CN112509353B - Robot passing method and device, robot and storage medium - Google Patents
Robot passing method and device, robot and storage medium Download PDFInfo
- Publication number
- CN112509353B CN112509353B CN202011218622.3A CN202011218622A CN112509353B CN 112509353 B CN112509353 B CN 112509353B CN 202011218622 A CN202011218622 A CN 202011218622A CN 112509353 B CN112509353 B CN 112509353B
- Authority
- CN
- China
- Prior art keywords
- robot
- change time
- signal
- intersection
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application is applicable to the field of robot control, and provides a robot passing method, a device, a robot and a storage medium. The robot passing method comprises the following steps: identifying the current intersection of the robot; acquiring a first signal of a first traffic light of the intersection and a first change time of the first signal; determining a driving strategy from the real-time position where the robot is located to a target position according to the first signal and the first change time; controlling the robot to pass through the intersection based on the driving strategy. The embodiment of the application can reduce the potential safety hazard of the robot during the passing, and improve the safety of the robot passing.
Description
Technical Field
The present application relates to the field of robot control, and in particular, to a method and an apparatus for passing a route of a robot, and a storage medium.
Background
The robot can replace manpower to execute various kinds of work, such as express delivery work, inspection work and the like. When the robot works outdoors, it is often necessary to cross the road. At present, the robot can cross the road by simply avoiding obstacles. However, in a complex road environment, the safety of the method is low, accidents are easily caused, and the safety of lives and property of people is threatened.
Disclosure of Invention
The embodiment of the application provides a robot passing method, a robot and a storage medium, and can solve the problem that the existing robot passing method is low in safety.
A first aspect of an embodiment of the present application provides a robot passing method, including:
identifying the current intersection of the robot;
acquiring a first signal of a first traffic light of the intersection and a first change time of the first signal;
determining a driving strategy from the real-time position where the robot is located to a target position according to the first signal and the first change time;
controlling the robot to pass through the intersection based on the driving strategy.
In a possible implementation manner of the first aspect, the determining, according to the first signal and the first change time, a driving strategy for going from a real-time location where the robot is located to a target location includes: determining a navigation route according to the current position and the target position; determining a target traffic light associated with the navigation route from the first traffic light, and screening out a target signal of the target traffic light and target change time of the target signal from the first signal and the first change time; and determining the driving strategy according to the target signal and the target change time.
In a possible implementation manner of the first aspect, the number of the navigation routes is multiple; the determining of the target traffic light associated with the navigation route from the first traffic light comprises: determining target traffic lights respectively associated with the navigation routes from the first traffic lights; correspondingly, the determining the driving strategy according to the target signal and the target change time comprises: calculating the movement duration corresponding to each navigation route according to the target signal and the target change time; and screening the navigation route with the shortest movement time from the plurality of navigation routes, and determining the driving strategy according to the screened navigation route.
In a possible implementation manner of the first aspect, the determining the driving strategy according to the target signal and the target change time includes: acquiring traffic flow information of the intersection; and determining the driving strategy according to the target signal, the target change time and the traffic flow information.
In one possible implementation manner of the first aspect, the target traffic light includes a sidewalk traffic light and a roadway traffic light, and the target signal includes a sidewalk traffic light signal and a roadway traffic light signal; before the acquiring of the traffic information of the intersection, the method comprises the following steps: judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal; correspondingly, the acquiring traffic information includes: and if the navigation route conflicts with the driving route of the vehicle at the intersection, acquiring the traffic information at the intersection.
In a possible implementation manner of the first aspect, the determining whether the navigation route conflicts with a driving route of a vehicle at the intersection according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal includes: determining the driving direction of the robot in the process that the robot passes through the intersection according to the navigation route; determining the driving direction of the vehicle at the intersection in the process that the robot passes through the intersection according to the sidewalk traffic light signal and the roadway traffic light signal; and judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the driving direction of the robot and the driving direction of the vehicle at the intersection.
In a possible implementation manner of the first aspect, the determining, according to the first signal and the first change time, a driving strategy for going from a real-time location where the robot is located to a target location includes: and determining the starting time and the movement speed used when the robot passes through the intersection according to the first signal and the first change time, and determining the driving strategy according to the starting time and the movement speed.
A second aspect of the embodiments of the present application provides a robot passing apparatus, including:
the identification unit is used for identifying the current intersection where the robot is located;
the acquisition unit is used for acquiring a first signal of a first traffic light of the intersection and first change time of the first signal;
the determining unit is used for determining a driving strategy from the real-time position where the robot is located to the target position according to the first signal and the first change time;
and the control unit is used for controlling the robot to pass through the intersection based on the driving strategy.
A third aspect of the embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above method when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above method.
