CN111595326A - Driving assisting method, device and equipment - Google Patents
Driving assisting method, device and equipment Download PDFInfo
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- CN111595326A CN111595326A CN202010402468.9A CN202010402468A CN111595326A CN 111595326 A CN111595326 A CN 111595326A CN 202010402468 A CN202010402468 A CN 202010402468A CN 111595326 A CN111595326 A CN 111595326A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses an auxiliary driving method, which can obtain a preset number of first operation reference tracks according to an operation reference track and a preset operation width of a land to be operated set by a user, and then prompt a driving route of a driver according to the first operation reference tracks and the real-time position of an operation vehicle. The invention also discloses a driving assisting device and equipment, which have the same beneficial effects as the driving assisting method.
Description
Technical Field
The invention relates to the field of navigation, in particular to a driving assisting method, and further relates to a driving assisting device and equipment.
Background
With the development of scientific technology, operations such as farmland related to fields, pesticide spraying and the like are mechanized, related agricultural operations can be performed only by driving an operation vehicle to run in the fields, manpower is liberated to a great extent, but in the prior art, a driver can only drive the vehicle to perform field operations by feeling, the situations of operation omission or repeated operation are likely to occur, and the effect and efficiency of agricultural operations are reduced.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an auxiliary driving method, which can ensure that operation is not missed and repeated operation is not caused, and improves the effect and efficiency of agricultural operation; another object of the present invention is to provide a driving assistance device and apparatus, which can ensure that the operation will not be missed and the repeated operation will not occur, and improve the effect and efficiency of agricultural operation.
In order to solve the technical problem, the invention provides a driving assistance method, which comprises the following steps:
determining an operation reference track of the land to be operated in response to the reference track setting instruction;
obtaining a preset number of first operation reference tracks by translating the operation reference tracks;
controlling a prompter to prompt a driving route of a driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
Preferably, the step of determining the operation reference trajectory of the land block to be operated in response to the reference trajectory setting instruction specifically includes:
receiving an operation mode selection instruction of a linear track operation mode or a curve track operation mode, and determining the operation mode of the operation;
if the operation mode of the current operation is the straight track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a first starting point;
in response to an end point selection instruction, taking a real-time position of the work vehicle as a first end point;
taking a track where a connecting line of the first endpoint and the first endpoint is located as the operation reference track;
if the operation mode of the current operation is the curve track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a second starting point;
acquiring and recording the real-time position of the working vehicle at intervals of a preset time interval;
in response to an end point selection instruction, taking the real-time position of the work vehicle as a second end point;
and taking the second starting point, the second end point and the recorded track where the connecting lines of all the points are located as the operation reference track.
Preferably, the step of controlling a prompter to prompt the driving route of the driver according to the first operation reference trajectory and the real-time position of the operation vehicle specifically includes:
taking a track which is closest to the working vehicle in the first working reference track as a current working track;
and prompting the driving route of the driver according to the current operation track and the real-time position of the operation vehicle.
Preferably, the prompting the driving route of the driver according to the current operation track and the real-time position of the operation vehicle comprises:
and controlling a display to display the current operation track and the position relation of the real-time position of the operation vehicle.
Preferably, the prompting the driving route of the driver according to the current operation track and the real-time position of the operation vehicle further comprises:
judging the deviation direction of the real-time position of the working vehicle relative to the current working track;
and controlling a prompter to prompt the deviation direction so as to facilitate the driver to carry out route adjustment.
Preferably, the preset working width comprises a working width and a joint width;
the joint part is a space which needs to be reserved between two adjacent working areas so as to facilitate vehicle running.
Preferably, the driving assist method further includes:
responding to a selection instruction of a last-time LastPass operation mode, and acquiring and recording the real-time position of the operation vehicle at intervals of a preset time interval;
judging whether the work vehicle completes turning;
if the turning is finished, taking the track where the connecting line of the points recorded before the turning is located as the operation track to be referred;
translating the to-be-referenced operation track by the preset operation width to obtain a second operation reference track;
prompting the driving route of the driver according to the second operation reference track and the real-time position of the operation vehicle;
judging whether a job ending instruction is received or not;
and if not, executing the step of judging whether the working vehicle completes turning.
