CN111882474B - FDS function design method for automatic driving vehicle cluster scheduling - Google Patents
FDS function design method for automatic driving vehicle cluster scheduling Download PDFInfo
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Abstract
The invention provides an FDS function design method for automatic driving vehicle cluster dispatching. Acquiring basic data and operation data of an automatic driving vehicle cluster, and configuring a transportation plan of the FDS according to the basic data and the operation data of the automatic driving vehicle based on an intelligent constructed basic framework; according to a preset road side system, the vehicle is monitored in real time, and road condition data and abnormal data of the vehicle are obtained; according to the road condition data and the abnormal data, making a vehicle-rule-level safety strategy of the vehicle; and planning the optimized running of the FDS according to the vehicle-level safety strategy and the transportation plan of the FDS. The invention has the beneficial effects that: the FDS software is designed into an MES system (production management execution system), and the information and automation are integrated in the field of manufacturing industry, so that a production management core system is realized.
Description
Technical Field
The invention relates to the technical field of integrated operation transportation, in particular to an FDS function design method for automatic driving vehicle cluster scheduling.
Background
At present, although a system similar to the FDS is widely applied to cluster scheduling of an indoor AGV, such as the largest indoor AGV application project-Beijing Dong No. one bin, so far, no cluster scheduling system of an autonomous mobile robot can prove the optimization of scheduling command, namely whether the maximum resource utilization and the optimal production efficiency are realized by the cluster scheduling.
In the field of automatic driving optimization scheduling, FDS is a fleet scheduling system and is used for task allocation and intelligent traffic guidance of clustered automatic driving fleets. How to implement cluster scheduling, and to implement resource utilization maximization and production efficiency optimization, and FDS function application is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention provides an FDS function design method for automatic driving vehicle cluster scheduling, which is used for solving the problem that the cluster scheduling of FDS is difficult.
An FDS function design method for automated driving vehicle cluster dispatch, comprising:
acquiring basic data and operation data of an automatic driving vehicle cluster;
based on the intelligent constructed basic architecture, configuring a transportation plan of the FDS according to the basic data and the operation data;
according to a preset road side system, the vehicle is monitored in real time, and road condition data and abnormal data of the vehicle are obtained;
according to the road condition data and the abnormal data, making a vehicle-rule-level safety strategy of the vehicle;
and planning the optimized running of the FDS according to the vehicle-level safety strategy and the transportation plan of the FDS.
As an embodiment of the present invention, the base data includes: vehicle base data, process data, infrastructure data, and base map; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle basic data at least comprises vehicle speed per hour, vehicle turning radius and vehicle capacity;
the process data includes at least a loading process;
the infrastructure data at least comprises a communication base station and communication equipment;
the base map includes a base map database.
As an embodiment of the present invention, the intelligent architecture-based infrastructure configures a transportation plan of an FDS according to the base data and the job data, including:
acquiring an intelligent construction basic framework, and determining a vehicle allocation plan, a process implementation plan, a basic communication plan and a driving path plan of the FDS allocation according to the basic data;
acquiring an intelligent construction basic framework, and determining the FDS production operation scheme and task flow according to the operation data; wherein, the liquid crystal display device comprises a liquid crystal display device,
the production operation scheme comprises a transportation scheme and a road maintenance scheme;
the transportation scheme comprises a fleet scale and a fleet path planning;
the task flow comprises a task flow and task basic data configuration.
As an embodiment of the present invention, the monitoring the vehicle in real time according to a preset road side system to obtain road condition data and abnormal data of the vehicle includes:
acquiring real-time road condition data through the road side system; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time road condition data comprises a real-time vehicle state and a real-time vehicle scheduling state; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time vehicle state includes: engine temperature, residual oil quantity, tire pressure and vehicle-mounted equipment state;
the real-time vehicle scheduling conditions include: real-time global path planning and real-time vehicle task scheduling;
acquiring abnormal data according to the real-time vehicle state and the real-time vehicle scheduling condition; wherein, the liquid crystal display device comprises a liquid crystal display device,
the anomaly data includes: vehicle anomalies, information system anomalies, and task anomalies.
As one embodiment of the present invention, the vehicle abnormality includes a real-time driving abnormality; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time driving anomalies include: the method comprises the following steps of (1) abnormal IPC (industrial personal computer), abnormal sensing module, abnormal communication, abnormal positioning, abnormal CAN (controller area network) bus and abnormal vehicle condition;
the information system anomaly includes: scheduling anomalies and infrastructure anomalies;
the task exception includes: task execution anomalies and task allocation anomalies.
As an embodiment of the present invention, the monitoring the vehicle in real time according to a preset road side system, to obtain road condition data and abnormal data of the vehicle, further includes:
the vehicle of the FDS is positioned in real time through map updating, and real-time position data are obtained;
displaying the real-time state of the vehicle in real time according to the real-time position data;
and when the real-time state displayed in real time is abnormal data, carrying out real-time alarm, real-time optimization and real-time vehicle scheduling on the abnormal data.
