CN111766857A - Vehicle movement method, movement control method and device - Google Patents
Vehicle movement method, movement control method and device Download PDFInfo
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- CN111766857A CN111766857A CN201910249346.8A CN201910249346A CN111766857A CN 111766857 A CN111766857 A CN 111766857A CN 201910249346 A CN201910249346 A CN 201910249346A CN 111766857 A CN111766857 A CN 111766857A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The embodiment of the invention provides a vehicle movement method, a vehicle movement control method and a vehicle movement control device, wherein the position of a vehicle is described through map points of the vehicle, the running posture of the vehicle is described according to the target movement state of the vehicle, and further space pre-occupation information of the vehicle in two directions of a horizontal plane and a vertical plane is determined; the control center can determine the future and the occurred three-dimensional space occupation information of each map point according to the application signals of the vehicles, and further judge whether the two vehicles collide. The method can be suitable for AGVs of various code intervals and various types, can reduce errors, and enables the AGVs to run in a staggered mode to the maximum extent under the condition that safety requirements are fully met.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a vehicle movement method, a vehicle movement control method and a vehicle movement control device.
Background
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guiding device, which can travel along a planned path, has various transfer functions, and is widely used in industrial scenes. Multiple AGVs run in the system in a staggered manner according to the target tasks to be executed, and an accurate calculation method is needed to avoid collision. The collision detection method in the traditional game is not suitable for the real industrial scene needing safety and reliability due to the complex calculation and incomplete error consideration.
Disclosure of Invention
The embodiment of the invention provides a vehicle movement method, a vehicle movement control method and a vehicle movement control device, which are used for solving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle movement method, including:
determining a pre-application locking path according to a target task and a current position of a vehicle, wherein the pre-application locking path comprises a plurality of map points;
determining the target motion state of the vehicle at each map point according to the target task;
determining the pre-occupied space information of the vehicle at each map point according to each target motion state;
sending an application signal for the pre-application of the locking path to a control center, wherein the application signal comprises pre-occupied space information of the vehicle at each map point;
and if an application agreement signal of the pre-application locking path sent by the control center is received, executing the target task according to the pre-application locking path.
In one embodiment, the determining the occupied space information of the vehicle at each map point according to the target motion state of the vehicle at each map point includes:
determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and determining a vertical pre-occupation area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupation information according to the size information of the vertical pre-occupation area.
In one embodiment, the determining a horizontal pre-occupancy zone of the vehicle at the map point according to a horizontal projection of the vehicle at the map point comprises:
when the target motion state of the vehicle at the map point is static, judging whether the head direction of the vehicle deviates;
if the vehicle deviates, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is from the geometric center point to the farthest end of the horizontal projection.
In one embodiment, the determining a horizontal pre-occupancy zone of the vehicle at the map point according to a horizontal projection of the vehicle at the map point comprises:
and when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to a horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
In a second aspect, an embodiment of the present invention provides a vehicle motion device, including:
the system comprises a pre-application locking path determining module, a locking path determining module and a locking path determining module, wherein the pre-application locking path determining module is used for determining a pre-application locking path according to a target task and a current position of a vehicle, and the pre-application locking path comprises a plurality of map points;
the target motion state determining module is used for determining the target motion state of the vehicle at each map point according to the target task;
the pre-occupied space information determining module is used for determining pre-occupied space information of the vehicle at each map point according to the motion state of each target;
the sending module is used for sending an application signal for the pre-application locking path to a control center, wherein the application signal comprises the pre-occupied space information of the vehicle at each map point;
and the execution module is used for executing the target task according to the pre-application locking path when receiving an application agreement signal which is sent by the control center and is used for applying for the pre-application locking path.
In one embodiment, the pre-occupancy information includes horizontal pre-occupancy information and vertical pre-occupancy information, and the pre-occupancy information determination module includes:
the first determining submodule is used for determining a horizontal pre-occupation area of the vehicle on the map point according to the horizontal projection of the vehicle on the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and the second determining submodule is used for determining a vertical pre-occupation area of the vehicle on the map point according to the vertical projection of the vehicle on the map point and determining the vertical pre-occupation information according to the size information of the vertical pre-occupation area.