Preferably, the judging whether the work vehicle completes turning includes:
judging whether the variable quantity of the running direction of the working vehicle is larger than a preset angle value or not;
if so, judging whether the minimum distance between the working vehicle and the point recorded after the previous U-turn is smaller than a preset threshold value or not;
and if the current time is less than the preset time, judging that the work vehicle finishes turning.
In order to solve the above technical problem, the present invention further provides a driving assistance apparatus, including:
the determining module is used for responding to the reference track setting instruction and determining the operation reference track of the land to be operated;
the acquisition module is used for translating the operation reference tracks to obtain a preset number of first operation reference tracks;
the prompting module is used for controlling a prompting device to prompt a driving route of a driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
In order to solve the above technical problem, the present invention also provides a driving assistance apparatus, including:
a memory for storing a computer program;
a processor for implementing the steps of the driving assistance method as claimed in any one of the above when executing the computer program.
The invention provides an auxiliary driving method, which can obtain a preset number of first operation reference tracks according to an operation reference track and a preset operation width of a land to be operated set by a user, and then prompt a driving route of a driver according to the first operation reference tracks and the real-time position of an operation vehicle.
The invention also provides a driving assisting device and equipment, which have the same beneficial effects as the driving assisting method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart of a driving assistance method according to the present invention;
FIG. 2 is a schematic structural diagram of a driving assistance device according to the present invention;
fig. 3 is a schematic structural diagram of a driving assistance device provided by the present invention.
Detailed Description
The core of the invention is to provide an auxiliary driving method, which can ensure that the operation can not be missed and the repeated operation can not occur, thereby improving the effect and efficiency of agricultural operation; the other core of the invention is to provide a driving assisting device and equipment, which can ensure that the operation is not missed and repeated operation is not caused, and improve the effect and efficiency of agricultural operation.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a driving assistance method provided by the present invention, including:
step S1: determining an operation reference track of the land to be operated in response to the reference track setting instruction;
specifically, the reference track setting instruction may be various instructions, and may be an instruction sent by a worker, or an instruction automatically generated by the system according to a program, and the embodiment of the present invention is not limited herein.
Specifically, the processor may determine a work reference trajectory of the land to be worked in response to the reference trajectory setting instruction, and the work reference trajectory may serve as a data base in a subsequent step so as to generate a series of trajectories therefrom for work navigation.
The land parcel to be worked can be selected autonomously, and the land parcel can be of various types, such as a rectangular land parcel or a land parcel with an arc edge, and the embodiment of the present invention is not limited herein.
Step S2: obtaining a preset number of first operation reference tracks by translating the operation reference tracks;
specifically, because the operation reference track is determined in the last step, the preset number of first operation reference tracks can be conveniently and accurately obtained through a translation method in the step, the translation method is not only quick and convenient, but also the distance between two adjacent first operation reference tracks is set to be the preset operation width, so that omission and repetition of an operation area can not occur if the operation is carried out according to the first operation reference tracks.
The preset number may be set autonomously, for example, 4, and the embodiment of the present invention is not limited herein.
The operation reference track may be disposed at one end of the land to be operated, or may be disposed at a middle portion of the land to be operated, and the difference is that the operation reference track needs to be translated in different directions during translation.
Step S3: controlling a prompter to prompt a driving route of a driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
Specifically, the real-time position of the work vehicle may be obtained in various manners, for example, may be obtained through a satellite positioning system, and the embodiment of the present invention is not limited herein.
The first operation reference track and the real-time position of the operation vehicle are provided, so that the prompt can be used for prompting the driver through the prompter, the driver can control the operation vehicle to run along the first operation reference track, and therefore omission and repetition of an operation area can be reduced.
The type of the prompt may be various, for example, the prompt may be a display or a voice prompt, and the embodiment of the present invention is not limited herein.
Specifically, the preset operation width may be of various types, and may be set autonomously, which is not limited herein.
The invention provides an auxiliary driving method, which can obtain a preset number of first operation reference tracks according to an operation reference track and a preset operation width of a land to be operated set by a user, and then prompt a driving route of a driver according to the first operation reference tracks and the real-time position of an operation vehicle.