As an embodiment of the present invention, the setting of a vehicle-level safety strategy of a vehicle according to the road condition data and the abnormal data includes:
according to the abnormal data, constructing a local safety strategy of the vehicle based on modularized self-checking of a software and hardware vehicle-mounted system of the vehicle and closed-loop verification of a vehicle-mounted control system;
acquiring vehicle distance and road section abnormal data based on the road condition data, and constructing a global safety strategy of the vehicle according to the road section abnormal data and the vehicle distance;
constructing a service safety plan of the vehicle based on the sequential space configuration and the time sequence of the monitored multi-vehicle operation of the road side system;
and according to the local safety strategy of the vehicle, the global safety strategy of the vehicle and the business safety plan of the vehicle, generating the vehicle-rule-level safety strategy of the vehicle in a fusion mode.
According to the abnormal data, the method constructs a local safety strategy of the vehicle based on the modularized self-check of the software and hardware vehicle-mounted system of the vehicle and the closed loop check of the vehicle-mounted control system, and comprises the following steps:
acquiring abnormal data of software and hardware of the vehicle in the abnormal data;
based on a modularized design principle, carrying out the safety strategy design of the vehicle-mounted system through the modularized self-check of the vehicle and the closed-loop check of the vehicle-mounted control system;
based on the principle of personification safe driving, the safety strategy design of safe running of the vehicle is carried out through a perception system of the vehicle; wherein, the liquid crystal display device comprises a liquid crystal display device,
the safe running of the vehicle at least comprises the steps of autonomous following, overtaking, obstacle avoidance, obstacle detouring, safe distance judgment, dynamic tracking and behavior prediction of an external moving object and the design of a safe strategy of autonomous path planning;
and integrating the safety strategy design of the vehicle-mounted system and the safety strategy design of the safe running of the vehicle to form a local safety strategy of the vehicle.
As an embodiment of the present invention, the obtaining vehicle distance and road section abnormal data based on the road condition data, and constructing a global safety policy of the vehicle according to the road section abnormal data and the vehicle distance includes:
planning the vehicle flow in a preset matrix map according to the road condition data to form an anti-blocking strategy of the vehicle;
planning the running sequence of the vehicle according to the vehicle obstacle condition in the road condition data to form an obstacle prevention strategy of the vehicle;
planning the task of the FDS according to the road section abnormal data to form a road section task strategy of the vehicle;
planning the vehicle distance according to the vehicle distance, and forming a distance control strategy of the vehicle based on double constraint of the vehicle distance and linear relation between distance control and real-time speed;
and integrating the anti-blocking strategy, the obstacle prevention strategy, the road section task strategy of the vehicle and the spacing control strategy of the vehicle to form a global safety strategy of the vehicle.
As an embodiment of the present invention, the planning the optimized driving of the FDS according to the vehicle-scale security policy and the transportation plan of the FDS includes:
determining a first optimized path of the FDS through a transportation plan and a vehicle-gauge security policy of the FDS;
determining a second optimized path of the FDS through the operation data and the vehicle-gauge security policy;
and planning the optimized running of the FDS by using the first optimized path and the second optimized path through a combined mathematical theory.
The invention has the beneficial effects that: through FDS functional design, based on intelligent manufacturing methodology and on the design of safety strategy and exception handling scheme of vehicle rule level, final purpose of lean production can be achieved through application of optimal combination mathematics, and optimization and reliability of cluster scheduling can be verified by theory and practice. The invention provides a basic functional architecture, a guiding method and a business process for a cluster dispatching command system of an automatic driving vehicle; in the application design of the FDS function, FDS software is designed into an MES system (production management execution system), and an informatization and automation integration and production management core system are realized in the field of class manufacturing industry.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a method for FDS function design for autonomous vehicle cluster dispatch in an embodiment of the invention;
FIG. 2 is a schematic diagram of configuration basic data according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a transportation planning in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a transportation plan configuration according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of real-time monitoring in an embodiment of the present invention;
FIG. 6 is a diagram of abnormal data according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating anti-blocking operation according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of safety planning and control according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of path optimization in accordance with an embodiment of the present invention;
FIG. 10 is a functional diagram of an FDS according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a basic framework of the intelligent manufacturing in an embodiment of the present invention;
FIG. 12 is a schematic diagram of data closed loop feedback in an embodiment of the invention;
FIG. 13 is a diagram illustrating yield statistics according to an embodiment of the present invention;
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The method is mainly applied to task allocation and real-time intelligent traffic command of human-driven vehicles, automatic-driven vehicles, AGVs or similar autonomous mobile robots for clustered operation, and is particularly suitable for application scenes of an optimized autonomous transport system with lean production as a primary target.