In one embodiment, the first determination submodule is further configured to:
when the target motion state of the vehicle at the map point is static, judging whether the head direction of the vehicle deviates;
if the vehicle deviates, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is from the geometric center point to the farthest end of the horizontal projection.
In one embodiment, the first determination submodule is further configured to:
and when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to a horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
In a third aspect, an embodiment of the present invention provides a motion control method for a vehicle, including:
receiving an application signal of a target vehicle for a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, and the application signal comprises pre-occupied space information of the target vehicle at each map point;
judging whether the pre-application locking path is executable or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
and if so, sending an agreement application signal for the pre-application locking path to the target vehicle.
In one embodiment, the determining whether the pre-application lock-up route is executable according to the information of the occupied space of the target vehicle at the map point and the information of the occupied space of at least one obstacle vehicle at the surrounding points of the map point includes:
for each surrounding point of the map points, judging whether the occupied space information of the obstacle vehicle at the surrounding point conflicts with the occupied space information of the target vehicle at the map points;
and if each peripheral point has no conflict, judging that the pre-application locking path can be executed.
In one embodiment, the determining whether there is conflict between the occupied space information of the obstacle vehicle at the surrounding points and the occupied space information of the target vehicle at the map points includes:
judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation areas are intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
and if the vertical pre-occupied areas are not intersected, judging that no conflict exists.
In a fourth aspect, an embodiment of the present invention provides a motion control apparatus for a vehicle, including:
the system comprises a receiving module, a locking module and a locking module, wherein the receiving module is used for receiving an application signal of a target vehicle for a pre-application locking path, the pre-application locking path comprises a plurality of map points, and the application signal comprises pre-occupied space information of the target vehicle at each map point;
the judging module is used for judging whether the pre-application locking path is executable or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
and the sending module is used for sending an agreement application signal for the pre-application locking path to the target vehicle when the pre-application locking path can be executed.
In one embodiment, the determining module comprises:
the judgment submodule is used for judging whether the occupied space information of the obstacle vehicle at the surrounding points conflicts with the occupied space information of the target vehicle at the map points or not aiming at each surrounding point of the map points;
and the judging submodule is used for judging that the pre-application locking path can be executed when each peripheral point has no conflict.
In one embodiment, the pre-occupied space information includes horizontal pre-occupied information and vertical pre-occupied information, and the determining sub-module is further configured to:
judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation areas are intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
and if the vertical pre-occupied areas are not intersected, judging that no conflict exists.
Above-mentioned technical scheme can be applicable to the AGV of multiple sign indicating number interval and multiple model, can reduce the error, under the condition of fully provided safety requirement for each AGV can furthest alternate operation.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1-1 shows a schematic side view of an application example of a vehicle according to an embodiment of the invention.
Fig. 1-2 show schematic top views of application examples of a vehicle according to an embodiment of the invention.
Fig. 2 shows a flowchart of a method of moving a vehicle according to an embodiment of the present invention.
Fig. 3-1 illustrates a horizontal footprint schematic of a vehicle according to an embodiment of the present invention.
Fig. 3-2 shows a horizontal footprint schematic of a vehicle according to an embodiment of the present invention.
Fig. 4 shows a flowchart of a motion control method of a vehicle according to an embodiment of the present invention.
Fig. 5 shows a flowchart of a motion control method of a vehicle according to one embodiment of the present invention.
Fig. 6 is a diagram showing an example of intersection calculation of a motion control method of a vehicle according to an embodiment of the present invention.
Fig. 7 shows a block diagram of a moving device of a vehicle according to an embodiment of the present invention.
Fig. 8 shows a block diagram of a motion control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
The embodiment of the invention provides a vehicle movement method which can be applied to vehicles with different shapes, structures and movement postures. The embodiment of the invention also provides a motion control method of the vehicle, which can be applied to a control center. The control center and the vehicle may be communicatively coupled to send and receive signals to and from each other.
The vehicle of an embodiment of the present invention may be an AGV, which may include a travel assembly and a rotating assembly (e.g., a belt conveyor that may be referred to simply as a belt, which may rotate in a horizontal plane), and the shape of each AGV may be different. For example: in the side view shown in fig. 1-1, the belt trolley 1, as an AGV, comprises a trolley 11 that can run on the bottom, a support 12 in the middle and a belt 13 on the top; the cage car 2, as an AGV, includes a trolley 21 that can travel on the bottom and a basket 22 on the top.