On the basis of the above-described embodiment:
as a preferred embodiment, in response to the reference track setting instruction, determining the operation reference track of the land parcel to be operated is specifically:
receiving an operation mode selection instruction of a linear track operation mode or a curve track operation mode, and determining the operation mode of the operation;
if the operation mode of the current operation is a straight track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a first starting point;
in response to an end point selection instruction, taking a real-time position of the work vehicle as a first end point;
taking a track where a connecting line of the first starting point and the first ending point is located as an operation reference track;
if the operation mode of the current operation is a curve track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a second starting point;
acquiring and recording the real-time position of the working vehicle at intervals of a preset time interval;
in response to the destination selection instruction, taking the real-time position of the work vehicle as a second destination;
and taking the track of the connecting lines of the second starting point, the second end point and all the recorded points as a working reference track.
Specifically, in consideration of different requirements of land parcels of different shapes, two different track operation modes are provided for a user to select, which mainly include a linear track operation mode and a curved track operation mode, and are used for the user to actively select and use when the user faces different types of landforms, for example, when the land parcel to be operated is rectangular, a linear track operation module may be selected, so that when the user sets an operation reference track, the user only needs to send a starting point selection instruction at a starting point (at which time the operation vehicle needs to be parked) on a certain linear track of the land parcel, and send an end point selection instruction at an end point (at which time the operation vehicle needs to be parked) of the linear track (of course, the user also needs to drive the operation vehicle from the starting point to the end point along the linear track on the land parcel), and the track where a connecting line of the first starting point and the first end point is located can be used as the operation reference track by the processor, in selecting the curved track operation mode, the user also needs to select a start point and an end point, and needs to drive the working vehicle to travel from the start point to the end point, except that the processor may continuously record the positioning point between the start point and the end point after the start point is determined and before the end point is determined, so as to obtain the working reference track in the curved track operation mode.
The preset time period may be set autonomously, for example, may be 200ms, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the step of controlling the prompter to prompt the driving route of the driver according to the first operation reference track and the real-time position of the work vehicle includes:
taking a track which is closest to the working vehicle in the first working reference track as a current working track;
and prompting the driving route of the driver according to the current operation track and the real-time position of the operation vehicle.
Specifically, considering that the work vehicles are one in normal conditions and therefore need to travel according to the first work reference trajectory with attention, the trajectory closest to the work vehicle in the first work reference trajectory may be taken as the current work trajectory, and then the driving route of the driver may be presented according to the current work trajectory and the real-time position of the work vehicle, so that the driver controls the work vehicle to travel along the current work trajectory.
When no special condition exists, each first operation reference track can be used as the current operation track to prompt the driver once so as to prevent the driver from repeatedly operating the area corresponding to the certain first operation reference track.
As a preferred embodiment, prompting the driving route of the driver according to the current working track and the real-time position of the working vehicle comprises:
and controlling the display to display the current operation track and the position relation of the real-time position of the operation vehicle.
Specifically, through the displayed current operation track and the position relationship of the real-time position of the operation vehicle, the driver can intuitively know how to control the operation vehicle, so that the driver can control the driving direction of the operation vehicle in time, for example, the current operation track and the position relationship of the real-time position of the operation vehicle can be displayed on the same map, and the embodiment of the invention is not limited herein.
As a preferred embodiment, prompting the driving route of the driver according to the current working trajectory and the real-time position of the working vehicle further comprises:
judging the deviation direction of the real-time position of the working vehicle relative to the current working track;
and controlling the prompter to prompt the deviation direction so that the driver can adjust the route.
Specifically, considering that the driver actively judges the direction needing to be adjusted possibly makes mistakes, the embodiment of the invention can directly prompt the deviation direction of the real-time position of the working vehicle relative to the current working track so as to be conveniently acquired by the driver, and the driver does not need to actively judge the direction needing to be driven any more, thereby reducing the probability of direction control errors.
Of course, besides the deviation direction, the direction needing to be adjusted can be determined according to the deviation direction, then the direction needing to be adjusted is prompted, and the driver can directly control the working vehicle to drive in the direction to be adjusted, which is prompted by the prompting device.