The invention relates to a vehicle cluster dispatching command system based on an automatic driving vehicle, which provides a basic functional architecture and guides a method for demonstrating the application design of a business process in an FDS system through an intelligent manufacturing infrastructure, designs FDS software into an MES system (production management execution system), and is similar to a production management core system for realizing informatization and automation fusion in the field of manufacturing industry. FDS is a fleet scheduling system for task allocation and intelligent traffic guidance of clustered autopilot fleet. As shown in figure 12, in the FDS function design, the data intercommunication and interconnection of the upper level informatization and the lower level automation of the MES system are used as the basis to form an informatization and automation closed-loop feedback mode, and the MES system is referenced to achieve the maximum production efficiency, so that the purpose of maximizing the transportation efficiency is achieved in the function design.
The FDS function design is similar to two-in-one of an MES+SCADA two-stage system in the diagram of the figure 11, and the FDS can be independently used as an SCADA system of a bottom basic automation control system or can be designed into a fused MES+SCADA system to realize production management (transport management) +bottom control. Based on a basic system architecture of intelligent manufacturing, the FDS is described as an MES+SACADA fusion system, so that production management planning is realized, and vehicle path planning and state monitoring of the bottom layer are performed.
As shown in fig. 10: when the FDS function is designed into MES+SCADA fusion software for similar production and manufacturing industry, the system is used for realizing informatization-automation fusion up and down, and through basic data configuration, transportation plans are formulated, road conditions are monitored in real time, operation processes are optimized, vehicle maintenance, abnormal condition processing and statistics of the transportation volume of a final transportation plan are performed by a statistics report system, and the system maintenance is performed on the function system of the whole FDS, so that closed circulation of data, namely, the melting of informatization (scheduling, command and task data) and automation data (vehicle unit data) up-down and down-up is realized, and closed data flow analysis can further realize continuous optimization of operation processes and vehicle control algorithms, thereby benefiting and improving.
The FDS function design total process of the invention is as follows: according to the unique intelligent manufacturing methodology, based on the design of a safety strategy and an exception handling scheme of a vehicle rule level, the final purpose of lean production can be achieved through the application of optimal combination mathematics, and both theory and practice can verify the optimization and reliability of cluster scheduling.
A method flowchart of an FDS function design method for autonomous vehicle cluster dispatch as shown in fig. 1, comprising:
step 100: acquiring basic data and operation data of an automatic driving vehicle cluster;
in the step of function design, firstly, basic data of the FDS function and the operation required to be carried out are configured based on an autopilot vehicle cluster, the operation data can be item data and task data, and the operation data is transportation data in an autopilot optimal scheduling system.
Step 101: based on the intelligent constructed basic architecture, configuring a transportation plan of the FDS according to the basic data and the operation data; the basic framework of the intelligent structure is an optimal framework for realizing data intercommunication and interconnection of upper-level informatization and lower-level automation in the prior art so as to achieve maximum production efficiency, therefore, the invention converts the distributed regulation and control of the FDS vehicles into a transportation plan in the form of an operation plan based on the basic framework of the intelligent structure and implements the operation in the form of project operation, so that the transportation plan can be continuously adjusted and optimized under a better condition.
Step 102: according to a preset road side system, the vehicle is monitored in real time, and road condition data and abnormal data of the vehicle are obtained; the road side system is a road condition monitoring system which is preset. Road side means road condition, and road side system means monitoring of road condition such as road congestion and abnormal road. Additional functions will be planned depending on the application scenario. For example: taking mine autopilot application as an example, the roadside system is used for monitoring road conditions, such as road congestion, road traffic accidents, road collapse, fire, smoke anomalies and the like. Additionally related to the production process, the method also comprises pose abnormality of excavating equipment and the like. Meaning of road side system existence: the system is used for providing real-time monitoring data of independent third-party vision at a fixed position for the FDS and the automatic driving vehicle, and providing real road condition and operation state feedback for the FDS and the vehicle.
Step 103: according to the road condition data and the abnormal data, making a vehicle-rule-level safety strategy of the vehicle; according to the vehicle-level safety strategy, the FDS and the safety mechanism of the vehicle are subjected to strict meticulous fusion treatment, a systematic safety strategy scheme is output, a closed-loop safety mechanism from global planning-local autonomous and local planning-global decision is formed, and the running safety level of the autonomous vehicle can be greatly improved.
