand dish controls central server 100 can be realized using following:It is connect with processor 120, bus
The ASIC (application-specific integrated circuit) of mouth 140, user interface 160；And it is integrated in storage medium 130 in one single chip at least
A part, alternatively, the sand dish controls central server 100 can be realized using following:One or more FPGA (field-programmables
Gate array), it is PLD (programmable logic device), controller, state machine, gate logic, discrete hardware components, any other suitable
Circuit or the arbitrary combination for being able to carry out the present invention circuit of described various functions in the whole text.
Wherein, processor 120 is responsible for bus 110 and general processing and (including executes and be stored on storage medium 130
Software).Processor 120 can be realized using one or more general processors and/or application specific processor.Processor 120
Example includes microprocessor, microcontroller, dsp processor and the other circuits for being able to carry out software.It should be by software broadly
Be construed to indicate instruction, data or its it is arbitrary combine, regardless of being called it as software, firmware, middleware, microcode, hard
Part description language or other.
Storage medium 130 is illustrated as detaching with processor 120 in Fig. 4, however, those skilled in the art be easy to it is bright
In vain, storage medium 130 or its arbitrary portion can be located at except the sand dish controls central server 100.For example, storage medium
130 may include transmission line, the carrier waveform modulated with data, and/or the computer product separated with radio node, these
Medium can be accessed by processor 120 by bus interface 140.Alternatively, storage medium 130 or its arbitrary portion can
To be integrated into processor 120, for example, it may be cache and/or general register.
The processor 120 can perform above-described embodiment, specifically, automatic Pilot is stored in the storage medium 130
Control device 200, the processor 120 can be used for executing the automatic Pilot control device 200.
Further, referring to Fig. 4, the automatic Pilot control device 200 may include following function module：
Module 210 is established, the 3D Digital Transportation devices of 3D numbers View Model and all traffic equipments 300 for establishing sand table
Model.
Acquisition module 220, location information and movement state information for obtaining all traffic equipments 300 in sand table.
First generation module 230, for being regarded according to the location information of all traffic equipments 300, the 3D numbers of sand table in sand table
The 3D Digital Transportation device models of scape model and traffic equipment 300 generate sand table real-time scene.
Second generation module 240, for generating traffic equipment according to the movement state information of all traffic equipments 300 in sand table
300 real time kinematics slip condition databases.
Route planning module 250, for according to 300 real time kinematics status number of the sand table real-time scene and the traffic equipment
The traffic route of each traffic equipment 300 is planned according to the driving strategy in library and each traffic equipment 300, and the traffic route is sent
To corresponding traffic equipment 300, so that respective carter row of the corresponding traffic equipment 300 according to the traffic route in the sand table
It sails.
It is understood that the concrete operation method of each function module in the present embodiment can refer to method in above-mentioned Fig. 2
The detailed description of corresponding steps in embodiment, it is no longer repeated herein.
Further, the embodiment of the present invention also provides a kind of readable storage medium storing program for executing, and the readable storage medium storing program for executing is performed
Realize above-mentioned automatic Pilot control method.
In conclusion automatic Pilot control method and device provided in an embodiment of the present invention, by the 3D numbers for establishing sand table
The 3D Digital Transportation device models of word View Model and all traffic equipments, and obtain the location information and fortune of all traffic equipments in sand table
Dynamic status information is digital according to the 3D of the location information of all traffic equipments, the 3D numbers View Model of sand table and traffic equipment in sand table
Traffic equipment model generates sand table real-time scene, real-time further according to the movement state information generation traffic equipment of all traffic equipments in sand table
Motion state data library, then, according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each
The driving strategy of traffic equipment plans the traffic route of each traffic equipment, and the traffic route is sent to corresponding traffic equipment,
So that corresponding traffic equipment is travelled according to respective carter of the traffic route in the sand table.As a result, due to entire sand table
The intellectual in region, the sand dish controls central server by obtaining the accurate location informations of all traffic equipments in sand table region in real time
Corresponding sand table real-time scene and traffic equipment real time kinematics slip condition database are obtained with movement state information, and combines each traffic
The driving strategy of device plans the traffic route of each traffic equipment, to carry out automatic Pilot control, herein mistake to each traffic equipment
Cheng Zhong, the vehicles need not perceive external environment substantially, therefore need not install the high sensor of cost, and the application is in reality
The cost of traffic equipment is reduced while existing unmanned traffic equipment Function for Automatic Pilot to the maximum extent.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can also be by other
Mode realize.Device and method embodiment described above is only schematical, for example, the flow chart in attached drawing and frame
Figure shows the system frame in the cards of the system of multiple embodiments according to the present invention, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, the part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be with not
It is same as the sequence marked in attached drawing generation.For example, two continuous boxes can essentially be basically executed in parallel, they have
When can also execute in the opposite order, this is depended on the functions involved.It is also noted that in block diagram and or flow chart
Each box and the box in block diagram and or flow chart combination, the special of function or action as defined in executing can be used
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It can replace, can be realized wholly or partly by software, hardware, firmware or its arbitrary combination.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction can store in a computer-readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
Center is transmitted.The computer readable storage medium can be that any usable medium that computer can access either is wrapped
The data storage devices such as server, the data center integrated containing one or more usable mediums.The usable medium can be magnetic
Property medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state disk
Solid State Disk (SSD)) etc.