A fifth aspect of embodiments of the present application provides a computer program product, which when run on a robot causes the robot to perform the steps of the method.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
In the embodiment of the application, the intersection where the robot is located is firstly identified, and a first signal of a first traffic light of the intersection and first change time of the first signal are obtained. And then, determining a driving strategy for going from the real-time position where the robot is located to the target position according to the first signal and the first change time. And then controlling the robot to pass through the intersection based on the driving strategy. Therefore, when the robot passes through the current intersection, the robot can refer to the signal of the traffic light of the intersection and the change time of the signal, and can adjust the motion of the robot according to the road condition. Especially under the condition that the traffic lights are about to switch, people and vehicle probably take place to rob the line, compare in simply through keeping away the barrier or following pedestrian's road, the signal safety that the robot can be based on the traffic lights can be guaranteed to this application and the crossing is passed through to the robot, has improved the security that the robot passed through the road, has ensured people's security of lives and property.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an implementation process of a robot passing method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of an implementation of determining a driving strategy according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a targeted traffic light provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of multiple navigation paths provided by an embodiment of the present application;
fig. 5 is a schematic flow chart illustrating an implementation of screening a path with the shortest running time according to an embodiment of the present application;
fig. 6 is a schematic diagram illustrating that a traveling direction of a robot and a traveling direction of a vehicle conflict with each other according to an embodiment of the present disclosure;
fig. 7 is a schematic flow chart of implementation of determining whether there is a conflict between a traveling direction of a robot and a traveling direction of a vehicle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a robot passing device according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The robot can replace manpower to execute various kinds of work, such as express delivery work, inspection work and the like. When the robot works outdoors, it is often necessary to cross the road. At present, the robot can cross the road by simply avoiding obstacles. However, in a complex road environment, the safety of the method is low, accidents are easily caused, and the safety of lives and property of people is threatened.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Fig. 1 shows a schematic implementation flow diagram of a robot passing method provided in an embodiment of the present application, where the method may be applied to a robot and may be applied to a situation where safety of robot passing needs to be improved.
Specifically, the robot passing method may include the following steps S101 to S104.
And step S101, identifying the current intersection of the robot.
In the embodiment of the present application, when the robot needs to work outdoors, it may need to move from one side of the road to the other side. To move from one side of the road to the other, the robot needs to travel to the intersection and through the zebra crossing to cross the intersection and then to the target location where the target arrives. Therefore, the intersection refers to the intersection where the robot is currently located, that is, the intersection that the robot needs to pass through currently.
In order to reduce the potential safety hazard of the robot when passing, in the embodiment of the application, the robot identifies the intersection where the robot is located to acquire the information of the intersection, and then passes through the intersection according to the information of the intersection.
The identification mode of the intersection can be selected according to actual conditions.
Specifically, in some embodiments of the present application, the robot may determine a current real-time position through satellite positioning, and determine a current intersection of the robot according to the real-time position and a digital map.
In other embodiments of the present application, the robot may also determine the current position by acquiring an environment image and recognizing the appearance or characters of a building in the environment image, so as to determine the current intersection.
Because the traffic lights of the intersection are generally controlled by the traffic light controller, and the traffic light controller is provided with the beacon and can continuously broadcast information to the outside, in other embodiments of the application, the robot can also receive the broadcast after reaching the intersection and determine the intersection where the robot is located.
Step S102, a first signal of a first traffic light of the intersection and a first change time of the first signal are obtained.
In the embodiment of the application, for the consideration of safety, when the robot passes through the intersection, the robot needs to know the first signal of the traffic light of the intersection and move according to the first signal of the traffic light. In addition, in a practical application scenario, when the traffic light is about to switch, a person and a vehicle may rush, and therefore the robot needs to acquire the first change time of the first signal.
The traffic light is a signal light used for commanding traffic operation at the intersection where the robot is located. Traffic lights may be of different types, such as roadway lights, sidewalk lights, and the like.
Traffic light signals are typically used to indicate whether the current intersection is allowed to pass. Generally, a traffic light indicates no passage when the signal is red and indicates passage when the signal is green. In an embodiment of the application, the robot may obtain a first signal of a traffic light at an intersection where the robot is located, where the first signal may specifically include all signals that may occur at the traffic light and a signal that the robot is currently located.
The signal of the traffic light can regulate and control vehicles, pedestrians and robots at the intersection through change, and generally, the switching frequency of the traffic light signal is set in advance by a traffic management party. Therefore, in the embodiment of the present application, it is necessary to obtain a first change time of the first signal, where the first change time includes a change time of a current signal, that is, a time required by the current signal to change the current signal, and a preset signal change time, that is, a switching frequency at which two adjacent signals change.