As a preferred embodiment, the preset working width includes a working width and a joint width;
the joint part is a space which needs to be reserved between two adjacent working areas so as to facilitate vehicle running.
Specifically, the work width is a width of the work vehicle for each work, and when the type of the work machine is fixed, the work width is a fixed value.
The operation width and the width of the joint portion may be set independently, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the driving assist method further includes:
responding to a selection instruction of a last-time LastPass operation mode, and acquiring and recording the real-time position of an operation vehicle at intervals of a preset time interval;
judging whether the work vehicle completes turning;
if the turning is finished, taking the track where the connecting line of the points recorded before the turning is located as the operation track to be referred;
translating the operation track to be referenced by a preset operation width to obtain a second operation reference track;
prompting the driving route of the driver according to the second operation reference track and the real-time position of the operation vehicle;
judging whether a job ending instruction is received or not;
if not, executing the step of judging whether the working vehicle completes turning.
Specifically, in consideration of the fact that the terrain of some land parcels to be worked is complex, for example, obstacles or areas incapable of working are distributed in the land parcels, and in such a case, a subsequent working reference track cannot be obtained by simply translating a working reference track, in the embodiment of the present invention, a last-time track LastPass working mode is provided, in such a mode, after the working vehicle completes turning around each time, the processor may use a track where a connecting line of positioning points of the working vehicle is located, which is recorded before turning around, as a working track to be referred to, and then translate the working track to be referred to by a preset working width to obtain a second working reference track, and then may prompt a driving route of a driver according to the second working reference track and a real-time position of the working vehicle, because the second working reference track in each time in the embodiment of the present invention is obtained by translating the working track before turning around, therefore, the requirement on the terrain is low, and even in a land to be worked in a plurality of areas which cannot be worked, the mode can provide a reference track well, for example, when the working vehicle runs according to a certain second working reference track, the working vehicle can only drive around the road and then return to the second working reference track due to a large stone block in the track, but nevertheless, the next determined second working reference track translates based on the actual working track before turning (the working track to be referred to) instead of translating according to the previous second working reference track, and the accuracy of determining the second working reference track can be improved.
As a preferred embodiment, the judging whether the work vehicle completes the turn around includes:
judging whether the variable quantity of the running direction of the working vehicle is larger than a preset angle value or not;
if so, judging whether the minimum distance between the working vehicle and the point recorded after the previous U-turn is smaller than a preset threshold value or not;
and if the vehicle speed is less than the preset speed, judging that the work vehicle finishes turning.
Specifically, considering that the vehicle body is likely to be adjusted by reversing when the working vehicle is turned around, and the reversing action directly starts to judge whether the turning of the working vehicle is completed (because the driving directions are completely opposite), and therefore, the judgment only by the variation of the driving directions cannot accurately judge whether the turning of the working vehicle is completed, in the embodiment of the present invention, on the basis of the judgment of the variation of the driving directions of the working vehicle, it can be additionally judged whether the minimum distance between the working vehicle and the point recorded after the previous turning is smaller than the preset threshold, that is, whether the distance between the vehicle and the last real track is smaller than the preset threshold, and if the distance is smaller than the preset threshold, it represents that the working vehicle is already close to the previous working track, in which case the working vehicle is likely to have turned around and no reversing action is performed, so that the embodiment of the present invention can accurately judge that the turning of the working vehicle is completed and generate the next reference track, it is possible to prevent the generation of a disordered work reference trajectory by erroneously determining that the work vehicle is turning repeatedly due to reversing.
The preset threshold may be set autonomously, and the embodiment of the present invention is not limited herein.
It should be noted that the positioning in the embodiment of the present invention may be completed based on a plurality of Satellite positioning systems, for example, may be a GNSS (Global Navigation Satellite System), and the like, and the embodiment of the present invention is not limited herein.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a driving assistance device provided in the present invention, the driving assistance device includes:
the determining module 1 is used for responding to a reference track setting instruction and determining an operation reference track of a land to be operated;
the acquisition module 2 is used for translating the operation reference tracks to obtain a preset number of first operation reference tracks;
the prompting module 3 is used for controlling a prompter to prompt the driving route of the driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
For the description of the driving assistance device provided in the embodiment of the present invention, please refer to the embodiment of the driving assistance method, which is not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a driving assistance device provided in the present invention, the driving assistance device includes:
a memory 4 for storing a computer program;
a processor 5 for implementing the steps of the driving assistance method as in the previous embodiments when executing the computer program.