Step 104: and planning the optimized running of the FDS according to the vehicle-level safety strategy and the transportation plan of the FDS. The optimized running of the invention is global real-time optimized scheduling-optimized path planning: according to the vehicle-rule-level safety strategy and the transportation plan of the FDS, and by means of the optimal combination mathematical theory, aiming at the clustered tasks of the FDS, the optimal driving path (various optimal mixed strategy algorithms) of the multitasking vehicle can be calculated and demonstrated theoretically, and the implementation is supervised. The combined mathematics is mainly applied to the existing algorithm, and comprises linear programming, dynamic programming, A, D and the like
As an embodiment of the present invention, the base data includes: vehicle base data, process data, infrastructure data, and base map; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle basic data at least comprises vehicle speed per hour, vehicle turning radius and vehicle capacity;
the process data includes at least a loading process;
the infrastructure data at least comprises a communication base station and communication equipment;
the base map includes a base map database.
The principle of the invention is as follows: the basis of the FDS function design is basic data, and the basic data is acquired through an automatic driving optimization scheduling system in the prior art.
The invention has the beneficial effects that the basic data is the FDS function bottom layer building, and all task planning, vehicle mobilization, process setting, path map, infrastructure and communication are regulated and configured through the basic data.
In one embodiment, as shown in a schematic diagram of configuration basis data of FIG. 2, in a mine autopilot project
1. The basic data includes:
basic data of the vehicle such as capacity (tonnage, capacity), speed per hour, minimum turning radius, etc.
The process data comprises: the loading pattern represents the relative attitude of the mine car and the excavating equipment when approaching the excavating equipment.
Other communication base station arrangements, e.g. communication infrastructure data, indicating local operation
Mining area base map: the system is a unified basic map database of the automatic driving vehicle and the FDS, keeps consistent with the vehicle and can carry out path planning.
As an embodiment of the present invention, the intelligent architecture-based infrastructure configures a transportation plan of an FDS according to the base data and the job data, including:
acquiring an intelligent construction basic framework, and determining a vehicle allocation plan, a process implementation plan, a basic communication plan and a driving path plan of the FDS allocation according to the basic data;
acquiring an intelligent construction basic framework, and determining the FDS production operation scheme and task flow according to the operation data; wherein, the liquid crystal display device comprises a liquid crystal display device,
the production operation scheme comprises a transportation scheme and a road maintenance scheme;
the transportation scheme comprises a fleet scale and a fleet path planning;
the task flow comprises a task flow and task basic data configuration.
The principle of the invention is as follows: the invention is based on the basic framework of the intelligent construction, and converts the mode of specifying the production plan through the basic data in the intelligent construction into the transportation plan in the invention. Throughout the transportation plan, it is necessary to make a vehicle deployment plan, a process implementation plan, a basic communication plan, a travel path plan, a work plan, and a task flow of the FDS deployment under the FDS.
The invention has the beneficial effects that: in the function design of the FDS, a transportation plan is designed and designed, and the vehicle allocation, the process implementation, the basic communication, the driving path, the operation scheme and the task flow of the FDS allocation are designated in advance, so that the regulation and the rapid completion of the tasks are facilitated when the project is implemented.
In one embodiment, as shown in a transportation planning schematic of fig. 3 and a transportation planning configuration schematic of fig. 4, in the mine autopilot project:
the operation scene of the automatic driving mining truck or other similar autonomous mobile robots is mostly round trip operation of A, B points in the stage time domain, the maximum required quantity of transportation vehicles can be calculated according to the production speed of A, B points for excavation, such as the operation efficiency of mining equipment, and accordingly, the fleet scale of points between AB points can be planned, and meanwhile, the fleet quantity also depends on the loading speed of vehicles, such as the ratio of a vehicle to a shovel.
As an embodiment of the present invention, the real-time monitoring of the vehicle according to the preset roadside system, for example, the monitoring schematic diagram of the real-time monitoring shown in fig. 5, obtains road condition data and abnormal data of the vehicle, and includes:
acquiring real-time road condition data through the road side system; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time road condition data comprises a real-time vehicle state and a real-time vehicle scheduling state; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time vehicle state includes: engine temperature, residual oil quantity, tire pressure and vehicle-mounted equipment state;
the real-time vehicle scheduling conditions include: real-time global path planning and real-time vehicle task scheduling;
acquiring abnormal data according to the real-time vehicle state and the real-time vehicle scheduling condition; wherein, the liquid crystal display device comprises a liquid crystal display device,
the anomaly data includes: vehicle anomalies, information system anomalies, and task anomalies.
The principle of the invention is as follows: real-time monitoring is performed through a preset road side system so as to erect equipment facilities such as panoramic cameras and laser radars and navigation satellites (Beidou navigation, GPS navigation and the like) and obtain the position of a vehicle for carrying out a transportation plan and the real-time state of the vehicle, the road section condition of the vehicle, the traffic flow of the road section and the like. The abnormal state of the vehicle can be obtained through the information system of the vehicle. And determining whether the task is abnormal or not according to the abnormal conditions of the abnormal vehicle and the abnormal information system.