In practical applications, since a corresponding traffic light control box is disposed in a circuit of the traffic light for controlling a signal of the traffic light and a change of the signal, in some embodiments of the present application, the robot may access a corresponding interface in the traffic light control box in a physical connection manner to obtain the first signal and the first change time of the first signal. In other embodiments of the present application, the robot may also obtain the first signal and the first change time of the first signal from the traffic light control box in a wireless access manner such as bluetooth.
For privacy protection and road safety, before interacting with the traffic light control box, the robot may send authorization information to a traffic management department, and obtain the first signal and the first change time of the first signal after obtaining the authorization and accessing the traffic light control box.
And S103, determining a driving strategy from the real-time position where the robot is located to the target position according to the first signal and the first change time.
The target position refers to a position where the robot target arrives. Generally, when a robot performs work such as distribution and inspection, a target position indicated by a user or an administrator is obtained in advance and the robot goes to the target position to perform work. The method provided by the application is used when the robot crosses the road in the process of going to the target position from the real-time position where the robot is located.
In the embodiment of the application, after the robot reaches the intersection, a first signal and a first change time can be acquired, and then a driving strategy for going from the real-time position where the robot is located to the target position is determined according to the first signal and the first change time, wherein the driving strategy is used for indicating that the robot moves from the real-time position to the target position. The content of the driving strategy can be adjusted according to the actual situation.
For example, in some embodiments of the present application, the robot may determine, according to the first signal and the first change time, a speed of going from a real-time location where the robot is located to the target location, so that the robot can pass through a road when the robot is on a green light; or determining whether the robot needs to wait according to the first signal and the first change time, and if so, correspondingly waiting for the time.
And step S104, controlling the robot to pass through the intersection based on the driving strategy.
In the embodiment of the application, the robot can adjust the self movement according to the specific content of the driving strategy so as to pass through the intersection and finally reach the target position to complete the work.
In the embodiment of the application, the intersection where the robot is located is firstly identified, and a first signal of a first traffic light of the intersection and first change time of the first signal are obtained. And then, determining a driving strategy for going from the real-time position where the robot is located to the target position according to the first signal and the first change time. And then controlling the robot to pass through the intersection based on the driving strategy. Therefore, when the robot passes through the current intersection, the robot can refer to the signal of the traffic light of the intersection and the change time of the signal, and can adjust the motion of the robot according to the road condition. Especially under the condition that the traffic lights are about to switch, people and vehicle probably take place to rob the line, compare in simply through keeping away the barrier or following pedestrian's road, the signal safety that the robot can be based on the traffic lights can be guaranteed to this application and the crossing is passed through to the robot, has improved the security that the robot passed through the road, has ensured people's security of lives and property.
Specifically, in some embodiments of the present application, the step S104 may include: and determining the starting time and the movement speed used when the robot passes through the intersection according to the first signal and the first change time, and determining a driving strategy according to the starting time and the movement speed.
Specifically, in some embodiments of the present application, the robot may determine whether the current signal in the first signal is allowed to pass through according to the first signal and the first change time. And if the current signal is forbidden to pass, confirming the change time of the current signal in the first change time as waiting time, and determining the starting time and the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of the path as limiting conditions. At this time, the determined driving strategy is to move at a movement speed according to the navigation route after waiting for the starting time.
And if the current signal is allowed to pass, judging whether the robot possibly passes through the intersection before the current signal is sent and changed according to the change time of the current signal in the first change time and by taking the maximum movement speed of the robot as a limiting condition. If the robot cannot pass through the intersection before the current signal is sent and changed at the maximum movement speed of the robot, confirming the change time of the current signal in the first change time as the waiting time, and determining the starting time and the movement speed required by the robot according to the waiting time, the preset change time between adjacent signals in the first change time and the length of a path as limiting conditions. At this time, the determined driving strategy is to move at a movement speed according to the navigation route after waiting for the starting time.
If the robot can pass through the intersection before the current signal is sent and changed at the maximum movement speed of the robot, confirming the change time of the current signal in the first change time as the waiting time, and determining the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of the path as the limiting conditions. At this time, the determined driving strategy is to move at the movement speed directly according to the navigation route.
In practical application, the robot does not need to refer to all traffic lights at the current intersection in the process of passing through the intersection. Therefore, in some embodiments of the present application, as shown in fig. 2, the above-described determination of the driving strategy may include the following steps S201 to S203.
Step S201, determining a navigation route according to the current position and the target position.
The navigation route is a driving route used by the robot to move from a real-time position to a target position. Specifically, the robot may acquire an electronic map of a work area, and determine a navigation route according to the current position, the target position, and the electronic map.