For the description of the driving assistance apparatus provided in the embodiment of the present invention, please refer to the embodiment of the driving assistance method, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, 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. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A driving assist method characterized by comprising:
determining an operation reference track of the land to be operated in response to the reference track setting instruction;
obtaining a preset number of first operation reference tracks by translating the operation reference tracks;
controlling a prompter to prompt a driving route of a driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
2. The driving assistance method according to claim 1, wherein the determining of the operation reference trajectory of the land to be operated in response to the reference trajectory setting instruction specifically includes:
receiving an operation mode selection instruction of a linear track operation mode or a curve track operation mode, and determining the operation mode of the operation;
if the operation mode of the current operation is the straight track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a first starting point;
in response to an end point selection instruction, taking a real-time position of the work vehicle as a first end point;
taking a track where a connecting line of the first endpoint and the first endpoint is located as the operation reference track;
if the operation mode of the current operation is the curve track operation mode, responding to a starting point selection instruction, and taking the real-time position of the operation vehicle as a second starting point;
acquiring and recording the real-time position of the working vehicle at intervals of a preset time interval;
in response to an end point selection instruction, taking the real-time position of the work vehicle as a second end point;
and taking the second starting point, the second end point and the recorded track where the connecting lines of all the points are located as the operation reference track.
3. The driving assistance method according to claim 2, wherein the controlling the prompting device to prompt the driving route of the driver according to the first operation reference trajectory and the real-time position of the working vehicle is specifically:
taking a track which is closest to the working vehicle in the first working reference track as a current working track;
and prompting the driving route of the driver according to the current operation track and the real-time position of the operation vehicle.
4. The driving assist method according to claim 3, wherein prompting the driving route of the driver based on the current work trajectory and the real-time position of the work vehicle includes:
and controlling a display to display the current operation track and the position relation of the real-time position of the operation vehicle.
5. The driving assist method according to claim 4, wherein prompting the driving route of the driver based on the current work trajectory and the real-time position of the work vehicle further comprises:
judging the deviation direction of the real-time position of the working vehicle relative to the current working track;
and controlling a prompter to prompt the deviation direction so as to facilitate the driver to carry out route adjustment.
6. The driving assist method according to claim 1, wherein the preset working width includes a working width and a joint width;
the joint part is a space which needs to be reserved between two adjacent working areas so as to facilitate vehicle running.
7. The driving assist method according to any one of claims 1 to 6, characterized by further comprising:
responding to a selection instruction of a last-time LastPass operation mode, and acquiring and recording the real-time position of the operation vehicle at intervals of a preset time interval;
judging whether the work vehicle completes turning;
if the turning is finished, taking the track where the connecting line of the points recorded before the turning is located as the operation track to be referred;
translating the to-be-referenced operation track by the preset operation width to obtain a second operation reference track;
prompting the driving route of the driver according to the second operation reference track and the real-time position of the operation vehicle;
judging whether a job ending instruction is received or not;
and if not, executing the step of judging whether the working vehicle completes turning.
8. The driving assist method according to claim 7, wherein the determining whether the work vehicle has completed a turn around includes:
judging whether the variable quantity of the running direction of the working vehicle is larger than a preset angle value or not;
if so, judging whether the minimum distance between the working vehicle and the point recorded after the previous U-turn is smaller than a preset threshold value or not;
and if the current time is less than the preset time, judging that the work vehicle finishes turning.
9. A driving assist apparatus, characterized by comprising:
the determining module is used for responding to the reference track setting instruction and determining the operation reference track of the land to be operated;
the acquisition module is used for translating the operation reference tracks to obtain a preset number of first operation reference tracks;
the prompting module is used for controlling a prompting device to prompt a driving route of a driver according to the first operation reference track and the real-time position of the operation vehicle;
and the distance between two adjacent first operation reference tracks is a preset operation width.
10. A driving assistance apparatus characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the driving assistance method according to any one of claims 1 to 8 when executing the computer program.
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