In conventional anti-collision strategies, it is common to determine whether two AGVs will collide based on map points, i.e., location information, of the AGVs. In the plan view shown in fig. 1-2, according to the conventional anti-collision strategy, if the belt 13 of the belt car 1 rotates, it will collide with the cage car 2; however, in the side view shown in fig. 1-1, the belt 13 of the belt car 1 does not collide with the cage car 2 when rotating. Therefore, the traditional anti-collision strategy has larger error and is not suitable for special-shaped vehicles.
Fig. 2 shows a flowchart of a method of moving a vehicle according to an embodiment of the present invention. As shown in fig. 2, the method may include:
step S201, determining a pre-application locking path according to a target task and a current position of a vehicle, wherein the pre-application locking path comprises a plurality of map points.
The target task may include, among other things, a task being performed by the vehicle. For example: the task of delivering goods to a location. Map points are points that exist in a map, for example: in a table with N rows and M columns, the table can be used as a map, each cell is a map point, and row and column information of the cell can represent the position of a vehicle on a horizontal plane. Wherein N and M are both positive integers.
The path planning module of the vehicle may plan a path for the vehicle based on the current location of the vehicle and the target task while the vehicle is stationary. The planned path includes all map points between the start point and the end point of the vehicle, arranged in the sequence of arrival of the vehicle. The locked path is a map point that the vehicle will pass through from the current position, and is a subset of the planned path. In the running and moving process of the vehicle, a pre-application locking path applied to a control center needs to be determined firstly.
And S202, determining the target motion state of the vehicle at each map point according to the target task.
The target motion state mainly comprises three states of static, linear movement and rotation (such as belt rotation). The target task may be broken down into subtasks of the vehicle at each map point, each subtask determining a target motion state of the vehicle at that map point. That is, the target motion state of the vehicle at a series of map points will be used to complete the target task. For example: the current position of the vehicle is map point a0, the direction of travel of the belt is forward, and the pre-application lock path of the vehicle may include map points a1, a2, and A3 (arrival order of the vehicle is a1, a2, and A3) in a target mission for delivering goods to a target object (map point a31 on the right side of A3). The vehicle is moved linearly in the target motion states of a1 and a2, and the belt is rotated to the right in the target motion state of A3, so that the conveying direction is toward a4 on the right side of A3, and the goods are delivered to the target objects.
And step S203, determining the occupied space information of the vehicle at each map point according to the motion state of each target.
The pre-occupancy space information may include horizontal pre-occupancy information and vertical pre-occupancy information. The horizontal pre-occupation information can be used for representing the space pre-occupation condition of the vehicle on the horizontal plane; the vertical pre-occupancy information may be used to characterize the space occupancy of the vehicle on a vertical surface. Furthermore, the pre-occupied space information can be used for representing the space pre-occupied situation of the vehicle in the three-dimensional coordinate system. Determining a horizontal pre-occupied area of the vehicle at a map point according to a horizontal projection (such as a top view) of the vehicle at the map point; the vertical pre-occupancy zone of the vehicle at a map point may be determined based on a vertical projection (e.g., side view) of the vehicle at the map point. Horizontal pre-occupation information, that is, size information of a horizontal pre-occupation area; the vertical pre-occupation information is size information of the vertical pre-occupation area.
The target motion state of the vehicle at a map point may affect the horizontal pre-occupancy zone of the vehicle at that map point. In step S202, the occupied space information of the vehicle at the map point may be determined according to the target motion state of the vehicle at the map point.
In one example, the vehicle is stationary at the target motion state at map point B1. And judging whether the head of the vehicle deflects. For example: in a horizontal coordinate system including the x-axis and the y-axis, when the vehicle head deviates from the x-axis or the y-axis by an angle of more than 10 degrees, the vehicle head is considered to be skewed.
When the head of the vehicle is not inclined, the horizontal projection of the vehicle at B1 can be used as a horizontal pre-occupied zone L1 of the vehicle at B1, as shown in FIG. 3-1. The size information d1, d2, d3 and d4 of the horizontal pre-occupancy zone L1 are the horizontal pre-occupancy information of the vehicle at B1.