It should be noted that, in some embodiments of the present application, the operation of determining the navigation route may only occur before the intersection where the robot is currently located is identified, that is, the robot determines the navigation route when starting to work, and goes to the intersection according to the navigation route, acquires the traffic light signal and the change time when arriving at the intersection, and determines the driving strategy to pass through the intersection and arrive at the target location. In some embodiments of the present application, the operation of determining the navigation route may also occur at a preset frequency, and in this case, the operation may be sent after identifying the intersection where the robot is currently located, or acquiring a traffic light signal and a change time of the intersection.
Step S202, a target traffic light related to the navigation route is determined from the first traffic lights, and a target signal of the target traffic light and a target change time of the target signal are screened out from the first signal and the first change time.
The target traffic light is a traffic light which is required to be referred by the robot when the robot passes through the intersection according to the navigation route. In an embodiment of the application, the robot may determine a target traffic light associated with the navigation route from the first traffic light, and then screen out a target signal of the target traffic light and a target change time of the target signal from the first signal and the first change time.
Taking fig. 3 as an example for explanation, when the robot 31 moves to the target position 33 according to the navigation route 32, the traffic lights that need to be considered in practice are the traffic light 34 and the traffic light 35 among all the first traffic lights at the intersection, so that the traffic light 34 and the traffic light 35 can be confirmed as the target traffic light, and the target signals of the traffic light 34 and the traffic light 35 and the target change time of the target signals can be acquired respectively.
In particular, in some embodiments of the present application, each of the first traffic lights may be respectively identified with an identifier for distinguishing, and each of the traffic lights in the electronic map of the robot may be identified with a corresponding identifier. When the electronic map is used for determining the navigation route, the traffic light in the electronic map, which is less than the preset distance from the navigation route at the current intersection, can be determined as the target traffic light. Then, the target signal of the target traffic light and the target change time of the target signal are screened out from the first information and the first change time according to the identifier of the target traffic light. In other embodiments of the present application, the robot may also determine, by image recognition or the like, traffic lights that need to be passed through when the robot passes through the intersection according to the navigation route, and determine the traffic lights as target traffic lights.
And step S203, determining a driving strategy according to the target signal and the target change time.
For the above determining the driving strategy according to the target signal and the target change time, reference may be made to the description of step S103, which is not described herein again.
In the implementation mode of the application, the robot does not need to refer to all traffic light signals, only needs to screen out the target traffic light from the first traffic light, and can determine the driving strategy of the robot from the current position to the target position according to the signal and the change time of the target traffic light. Therefore, the safety of the robot passing is improved, and the data amount required to be processed by the robot is reduced.
In practical applications, there are generally a plurality of navigation routes determined according to the real-time position and the target position. For example, as shown in fig. 4, if the robot 31 goes to the target position 33, there may be two different navigation routes, a navigation route 32 and a navigation route 36, for the same intersection.
Therefore, in the embodiment of the present application, it is necessary to determine a route from the navigation routes as a path on which the robot actually travels. Specifically, as shown in fig. 5, the following steps S501 to S502 may be included after the plurality of navigation routes are acquired.
Step S501, target traffic lights respectively associated with each navigation route are determined from the first traffic lights.
Wherein, the operation on a single navigation route in the plurality of navigation routes can refer to the aforementioned step S202. That is, in some embodiments of the present application, after a plurality of navigation routes are determined, a screening operation of the target traffic light may be performed for each navigation route.
Continuing with the example of FIG. 4, for the navigation route 32, the target traffic lights to which reference is made are traffic light 34 and traffic light 35; for the navigation route 36, the target traffic lights to which reference is required are the traffic light 37 and the traffic light 35.
Step S502, calculating the movement time length corresponding to each navigation route according to the target signal and the target change time.
In some embodiments of the present application, a path length of each navigation route and a movement speed of the robot may be acquired. And determining the movement duration corresponding to each navigation route according to the movement speed of the robot, the path length corresponding to each navigation route, the target signal and the target change time. The movement time duration refers to the time duration required for going from the real-time position to the target position.
The path length of the navigation route can be obtained from an electronic map, the movement speed of the robot can obtain a built-in default movement speed of the robot, or the average speed of the robot from the beginning to the intersection is used as the movement speed of the robot.
Specifically, in some embodiments of the present application, a parking time for the robot to park may be determined according to the movement speed, the target signal and the target change time. And the travel time of the robot can be calculated according to the movement speed and the path length. And summing the parking time and the driving time, so that the movement time corresponding to each path can be determined.
In other embodiments of the present application, according to the foregoing description, the movement speed and the start time of the robot may be adjusted based on the target signal and the target change time, with the maximum movement speed of the robot being the limit. In this case, although generally, the robot waits until it cannot pass through the road before the green light at the default movement speed. However, in some embodiments of the present application, if the robot can pass through the road before the green light at the maximum movement speed that the robot can reach, the robot movement speed can be adjusted to reduce the waiting time. Therefore, the shortest movement time corresponding to each path can be determined by simultaneously considering the target signal, the target change time and the maximum movement speed of the robot.