The invention has the beneficial effects that: the road condition data and the abnormal data are obtained in real time, the abnormal road condition data can be found, the optimized route can be regulated and controlled, and when the abnormal road condition data occurs, other vehicles can be regulated and controlled according to the road condition data to solve the abnormal road condition data, so that the rapid completion of the transportation task is assisted.
As an embodiment of the present invention, as shown in fig. 6, an abnormal data diagram is shown: the vehicle anomalies include real-time driving anomalies; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time driving anomalies include: the method comprises the following steps of (1) abnormal IPC (industrial personal computer), abnormal sensing module, abnormal communication, abnormal positioning, abnormal CAN (controller area network) bus and abnormal vehicle condition;
the information system anomaly includes: scheduling anomalies and infrastructure anomalies;
the task exception includes: task execution anomalies and task allocation anomalies.
The real-time monitoring abnormality in the invention can be generally divided into three types of vehicle abnormality, information system abnormality and task abnormality, and the strategy for solving the abnormality can be rapidly found according to specific abnormality and abnormality type in actual implementation.
In one embodiment, in a mine autopilot project:
and monitoring the working state of the vehicle and the completion condition of the task in real time.
Vehicle state covers: the vehicle conditions include engine temperature, residual oil quantity, tire pressure and the like, and the vehicle-mounted equipment states (such as automatic driving module, sensing module, navigation equipment and the like).
The task state includes: task number of execution, task execution completion percentage, normal/abnormal
As an embodiment of the present invention, the monitoring the vehicle in real time according to the preset roadside system, to obtain the road condition data and the abnormal data of the vehicle, as shown in fig. 5, further includes:
the vehicle of the FDS is positioned in real time through map updating, and real-time position data are obtained;
displaying the real-time state of the vehicle in real time according to the real-time position data;
and when the real-time state displayed in real time is abnormal data, carrying out real-time alarm, real-time optimization and real-time vehicle scheduling on the abnormal data.
The real-time data acquisition of the invention is based on map data, mainly through online maps, such as network maps of hundred degree map, tencer map, goldmap and the like. Abnormal data are displayed to transportation personnel who accomplish transportation tasks and a control end for regulating and controlling global planning in real time through communication equipment, so that each ring in the transportation planning can be flexibly allocated, and abnormal time is reduced.
As an embodiment of the present invention, the setting of a vehicle-level safety strategy of a vehicle according to the road condition data and the abnormal data includes:
according to the abnormal data, constructing a local safety strategy of the vehicle based on modularized self-checking of a software and hardware vehicle-mounted system of the vehicle and closed-loop verification of a vehicle-mounted control system;
acquiring vehicle distance and road section abnormal data based on the road condition data, and constructing a global safety strategy of the vehicle according to the road section abnormal data and the vehicle distance;
constructing a service safety plan of the vehicle based on the sequential space configuration and the time sequence of the monitored multi-vehicle operation of the road side system;
and according to the local safety strategy of the vehicle, the global safety strategy of the vehicle and the business safety plan of the vehicle, generating the vehicle-rule-level safety strategy of the vehicle in a fusion mode.
The vehicle-level safety strategy consists of two parts, namely an FDS global safety strategy (first level) +an automatic driving vehicle local safety strategy (second level), and a global-local global safety design is formed. And a safety control strategy with local regulation as an auxiliary and global regulation as a main is realized.
In one embodiment: the road side system is an independent intelligent road side monitoring module, belongs to an independent real-time intelligent road side monitoring system under the jurisdiction of FDS, and is provided with equipment facilities such as panoramic cameras, laser radars and the like through a road side end, so that a completely independent third party safety guarantee is provided for a vehicle-level safety strategy, and the occurrence probability of abnormality is reduced to 1.25 per mill (5%x5%x5%).
Taking the detection of collision of vehicle tracking as an example, the detection probability of failure is calculated as:
sensing system of vehicle: detecting failure probability of a front vehicle: estimating 5%;
the FDS system monitors vehicle-to-vehicle spacing: controlling the vehicle distance and the vehicle speed in real time, and controlling the failure probability to be estimated by 5%;
road side system monitors inter-vehicle distance: the detection failure probability is 5%;
the three are independent, and the detection failure probability after fusion is 5% x5% = 1.25%o.