When the vehicle head is inclined, the horizontal projection of the vehicle at B1 can be determined firstly, and then the geometric center point C1 of the horizontal projection and the line segment R1 from the geometric center point C1 to the farthest end D1 of the horizontal projection are determined. A circle of revolution L2 with a segment R1 as a radius, centered on the geometric center point C1, may be used as a horizontal pre-occupied zone for the vehicle at B1, as shown in fig. 3-2. The size information R1 (the length of R1) of the rotation circle L2 is the horizontal occupancy information of the vehicle at B1.
In one example, the target motion state of the vehicle at map point B2 is a straight line movement. At this time, the horizontal projection of the vehicle at B1 can be directly used as the horizontal pre-occupied zone of the vehicle at B2.
In one example, the target motion state of the vehicle at map point B3 is a rotation, such as a belt rotation. At this time, a rotation circle may be determined from a horizontal projection formed by the vehicle during rotation, and the rotation circle may be used as a horizontal pre-occupied area of the vehicle at B3. The center of the circle of rotation may be a geometric center point of a horizontal projection of a rotating component (such as a belt), and the radius of the circle of rotation may be a radius of rotation of the rotating component.
Step S204, sending an application signal for the pre-application of the locking path to a control center, wherein the application signal comprises the pre-occupied space information of the vehicle at each map point;
step S205, if an application agreement signal for the pre-application locking path sent by the control center is received, the target task is executed according to the pre-application locking path, and the application agreement signal is determined according to the pre-occupied space information of each map point.
The vehicle can send an application signal for a pre-application locking path to the control center, wherein the application signal comprises the pre-occupied space information of the vehicle at each map point of the pre-application locking path. After the control center agrees to the application of the vehicle to the pre-applied locking path, the pre-occupied space information of the vehicle at each map point of the pre-applied locking path is stored, and an agreement application signal is sent to the vehicle. After the vehicle receives an application agreement signal sent by the control center for the pre-application locking path, the pre-application locking path is determined as the locking path of the vehicle, and the target task is executed according to the locking path. When the vehicle leaves the locked path, a release signal may be sent to the control center. After receiving the release signal, the control center can update the pre-occupied space information of each map point of the locking path to be unoccupied.
The above method may be applied to a target vehicle and an obstacle vehicle, wherein a vehicle that is sending an application signal to the control center may be the target vehicle, and other vehicles monitored by the control center may be the obstacle vehicle.
Fig. 4 shows a flowchart of a motion control method of a vehicle according to an embodiment of the present invention. The method can be applied to a control center. As shown in fig. 4, the method may include:
step S401, receiving an application signal of a target vehicle for a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, and the application signal comprises pre-occupied space information of the target vehicle at each map point;
step S402, judging whether the pre-application locking path is executable or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point; if yes, go to step S403;
and step S403, sending an agreement application signal for the pre-application locking path to the target vehicle.
In this embodiment, the surrounding points of a map point may be map points whose code distance from the map point conforms to a preset distance. For example: the pre-application lockout path of the target vehicle includes map points A1, A2, and A3. The map points a11, a12, a13, and a14, which have a code pitch with respect to the map point a1 within a predetermined range, are surrounding points of the map point a 1. The map points a21, a22, a23, and a24, which have a code pitch with respect to the map point a2 within a predetermined range, are surrounding points of the map point a 2. The map points a31, a32, a33, and a34, which have a code pitch with respect to the map point A3 within a predetermined range, are surrounding points of the map point A3. Wherein the code pitch may be a distance between center points of two map points.
In one embodiment, in step S402, when there is no conflict between each map point in the pre-application locking path, it is determined that the pre-application locking path is executable. The conflict may be a conflict between the occupied space information of the target vehicle at the map point and the occupied space information of the obstacle vehicle at the surrounding points of the map point. For example: at map point a1, there is no conflict between the pre-occupied space information of any obstacle vehicle at surrounding points a11, a12, a13, and a14 and the target space occupation information of the target vehicle at map point a 1; at map point a2, there is no conflict between the pre-occupied space information of any obstacle vehicle at surrounding points a21, a22, a23, and a24 and the target space occupation information of the target vehicle at map point a 2; at map point A3, there is no conflict between the pre-occupied space information of any obstacle vehicle at surrounding points a31, a32, a33, and a34 and the target space occupation information of the target vehicle at map point A3; at this time, it may be determined that the pre-application lock path of the target vehicle is executable.