Step S503, screening the navigation route with the shortest movement time from the plurality of navigation routes, and determining a driving strategy according to the screened navigation route.
In some embodiments of the application, in consideration of factors such as the working efficiency of the robot, after the movement time corresponding to each path is calculated, the navigation route with the shortest movement time duration may be screened, and the driving strategy may be determined according to the screened navigation route. Namely, the robot can move according to the navigation route with the shortest movement time and the movement parameters such as starting time, movement speed and the like corresponding to the navigation route with the shortest movement time, pass through the intersection and finally reach the target position.
In the embodiment of the application, when a plurality of navigation routes exist, the target traffic lights respectively associated with the navigation routes are determined from the first traffic lights, then the movement time corresponding to the navigation routes is calculated according to the target signals and the target change time, further, the navigation route with the shortest movement time is screened out from the navigation routes, and the driving strategy is determined according to the screened navigation routes. The potential safety hazard that the robot passes through the road is reduced, the robot can be guaranteed to reach the target position in the shortest time, and the working efficiency of the robot is improved.
Ideally, the travel path of a person and a robot passing through an intersection at the same time does not intersect the travel path of a vehicle. In practical applications, however, the traffic light and the traffic flow may intersect each other in consideration of various factors such as the traffic flow and the traffic light.
For example, as shown in fig. 6, when the signal of the traffic light 67 is a pass, the robot 61 may move according to the travel path 62. At this time, the possible travel route of the vehicle 63 may be the travel route 64, the travel route 65, or the travel route 66 according to the lighted roadway traffic light. In this case, when the vehicle 63 travels along the travel route 64, the travel route 62 of the robot 61 and the travel route 64 of the vehicle 63 intersect with each other, and the robot 61 and the vehicle 63 may collide with each other.
In order to further improve the safety of the robot passing, in some embodiments of the present application, the determining the driving strategy according to the target signal and the target change time may include: and acquiring traffic flow information of the intersection, and determining a driving strategy according to the target signal, the target change time and the traffic flow information.
That is, in addition to the signal referring to the traffic light signal, the traffic information of the intersection needs to be referred to. The traffic information indicates information on vehicles at the intersection.
The specific content of the traffic information may be selected according to actual situations, and may include, for example, a driving direction and a number of vehicles.
In some embodiments of the present application, the robot may capture images of the intersection and identify vehicles therein via its own camera, and determine traffic flow information. Or acquiring images acquired by other terminals such as monitoring equipment and unmanned aerial vehicles to determine traffic flow information.
According to the embodiment of the application, the driving strategy is determined by acquiring the traffic information of the intersection and according to the target signal, the target change time and the traffic information, and the road condition and the vehicle condition in the intersection can be simultaneously referred to, so that the potential safety hazard of the robot during passing is reduced.
In consideration of the cruising ability of the robot, the operation of acquiring the traffic information at the intersection does not need to be performed every time the vehicle passes through the intersection, and the operation is performed only when the traveling path of the robot and the traveling path of the vehicle intersect.
Therefore, in some embodiments of the present application, it may be determined that the travel path of the robot intersects with the travel path of the vehicle. And when the running path of the robot and the running path of the vehicle are crossed, the operation of acquiring the traffic flow information of the intersection is carried out.
Specifically, the target traffic light includes a sidewalk traffic light and a roadway traffic light, and correspondingly, the target signal includes a sidewalk traffic light signal and a roadway traffic light signal.
At this time, in some embodiments of the present application, before obtaining the traffic information at the intersection, it may be determined whether the navigation route conflicts with the driving route of the vehicle at the intersection according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal. Correspondingly, the acquiring traffic information may include: and if the navigation route conflicts with the driving route of the vehicle at the intersection, acquiring the traffic flow information at the intersection.
That is, when the navigation route does not conflict with the driving route of the vehicle at the intersection, it is stated that under normal conditions, when the robot drives according to the navigation route, the vehicle driving at the same time does not pass through the path where the robot drives, so the vehicle does not collide with the robot, the robot can determine the driving strategy directly according to the signal of the traffic light and the change time without acquiring traffic flow information, and pass through the intersection according to the driving strategy.
When the navigation route conflicts with the driving route of the vehicle at the intersection, which means that under normal conditions, when the robot drives according to the navigation route, the vehicle driving at the same time may pass through the driving route of the robot, so that the vehicle may collide with the robot, the robot needs to acquire traffic information, determines a driving strategy according to the traffic information, the signal of the traffic light and the change time, and passes through the intersection according to the driving strategy.
Specifically, as shown in fig. 7, the determining whether the navigation route conflicts with the driving route of the vehicle at the intersection according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal may include the following steps S701 to S703.