According to the abnormal data, the method constructs a local safety strategy of the vehicle based on the modularized self-check of the software and hardware vehicle-mounted system of the vehicle and the closed loop check of the vehicle-mounted control system, and comprises the following steps:
acquiring abnormal data of software and hardware of the vehicle in the abnormal data;
based on a modularized design principle, carrying out the safety strategy design of the vehicle-mounted system through the modularized self-check of the vehicle and the closed-loop check of the vehicle-mounted control system;
based on the principle of personification safe driving, the safety strategy design of safe running of the vehicle is carried out through a perception system of the vehicle; wherein, the liquid crystal display device comprises a liquid crystal display device,
the safe running of the vehicle at least comprises the steps of autonomous following, overtaking, obstacle avoidance, obstacle detouring, safe distance judgment, dynamic tracking and behavior prediction of an external moving object and the design of a safe strategy of autonomous path planning;
and integrating the safety strategy design of the vehicle-mounted system and the safety strategy design of the safe running of the vehicle to form a local safety strategy of the vehicle.
The principle of the invention is as follows: the local safety strategy comprises the vehicle-gauge-level design of software and hardware, all core components are mounted in a bus mode based on a strictly defined modularized design principle, and the vehicle-gauge-level design of a vehicle-mounted system is realized by modularized self-checking and closed-loop verification of a vehicle-mounted control system. The method takes personification safe driving as a principle, uses a perception system sensor to realize a visual system of a human-like body, and simulates the safe driving decision of most human-like bodies, wherein the safe driving decision comprises autonomous following, overtaking, obstacle avoidance, obstacle detouring, safe distance judgment, dynamic tracking and behavior prediction of external moving objects, autonomous path planning and the like. And outputting an anthropomorphic safe driving strategy by a reliable software and hardware vehicle-mounted system and an anthropomorphic safe driving principle, wherein the strategy is used for planning and deciding the autonomous driving of the vehicle.
The invention has the beneficial effects that: the vehicle-mounted system is designed at a vehicle-approaching rule level, the safety driving decision of most of the people is simulated, and the personified safety driving strategy is output as a local safety strategy.
As an embodiment of the present invention, the obtaining vehicle distance and road section abnormal data based on the road condition data, and constructing a global safety policy of the vehicle according to the road section abnormal data and the vehicle distance includes:
planning the vehicle flow in a preset matrix map according to the road condition data to form an anti-blocking strategy of the vehicle;
planning the running sequence of the vehicle according to the vehicle obstacle condition in the road condition data to form an obstacle prevention strategy of the vehicle;
planning the task of the FDS according to the road section abnormal data to form a road section task strategy of the vehicle;
planning the vehicle distance according to the vehicle distance, and forming a distance control strategy of the vehicle based on double constraint of the vehicle distance and linear relation between distance control and real-time speed;
and integrating the anti-blocking strategy, the obstacle prevention strategy, the road section task strategy of the vehicle and the spacing control strategy of the vehicle to form a global safety strategy of the vehicle.
The global control strategy principle and the beneficial effects of the invention are as follows: in the anti-blocking strategy, based on a matrix map, the traffic flow of each road is counted in real time, and for a new transportation task, the FDS automatically selects to avoid the congestion road section.
In the road section abnormality data of the vehicle, any road section abnormality, after being fed back by the road side system or the vehicle, will be blocked and the new mission plan will not consider the road section any more.
In the pitch control strategy of the vehicle, the pitch of the vehicle is maintained at a certain number of meters. The multi-vehicle distance of any same road section following driving maintains the functional strategy, the functional strategy provides additional distance control for the autonomous safety strategy of the vehicle, so that the vehicle distance has double constraint, and the distance control has a certain linear relation with the real-time speed of the vehicle.
In the anti-blocking strategy of the vehicle, as shown in fig. 7, when the vehicle encounters a blue obstacle at the upper right corner, the vehicle starts the obstacle detouring from the central line, but before the obstacle detouring is started, the FDS needs to be informed in advance, the FDS confirms when the obstacle detouring is started according to the speed per hour and the task execution priority of the oncoming vehicle, if the obstacle detouring is started immediately, the oncoming vehicle must stop in a certain appointed area (the FDS is calculated according to the road section through which the obstacle detouring passes) on the opposite lane, and after the obstacle detouring vehicle returns to the normal running path of the central line, the oncoming vehicle can continue to move forward; if the FDS decides that the oncoming vehicle is in advance, after the obstacle is wound, the obstacle-wound vehicle stops before the obstacle, and starts the obstacle-wound vehicle after the oncoming vehicle passes.
In one embodiment, business safety planning is performed on businesses, and in mine autopilot projects: the business safety planning, here, refers to the sequential space configuration and time sequence of multi-vehicle operation, and the following figure 8 shows the designed dumping process of the automatic driving mine truck in the dumping site.
In the arc-shaped area on the upper part of the figure 8, vehicles need to back to the edge, then the lifting hopper dumps the loaded earthwork, and the total of at most 10 vehicles are subjected to interactive operation, all need to be subjected to selective reversing, the operation space and the time sequence need to be designed independently, the process action of turning back and backing is completed safely in the area, the requirement of operation efficiency is met, the left and right figures show that the loader operating in the dumping site is used as a command center of the dumping site, the mining vehicles are respectively scheduled to arrive at the designated position for operation, and after the dumping operation is completed, the mining vehicles exit the dumping site according to the designated path of the loader (command center).