An example of a method for determining whether there is a conflict between the occupied space information of the obstacle vehicle at the surrounding points and the target space occupation information of the target vehicle at the map points is given below with reference to fig. 5.
As shown in fig. 5, in this example, it may include:
step S501, judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point; if the horizontal pre-occupied areas intersect, the step S502 is entered;
step S502, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point; if the vertical pre-occupied areas are not intersected, the step S503 is entered;
step S503, it is determined that there is no collision.
For example: as shown in fig. 6, the horizontal pre-occupancy area of the target vehicle at the map point a1 is L3, the horizontal pre-occupancy information is the size information d31, d32, d33, and d34 of L3, and the coordinates of the map point a1 are (x1, y 1). The horizontal pre-occupancy area of the obstacle vehicle at the surrounding point a11 is L4, the horizontal pre-occupancy information is size information d41, d42, d43, and d44 of L4, and the coordinates of the map point a11 are (x2, y 2). Where dx | -x 1-x2 |, dy | -y 1-y2 |. When dx ≦ d34+ d42 and dy ≦ d31+ d43, L3 does not intersect L4, i.e., the horizontal pre-occupancy of the target vehicle at map point A1 does not intersect the horizontal pre-occupancy of the obstacle vehicle at surrounding point A11. Using a similar approach, it may be determined whether the vertical pre-occupancy zone of the target vehicle at map point a1 intersects the vertical pre-occupancy zone of the obstacle vehicle at surrounding point a 11.
When two vertical pre-occupancy zones intersect, it can be predicted that the target vehicle may collide with the obstacle vehicle at the surrounding point a11 at the map point a 1. At this time, the control center may transmit a request rejection signal for a pre-request for a locking path to the target vehicle. After receiving the application rejection signal, the target vehicle may return to step S201 to re-determine the pre-application lock path.
When the two vertical pre-occupancy zones do not intersect, it can be predicted that the target vehicle may not collide with the obstacle vehicle at the surrounding point a11 at the map point a 1. Further, in a similar manner, a judgment is made as to whether there is a collision for each of the surrounding points a11, a12, a13, and a14 of the map point a 1.
The method of the embodiment of the invention describes the position of the vehicle through map points of the vehicle, describes the running posture of the vehicle according to the target motion state of the vehicle, and further determines the space occupation information of the vehicle in two directions of a horizontal plane and a vertical plane; the control center can determine future and occurred three-dimensional occupation information of each map point according to the application signals of the vehicles, and further judge whether the two vehicles collide. The method can be suitable for the AGVs of various code intervals and various types, can reduce errors, and enables the AGVs to run in a staggered mode to the maximum extent under the condition that the safety requirement is fully met.
Fig. 7 shows a block diagram of a vehicle motion device according to an embodiment of the present invention. As shown in fig. 7, the apparatus may include:
a pre-application locking path determining module 701, configured to determine a pre-application locking path according to a target task and a current position of a vehicle, where the pre-application locking path includes a plurality of map points;
a target motion state determination module 702, configured to determine, according to the target task, a target motion state of the vehicle at each map point;
a pre-occupied space information determining module 703, configured to determine pre-occupied space information of the vehicle at each map point according to the motion state of each target;
a sending module 704, configured to send an application signal for the pre-application of the locking path to a control center, where the application signal includes information of the occupied space of the vehicle at each map point;
an executing module 705, configured to execute the target task according to the pre-application locking path when receiving an application agreement signal sent by the control center for the pre-application locking path.
In one embodiment, the pre-occupied space information includes horizontal pre-occupied space information and vertical pre-occupied space information, and the pre-occupied space information determining module 703 may include:
the first determining submodule is used for determining a horizontal pre-occupation area of the vehicle on the map point according to the horizontal projection of the vehicle on the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and the second determining submodule is used for determining a vertical pre-occupation area of the vehicle on the map point according to the vertical projection of the vehicle on the map point and determining the vertical pre-occupation information according to the size information of the vertical pre-occupation area.
In one embodiment, the first determining sub-module is further configured to:
when the target motion state of the vehicle at the map point is static, judging whether the head direction of the vehicle deviates;
if the vehicle deviates, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is from the geometric center point to the farthest end of the horizontal projection.