And step S701, determining the driving direction of the robot in the process that the robot passes through the intersection according to the navigation route.
Specifically, in some embodiments of the present application, after the robot determines the navigation route, the robot may determine the driving direction of the robot during crossing the intersection according to the real-time position and the target position of the robot.
And step S702, determining the driving direction of the vehicles at the intersection in the process that the robot passes through the intersection according to the sidewalk traffic light signal and the roadway traffic light signal.
The driving direction of the vehicle refers to a direction in which the vehicle may travel when passing. In some embodiments of the present application, the robot may determine the driving direction of the vehicle at the intersection during the process of passing through the intersection by the robot according to the sidewalk traffic light signal and the roadway traffic light signal. I.e. to determine the direction of travel of vehicles that can pass at the same time as the robot crosses the road.
Specifically, in some embodiments of the present application, if the roadway traffic light is a turn signal, the turn signal that the robot allows to pass through during the crossing process can be determined according to the sidewalk traffic light signal. Then, the direction corresponding to the direction indicator lamp allowing passage is determined as the driving direction of the vehicle.
Step S703, determining whether the navigation route conflicts with the driving route of the vehicle at the intersection according to the driving direction of the robot and the driving direction of the vehicle at the intersection.
Specifically, in some embodiments of the present application, if an angle between a traveling direction of the robot and a traveling direction of a vehicle at the intersection is within a preset angle range, it is confirmed that the navigation route conflicts with a traveling route of the vehicle at the intersection. In other embodiments of the present application, a preset conflict combination may be further obtained, and when the combination between the driving direction of the robot and the driving direction of the vehicle at the intersection matches the set conflict combination, it is determined that the navigation route conflicts with the driving route of the vehicle at the intersection.
In the embodiment of the application, the driving direction of the robot in the process that the robot passes through the intersection is determined according to the navigation route, and the driving direction of the vehicle at the intersection in the process that the robot passes through the intersection is determined according to the sidewalk traffic light signal and the roadway traffic light signal. Then, whether the navigation route conflicts with the driving route of the vehicle at the intersection is judged according to the driving direction of the robot and the driving direction of the vehicle at the intersection. If the navigation route conflicts with the driving route of the vehicle at the intersection, the traffic information can be acquired, and the driving strategy of the robot is determined by combining the traffic information, the traffic light signal and the change time, so that the robot is prevented from colliding with the vehicle driving at the same time, and the road passing safety of the robot is improved.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.
Fig. 8 is a schematic structural diagram of a robot passing device 800 according to an embodiment of the present disclosure, where the robot passing device 800 is disposed on a robot. The robot passing apparatus 800 may include: a recognition unit 801, an acquisition unit 802, a determination unit 803, and a control unit 804.
The identification unit 801 is used for identifying the current intersection where the robot is located;
an obtaining unit 802, configured to obtain a first signal of a first traffic light at the intersection and a first change time of the first signal;
a determining unit 803, configured to determine, according to the first signal and the first change time, a driving strategy from a real-time location where the robot is located to a target location;
a control unit 804 for controlling the robot to pass through the intersection based on the driving strategy.
In some embodiments of the present application, the determining unit 803 is further specifically configured to: determining a navigation route according to the current position and the target position; determining a target traffic light associated with the navigation route from the first traffic light, and screening out a target signal of the target traffic light and target change time of the target signal from the first signal and the first change time; and determining the driving strategy according to the target signal and the target change time.
In some embodiments of the present application, the number of the navigation routes is multiple; the determining unit 803 is further specifically configured to: determining target traffic lights respectively associated with the navigation routes from the first traffic lights; calculating the movement duration corresponding to each navigation route according to the target signal and the target change time; and screening the navigation route with the shortest movement time from the plurality of navigation routes, and determining the driving strategy according to the screened navigation route.
In some embodiments of the present application, the determining unit 803 is further specifically configured to: acquiring traffic flow information of the intersection; and determining the driving strategy according to the target signal, the target change time and the traffic flow information.
In some embodiments of the present application, the target traffic light comprises a sidewalk traffic light and a roadway traffic light, and the target signal comprises a sidewalk traffic light signal and a roadway traffic light signal; the robot passing apparatus 800 further includes a collision determination unit configured to: judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal; correspondingly, the determining unit 803 is further specifically configured to: and if the navigation route conflicts with the driving route of the vehicle at the intersection, acquiring the traffic information at the intersection.
In some embodiments of the present application, the conflict determination unit is further specifically configured to: determining the driving direction of the robot in the process that the robot passes through the intersection according to the navigation route; determining the driving direction of the vehicle at the intersection in the process that the robot passes through the intersection according to the sidewalk traffic light signal and the roadway traffic light signal; and judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the driving direction of the robot and the driving direction of the vehicle at the intersection.