In one embodiment, mine autopilot projects: FDS is an autonomous transportation system of the mine, and in the process of path optimization, traffic is counted and is equal to yield statistics in an automatic driving project of the mine, as shown in fig. 13; the statistical result can be used for financial calculation of working hours and transportation capacity and continuous optimization of the operation process.
In other similar operation scenarios, the operation efficiency of the automatic driving vehicle needs to be evaluated by yield statistics, and the evaluation result is used for continuously improving the operation mode, such as continuously optimized path planning strategy, speed planning, operation frequency planning, and the like, and finally global production optimization, so that the production efficiency is continuously improved.
As an embodiment of the present invention, the planning the optimized driving of the FDS according to the vehicle-scale security policy and the transportation plan of the FDS includes:
determining a first optimized path of the FDS through a transportation plan and a vehicle-gauge security policy of the FDS;
determining a second optimized path of the FDS through the operation data and the vehicle-gauge security policy;
and generating an optimized driving path of the planning cluster type automatic driving motorcade through the first optimized path and the second optimized path by a combined mathematical theory.
The invention optimizes the dispatch-optimizing path planning in real time through the global: the optimized path planning covers the operation actions of the automatic driving vehicle, such as path optimization of turning back and reversing, vehicle alignment, driving route, global process map and the like; the invention can theoretically calculate and demonstrate the optimal driving path (various optimal mixing strategy algorithms) of the multitasking vehicle for the clustered tasks by means of the optimal combination mathematical theory, and monitor and realize the optimal driving path. The combined mathematics are mainly applied to the existing algorithm, and comprise linear programming, dynamic programming, A, D and the like.
In one embodiment, as shown in fig. 9, in the path optimization node map, the map is a matrix map, and paths from the starting point a to the point B are more, but paths with highest efficiency are found, so that the paths with shortest arrival time, shortest paths, lowest cost and the like are needed to generate different path lines according to different constraint conditions, which is global path planning.
The global map of the working area is stored in an FDS and vehicle-mounted system database of the automatic driving vehicle, after the system FDS is consistent with the map data of the vehicle, the FDS can calculate the most efficient path according to different optimization strategies or fused optimization strategies, and the path is sent to the vehicle for execution.
The dynamic path planning means that when a certain road section passing by is jammed and abnormal, and the road section cannot pass, the FDS plans a new path in real time according to the current position of the vehicle again and sends the new path to the vehicle for execution. In the illustrated area, up to ten or more vehicles can work simultaneously, the FDS needs to consider the working tasks of all vehicles, determine different driving paths according to the optimized space and time sequence plan, guide multiple vehicles to drive simultaneously with the optimal paths, so as to achieve the highest overall working efficiency, and realize the optimized working path plan according to the operation study dynamic plan, the linear plan, the a-x and D-x algorithm.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. An FDS function design method for automated driving vehicle cluster dispatch, comprising:
acquiring basic data and operation data of an automatic driving vehicle cluster;
based on the intelligent constructed basic architecture, configuring a transportation plan of the FDS according to the basic data and the operation data;
according to a preset road side system, the vehicle is monitored in real time, and road condition data and abnormal data of the vehicle are obtained;
according to the road condition data and the abnormal data, making a vehicle-rule-level safety strategy of the vehicle;
planning the optimized running of the FDS according to the vehicle-level safety strategy and the transportation plan of the FDS;
according to the road condition data and the abnormal data, the vehicle rule level safety strategy of the vehicle is formulated specifically comprising the following steps:
according to the abnormal data, constructing a local safety strategy of the vehicle based on modularized self-checking of a software and hardware vehicle-mounted system of the vehicle and closed-loop verification of a vehicle-mounted control system;
acquiring vehicle distance and road section abnormal data based on the road condition data, and constructing a global safety strategy of the vehicle according to the road section abnormal data and the vehicle distance;
constructing a service safety plan of the vehicle based on the sequential space configuration and the time sequence of the monitored multi-vehicle operation of the road side system;
and constructing a vehicle-rule-level safety strategy of the vehicle according to the local safety strategy of the vehicle, the global safety strategy of the vehicle and the business safety plan of the vehicle.
2. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein:
the base data includes: vehicle base data, process data, infrastructure data, and base map; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vehicle basic data at least comprises vehicle speed per hour, vehicle turning radius and vehicle capacity;
the process data includes at least a loading process;
the infrastructure data at least comprises a communication base station and communication equipment;
the base map includes a base map database.
3. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: the basic architecture based on intelligent construction configures a transportation plan of the FDS according to the basic data and the job data, and comprises the following steps:
acquiring intelligent construction basic framework
Determining a vehicle allocation plan, a process implementation plan, a basic communication plan and a driving path plan of the FDS allocation according to the basic data;
determining the FDS production operation scheme and task flow according to the operation data; wherein, the liquid crystal display device comprises a liquid crystal display device,
the production operation scheme comprises a transportation scheme and a road maintenance scheme;
the transportation scheme comprises a fleet scale and a fleet path planning;
the task flow comprises a task flow and task basic data configuration.
4. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: the real-time monitoring is performed on the vehicle according to a preset road side system to obtain road condition data and abnormal data of the vehicle, including:
acquiring real-time road condition data through the road side system; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time road condition data comprises a real-time vehicle state and a real-time vehicle scheduling state; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time vehicle state includes: engine temperature, residual oil quantity, tire pressure and vehicle-mounted equipment state;
the real-time vehicle scheduling conditions include: real-time global path planning and real-time vehicle task scheduling;
acquiring abnormal data according to the real-time vehicle state and the real-time vehicle scheduling condition; wherein, the liquid crystal display device comprises a liquid crystal display device,
the anomaly data includes: vehicle anomalies, information system anomalies, and task anomalies.
5. The FDS function design method for automated driving vehicle cluster dispatching of claim 4, wherein: the vehicle anomalies include real-time driving anomalies; wherein, the liquid crystal display device comprises a liquid crystal display device,
the real-time driving anomalies include: the method comprises the following steps of (1) abnormal IPC (industrial personal computer), abnormal sensing module, abnormal communication, abnormal positioning, abnormal CAN (controller area network) bus and abnormal vehicle condition;
the information system anomaly includes: scheduling anomalies and infrastructure anomalies;
the task exception includes: task execution anomalies and task allocation anomalies.
6. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: the method comprises the steps of monitoring the vehicle in real time according to a preset road side system, obtaining road condition data and abnormal data of the vehicle, and further comprising:
the vehicle of the FDS is positioned in real time through map updating, and real-time position data are obtained;
displaying the real-time state of the vehicle of the FDS in real time according to the real-time position data;
and when the real-time state displayed in real time is abnormal data, carrying out real-time alarm, real-time optimization and real-time vehicle scheduling on the abnormal data.
7. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: according to the abnormal data, constructing a local safety strategy of the vehicle based on the modularized self-check of the software and hardware vehicle-mounted system of the vehicle and the closed loop check of the vehicle-mounted control system, and the method comprises the following steps:
acquiring abnormal data of software and hardware of the vehicle in the abnormal data;
based on a modularized design principle, carrying out the safety strategy design of the vehicle-mounted system through the modularized self-check of the vehicle and the closed-loop check of the vehicle-mounted control system;
based on the principle of personification safe driving, the safety strategy design of safe running of the vehicle is carried out through a perception system of the vehicle; wherein, the liquid crystal display device comprises a liquid crystal display device,
the safe running of the vehicle at least comprises the steps of autonomous following, overtaking, obstacle avoidance, obstacle detouring, safe distance judgment, dynamic tracking and behavior prediction of an external moving object and the design of a safe strategy of autonomous path planning;
and integrating the safety strategy design of the vehicle-mounted system and the safety strategy design of the safe running of the vehicle to form a local safety strategy of the vehicle.
8. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: the step of obtaining vehicle distance and road section abnormal data based on the road condition data and constructing a global safety strategy of the vehicle according to the road section abnormal data and the vehicle distance comprises the following steps:
planning the vehicle flow in a preset matrix map according to the road condition data to form an anti-blocking strategy of the vehicle;
planning the running sequence of the vehicle according to the vehicle obstacle condition in the road condition data to form an obstacle prevention strategy of the vehicle;
planning the task of the FDS according to the road section abnormal data to form a road section task strategy of the vehicle;
planning the vehicle distance according to the vehicle distance, and forming a distance control strategy of the vehicle based on double constraint of the vehicle distance and linear relation between distance control and real-time speed;
and integrating the anti-blocking strategy, the obstacle prevention strategy, the road section task strategy of the vehicle and the spacing control strategy of the vehicle to form a global safety strategy of the vehicle.
9. The FDS function design method for automated driving vehicle cluster dispatching of claim 1, wherein: the planning the optimized running of the FDS according to the vehicle-level safety strategy and the transportation plan of the FDS comprises the following steps:
determining a first optimized path of the FDS through a transportation plan and a vehicle-gauge security policy of the FDS;
determining a second optimized path of the FDS through the operation data and the vehicle-gauge security policy;
and planning the optimized running of the FDS by using the first optimized path and the second optimized path through a combined mathematical theory.
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| CN114999163B (en) * | 2022-08-04 | 2022-10-25 | 北京科技大学 | Cluster optimization control method for unmanned vehicles in closed area |
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