In one embodiment, the first determination submodule is further configured to:
and when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to a horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
Fig. 8 shows a block diagram of a motion control device of a vehicle according to an embodiment of the present invention. As shown in fig. 8, the apparatus may include:
a receiving module 801, configured to receive an application signal of a target vehicle for a pre-application locking path, where the pre-application locking path includes a plurality of map points, and the application signal includes pre-occupied space information of the target vehicle at each map point;
a judging module 802, configured to judge whether the pre-application locking path is executable according to the occupied space information of the target vehicle at the map point and the occupied space information of at least one obstacle vehicle at a peripheral point of the map point;
a sending module 803, configured to send an application agreement signal to the pre-application locking path to the target vehicle when the pre-application locking path is executable.
In one embodiment, the determining module 802 may include:
the judgment submodule is used for judging whether the occupied space information of the obstacle vehicle at the surrounding points conflicts with the occupied space information of the target vehicle at the map points or not aiming at each surrounding point of the map points;
and the judging submodule is used for judging that the pre-application locking path can be executed when each peripheral point has no conflict.
In one embodiment, the pre-occupied space information includes horizontal pre-occupied information and vertical pre-occupied information, and the determining sub-module is further configured to:
judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation areas are intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
and if the vertical pre-occupied areas are not intersected, judging that no conflict exists.
The functions of each module in each apparatus in the embodiments of the present invention may refer to the corresponding description in the above method, and are not described herein again.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (14)
1. A method of moving a vehicle, comprising:
determining a pre-application locking path according to a target task and a current position of a vehicle, wherein the pre-application locking path comprises a plurality of map points;
determining the target motion state of the vehicle at each map point according to the target task;
determining the pre-occupied space information of the vehicle at each map point according to each target motion state;
sending an application signal for the pre-application of the locking path to a control center, wherein the application signal comprises pre-occupied space information of the vehicle at each map point;
and if an application agreement signal of the pre-application locking path sent by the control center is received, executing the target task according to the pre-application locking path.
2. The method of claim 1, wherein the pre-occupancy information comprises horizontal pre-occupancy information and vertical pre-occupancy information, and the determining the pre-occupancy information of the vehicle at each map point according to the target motion state of the vehicle at each map point comprises:
determining a horizontal pre-occupation area of the vehicle at the map point according to the horizontal projection of the vehicle at the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and determining a vertical pre-occupation area of the vehicle at the map point according to the vertical projection of the vehicle at the map point, and determining the vertical pre-occupation information according to the size information of the vertical pre-occupation area.
3. The method of claim 2, wherein determining a horizontal pre-occupancy zone of the vehicle at the map point from a horizontal projection of the vehicle at the map point comprises:
when the target motion state of the vehicle at the map point is static, judging whether the head direction of the vehicle deviates;
if the vehicle deviates, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is from the geometric center point to the farthest end of the horizontal projection.
4. The method of claim 2, wherein determining a horizontal pre-occupancy zone of the vehicle at the map point from a horizontal projection of the vehicle at the map point comprises:
and when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to a horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
5. A vehicle motion device, comprising:
the system comprises a pre-application locking path determining module, a locking path determining module and a locking path determining module, wherein the pre-application locking path determining module is used for determining a pre-application locking path according to a target task and a current position of a vehicle, and the pre-application locking path comprises a plurality of map points;
the target motion state determining module is used for determining the target motion state of the vehicle at each map point according to the target task;
the pre-occupied space information determining module is used for determining pre-occupied space information of the vehicle at each map point according to the motion state of each target;
the sending module is used for sending an application signal for the pre-application locking path to a control center, wherein the application signal comprises the pre-occupied space information of the vehicle at each map point;
and the execution module is used for executing the target task according to the pre-application locking path when receiving an application agreement signal which is sent by the control center and is used for applying for the pre-application locking path.