It should be noted that herein, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of automatic Pilot control method, which is characterized in that be applied to genuinely convinced in the sand dish controls communicated to connect with traffic equipment
Business device, the traffic equipment are located in sand table, the method includes：
Establish the 3D numbers View Model of sand table and the 3D Digital Transportation device models of all traffic equipments；
Obtain the location information and movement state information of all traffic equipments in sand table；
According to the 3D Digital Transportation devices of the location information of all traffic equipments, the 3D numbers View Model of sand table and traffic equipment in sand table
Model generates sand table real-time scene；
Traffic equipment real time kinematics slip condition database is generated according to the movement state information of all traffic equipments in sand table；
According to the driving strategy of the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each traffic equipment
It plans the traffic route of each traffic equipment, and the traffic route is sent to corresponding traffic equipment, so that corresponding traffic equipment
According to respective carter traveling of the traffic route in the sand table.
2. automatic Pilot control method according to claim 1, which is characterized in that the 3D number what comes into a driver's for establishing sand table
The step of 3D Digital Transportation device models of model and all traffic equipments, including：
Sand table design drawing and sand table surveying and mapping data are obtained, and institute is established according to the sand table design drawing and sand table surveying and mapping data
State 3D number View Models；And
Obtain the vehicle design drawing of each traffic equipment and traffic equipment surveying and mapping data, and according to the vehicle design drawing with
Traffic equipment surveying and mapping data establishes the 3D Digital Transportation device models of each traffic equipment.
3. automatic Pilot control method according to claim 1, which is characterized in that the movement state information includes at least
Kinematic parameter, inertial navigation data, vehicle wheel rotational speed data, bearing data, throttle data, actuator data.
4. automatic Pilot control method according to claim 1, which is characterized in that in the 3D number what comes into a driver's moulds for establishing sand table
Before the step of 3D Digital Transportation device models of type and all traffic equipments, the method further includes：
Deep learning is carried out to the driving habit of the corresponding user of each traffic equipment, generates the driving strategy of each traffic equipment.
5. automatic Pilot control method according to claim 1, which is characterized in that be additionally provided in the sand table for stopping
Vehicle region, the driving according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each traffic equipment
The traffic route of each traffic equipment of strategic planning is sailed, and after the step of traffic route is sent to corresponding traffic equipment,
The method further includes：
For each traffic equipment, judge whether the communication connection disconnection times between the traffic equipment are more than preset times threshold value；
If so, controlling the traffic equipment in phase according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
Parking area parking should be driven into constantly.
6. automatic Pilot control method according to claim 1, also set up in the sand table for for the traffic equipment into
The charging pile of row charging, which is characterized in that described according to the sand table real-time scene and the traffic equipment real time kinematics status number
The traffic route of each traffic equipment is planned according to the driving strategy in library and each traffic equipment, and the traffic route is sent to correspondence
Traffic equipment the step of after, the method further includes：
Obtain the current continuation of the journey data of each traffic equipment；
For each traffic equipment, judge whether the continuation of the journey data of the traffic equipment are less than default continuation of the journey threshold value；
It is stopped if so, controlling the traffic equipment according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
It charges in the charging pile.
7. automatic Pilot control method according to claim 1, which is characterized in that described according to the sand table real-time scene
The traffic route of each traffic equipment is planned with the driving strategy of the traffic equipment real time kinematics slip condition database and each traffic equipment,
And after the step of traffic route is sent to corresponding traffic equipment, the method further includes：
According to the sand table real-time scene and the traffic equipment real time kinematics slip condition database, judge between any two traffic equipment
With the presence or absence of risk of collision；
There are when risk of collision, send anticollision to instruct in described two traffic equipments between judging any two traffic equipment
It is at least one, execute the anticollision instruction.
8. automatic Pilot control method according to claim 7, which is characterized in that described according to the sand table real-time scene
With the traffic equipment real time kinematics slip condition database, the step of judgement between any two traffic equipment with the presence or absence of risk of collision,
Including：
Two neighboring traffic equipment is calculated in real time according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
Between spacing distance, if spacing distance be less than preset distance, assert two traffic equipments between there are risks of collision；Or
The speed of service of each traffic equipment feedback in sand table is obtained in real time；Judge whether arbitrary neighborhood two traffic equipments it
Between, the latter's speed be more than the former speed the case where；
When there are the situation, calculated in real time according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database
Spacing distance between the two neighboring traffic equipment, and the real-time relative velocity being calculated between two traffic equipments；
The ratio for judging the spacing distance and the relative velocity then judges two traffic when the ratio is less than default ratio
There are risk of collision between device.
9. the automatic Pilot control method according to any one of claim 1-8, which is characterized in that the sand dish controls
Central server is also communicated to connect with simulator cockpit, and the method further includes：
The current driving condition of each traffic equipment is sent to corresponding simulator cockpit, so that the corresponding simulator cockpit
In driver grasp Current traffic device driving condition.
10. a kind of automatic Pilot control device, which is characterized in that be applied to genuinely convinced in the sand dish controls communicated to connect with traffic equipment
Business device, the traffic equipment are located in sand table, and described device includes：
Module is established, the 3D Digital Transportation device models of the 3D numbers View Model and all traffic equipments for establishing sand table；
Acquisition module, location information and movement state information for obtaining all traffic equipments in sand table；
First generation module, for according to the location information of all traffic equipments, the 3D numbers View Model of sand table and friendship in sand table
The 3D Digital Transportation device models of logical device generate sand table real-time scene；
Second generation module, for generating traffic equipment real time kinematics state according to the movement state information of all traffic equipments in sand table
Database；
Route planning module, for according to the sand table real-time scene and the traffic equipment real time kinematics slip condition database and each
The driving strategy of traffic equipment plans the traffic route of each traffic equipment, and the traffic route is sent to corresponding traffic equipment,
So that corresponding traffic equipment is travelled according to respective carter of the traffic route in the sand table.
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| CN201810384303.6A CN108595844A (en) | 2018-04-26 | 2018-04-26 | Automatic Pilot control method and device |
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| CN201810384303.6A CN108595844A (en) | 2018-04-26 | 2018-04-26 | Automatic Pilot control method and device |
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