In some embodiments of the present application, the determining unit 803 is further specifically configured to: and determining the starting time and the movement speed used when the robot passes through the intersection according to the first signal and the first change time, and determining the driving strategy according to the starting time and the movement speed.
It should be noted that, for convenience and simplicity of description, the specific working process of the robot passing device 800 may refer to the corresponding process of the method described in fig. 1 to fig. 7, and is not described herein again.
Fig. 9 is a schematic view of a robot according to an embodiment of the present disclosure. The robot 9 may include: a processor 90, a memory 91 and a computer program 92, such as a robot passer-by program, stored in said memory 91 and executable on said processor 90. The processor 90, when executing the computer program 92, implements the steps in the above-described embodiments of the robot passing method, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 90, when executing the computer program 92, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the units 801 to 804 shown in fig. 8.
The computer program may be divided into one or more modules/units, which are stored in the memory 91 and executed by the processor 90 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the robot.
For example, the computer program may be divided into: the device comprises an identification unit, an acquisition unit, a determination unit and a control unit. The specific functions of each unit are as follows:
the identification unit is used for identifying the current intersection where the robot is located;
the acquisition unit is used for acquiring a first signal of a first traffic light of the intersection and first change time of the first signal of the first traffic light;
the determining unit is used for determining a driving strategy from the real-time position where the robot is located to the target position according to the first signal and the first change time;
and the control unit is used for controlling the robot to pass through the intersection based on the driving strategy.
The robot may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is merely an example of a robot and is not intended to be limiting and may include more or fewer components than those shown, or some components in combination, or different components, for example the robot may also include input output devices, network access devices, buses, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the robot, such as a hard disk or a memory of the robot. The memory 91 may also be an external storage device of the robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the robot. Further, the memory 91 may also include both an internal storage unit and an external storage device of the robot. The memory 91 is used for storing the computer program and other programs and data required by the robot. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for passing by a robot, comprising:
identifying the current intersection of the robot;
acquiring a first signal of a first traffic light of the intersection and first change time of the first signal, wherein the first change time comprises the change time of the current signal and the change time between two adjacent signals;
determining a driving strategy from the real-time position where the robot is located to a target position according to the first signal and the first change time;
controlling the robot to pass through the intersection based on the driving strategy;
the determining of the driving strategy from the real-time position where the robot is located to the target position according to the first signal and the first change time includes:
judging whether the current signal in the first signal is allowed to pass or not according to the first signal and the first change time, if the current signal is not allowed to pass, confirming the change time of the current signal in the first change time as waiting time, and determining the starting time and the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of a path as limiting conditions, if the current signal is allowed to pass, judging whether the robot can pass through the intersection before the current signal is changed according to the change time of the current signal in the first change time and taking the maximum movement speed of the robot as limiting conditions, if the robot cannot pass through the intersection before the current signal is changed according to the maximum movement speed of the robot, confirming the change time of the current signal in the first change time as waiting time, and determining the starting time and the movement speed required by the robot according to the waiting time, the preset change time between adjacent signals in the first change time and the length of the path as limiting conditions, confirming the change time of the current signal in the first change time as the waiting time if the robot can pass through the intersection before the current signal changes according to the maximum movement speed of the robot, and determining the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of the path as limiting conditions.
2. The method for robot passing through according to claim 1, wherein the determining the driving strategy from the real-time position to the target position of the robot according to the first signal and the first change time comprises:
determining a navigation route according to the real-time position and the target position;
determining a target traffic light associated with the navigation route from the first traffic light, and screening out a target signal of the target traffic light and target change time of the target signal from the first signal and the first change time;
and determining the driving strategy according to the target signal and the target change time.
3. The robot passing method according to claim 2, wherein the number of the navigation routes is plural;
the determining of the target traffic light associated with the navigation route from the first traffic light comprises:
determining target traffic lights respectively associated with the navigation routes from the first traffic lights;
correspondingly, the determining the driving strategy according to the target signal and the target change time comprises:
calculating the movement duration corresponding to each navigation route according to the target signal and the target change time;
and screening the navigation route with the shortest movement time from the plurality of navigation routes, and determining the driving strategy according to the screened navigation route.
4. The method of claim 2, wherein said determining the travel strategy based on the target signal and the target change time comprises:
acquiring traffic flow information of the intersection;
and determining the driving strategy according to the target signal, the target change time and the traffic flow information.
5. The robot passing method according to claim 4, wherein the target traffic light includes a sidewalk traffic light and a roadway traffic light, and the target signal includes a sidewalk traffic light signal and a roadway traffic light signal;
before the acquiring of the traffic information of the intersection, the method comprises the following steps:
judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal;
correspondingly, the acquiring the traffic information of the intersection includes:
and if the navigation route conflicts with the driving route of the vehicle at the intersection, acquiring the traffic flow information of the intersection.