6. The apparatus of claim 5, wherein the pre-occupancy information comprises horizontal pre-occupancy information and vertical pre-occupancy information, and wherein the pre-occupancy information determination module comprises:
the first determining submodule is used for determining a horizontal pre-occupation area of the vehicle on the map point according to the horizontal projection of the vehicle on the map point, and determining the horizontal pre-occupation information according to the size information of the horizontal pre-occupation area;
and the second determining submodule is used for determining a vertical pre-occupation area of the vehicle on the map point according to the vertical projection of the vehicle on the map point and determining the vertical pre-occupation information according to the size information of the vertical pre-occupation area.
7. The apparatus of claim 6, wherein the first determination submodule is further configured to:
when the target motion state of the vehicle at the map point is static, judging whether the head direction of the vehicle deviates;
if the vehicle deviates, determining a rotation circle according to the horizontal projection of the vehicle on the map point, and determining the rotation circle as a horizontal pre-occupied area of the vehicle on the map point, wherein the center of the rotation circle is the geometric center point of the horizontal projection, and the radius of the rotation circle is from the geometric center point to the farthest end of the horizontal projection.
8. The apparatus of claim 6, wherein the first determination submodule is further configured to:
and when the target motion state of the vehicle at the map point is rotation, determining a rotation circle according to a horizontal projection of the vehicle in the rotation process, and determining the rotation circle as a horizontal pre-occupied area of the vehicle at the map point.
9. A motion control method of a vehicle, characterized by comprising:
receiving an application signal of a target vehicle for a pre-application locking path, wherein the pre-application locking path comprises a plurality of map points, and the application signal comprises pre-occupied space information of the target vehicle at each map point;
judging whether the pre-application locking path is executable or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
and if so, sending an agreement application signal for the pre-application locking path to the target vehicle.
10. The motion control method according to claim 9, wherein the determining whether the pre-application lock-up route is executable based on the information on the occupied space of the target vehicle at the map point and the information on the occupied space of at least one obstacle vehicle at a point around the map point includes:
for each surrounding point of the map points, judging whether the occupied space information of the obstacle vehicle at the surrounding point conflicts with the occupied space information of the target vehicle at the map points;
and if each peripheral point has no conflict, judging that the pre-application locking path can be executed.
11. The motion control method according to claim 10, wherein the pre-occupation space information includes horizontal pre-occupation space information and vertical pre-occupation space information, and the determining whether there is a conflict between the pre-occupation space information of the obstacle vehicle at the surrounding point and the pre-occupation space information of the target vehicle at the map point includes:
judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation areas are intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
and if the vertical pre-occupied areas are not intersected, judging that no conflict exists.
12. A motion control apparatus of a vehicle, characterized by comprising:
the system comprises a receiving module, a locking module and a locking module, wherein the receiving module is used for receiving an application signal of a target vehicle for a pre-application locking path, the pre-application locking path comprises a plurality of map points, and the application signal comprises pre-occupied space information of the target vehicle at each map point;
the judging module is used for judging whether the pre-application locking path is executable or not according to the pre-occupation space information of the target vehicle at the map point and the pre-occupation space information of at least one obstacle vehicle at the surrounding points of the map point;
and the sending module is used for sending an agreement application signal for the pre-application locking path to the target vehicle when the pre-application locking path can be executed.
13. The motion control apparatus of claim 12, wherein the determining module comprises:
the judgment submodule is used for judging whether the occupied space information of the obstacle vehicle at the surrounding points conflicts with the occupied space information of the target vehicle at the map points or not aiming at each surrounding point of the map points;
and the judging submodule is used for judging that the pre-application locking path can be executed when each peripheral point has no conflict.
14. The motion control apparatus of claim 13, wherein the pre-occupancy information comprises horizontal pre-occupancy information and vertical pre-occupancy information, the determination sub-module further configured to:
judging whether the horizontal pre-occupation area of the target vehicle at the map point is intersected with the horizontal pre-occupation area of the obstacle vehicle at the surrounding point or not according to the horizontal pre-occupation information of the target vehicle at the map point and the horizontal pre-occupation information of the obstacle vehicle at the surrounding point;
if the horizontal pre-occupation areas are intersected, judging whether the vertical pre-occupation area of the target vehicle at the map point is intersected with the vertical pre-occupation area of the obstacle vehicle at the surrounding point or not according to the vertical pre-occupation information of the target vehicle at the map point and the vertical pre-occupation information of the obstacle vehicle at the surrounding point;
and if the vertical pre-occupied areas are not intersected, judging that no conflict exists.
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