6. The robot passing method according to claim 5, wherein the determining whether the navigation route conflicts with a driving route of a vehicle at the intersection according to the navigation route, the sidewalk traffic light signal and the roadway traffic light signal comprises:
determining the driving direction of the robot in the process that the robot passes through the intersection according to the navigation route;
determining the driving direction of the vehicle at the intersection in the process that the robot passes through the intersection according to the sidewalk traffic light signal and the roadway traffic light signal;
and judging whether the navigation route conflicts with the driving route of the vehicle at the intersection or not according to the driving direction of the robot and the driving direction of the vehicle at the intersection.
7. The method for robot passing according to any one of claims 1 to 6, wherein the determining the driving strategy from the real-time position to the target position of the robot according to the first signal and the first change time comprises:
and determining the starting time and the movement speed used when the robot passes through the intersection according to the first signal and the first change time, and determining the driving strategy according to the starting time and the movement speed.
8. A robot passing device, comprising:
the identification unit is used for identifying the current intersection where the robot is located;
the acquisition unit is used for acquiring a first signal of a first traffic light of the intersection and first change time of the first signal, wherein the first change time comprises the change time of the current signal and the change time between two adjacent signals;
the determining unit is used for determining a driving strategy from the real-time position where the robot is located to the target position according to the first signal and the first change time;
a control unit for controlling the robot to pass through the intersection based on the driving strategy,
the determining unit is further specifically configured to: judging whether the current signal in the first signal is allowed to pass or not according to the first signal and the first change time, if the current signal is not allowed to pass, confirming the change time of the current signal in the first change time as waiting time, and determining the starting time and the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of a path as limiting conditions, if the current signal is allowed to pass, judging whether the robot can pass through the intersection before the current signal is changed according to the change time of the current signal in the first change time and taking the maximum movement speed of the robot as limiting conditions, if the robot cannot pass through the intersection before the current signal is changed according to the maximum movement speed of the robot, confirming the change time of the current signal in the first change time as waiting time, and determining the starting time and the movement speed required by the robot according to the waiting time, the preset change time between adjacent signals in the first change time and the length of the path as limiting conditions, confirming the change time of the current signal in the first change time as the waiting time if the robot can pass through the intersection before the current signal changes according to the maximum movement speed of the robot, and determining the movement speed required by the robot according to the preset change time between adjacent signals in the first change time and the length of the path as limiting conditions.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011218622.3A CN112509353B (en) | 2020-11-04 | 2020-11-04 | Robot passing method and device, robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011218622.3A CN112509353B (en) | 2020-11-04 | 2020-11-04 | Robot passing method and device, robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112509353A CN112509353A (en) | 2021-03-16 |
| CN112509353B true CN112509353B (en) | 2022-05-24 |
Family
ID=74955086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011218622.3A Active CN112509353B (en) | 2020-11-04 | 2020-11-04 | Robot passing method and device, robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112509353B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113932797A (en) * | 2021-10-21 | 2022-01-14 | 深圳优地科技有限公司 | Robot navigation method, device, robot and storage medium |
| CN115273509B (en) * | 2022-06-28 | 2023-10-17 | 深圳优地科技有限公司 | Control method for unmanned vehicle passing traffic intersection, unmanned vehicle and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106537271A (en) * | 2014-07-31 | 2017-03-22 | 谷歌公司 | Traffic Signal Response for Autonomous Vehicles |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN109389844A (en) * | 2017-08-09 | 2019-02-26 | 三星电子株式会社 | Method and apparatus for controlling the driving of vehicle |
| CN109949590A (en) * | 2017-12-21 | 2019-06-28 | 通用汽车环球科技运作有限责任公司 | Traffic Light Status Assessment |
| CN110134124A (en) * | 2019-04-29 | 2019-08-16 | 北京小马慧行科技有限公司 | Vehicle driving control method, device, storage medium and processor |
| CN110162062A (en) * | 2019-06-10 | 2019-08-23 | 北京百度网讯科技有限公司 | Vehicle driving planing method, device, equipment and readable storage medium storing program for executing |
| CN110706494A (en) * | 2019-10-30 | 2020-01-17 | 北京百度网讯科技有限公司 | Control method, device, device and storage medium for autonomous vehicle |
| CN110794827A (en) * | 2019-09-26 | 2020-02-14 | 国唐汽车有限公司 | A V2X-based high-efficiency speed control method for passing traffic lights |
| CN110889965A (en) * | 2019-11-22 | 2020-03-17 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, device and unmanned vehicle |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9916703B2 (en) * | 2015-11-04 | 2018-03-13 | Zoox, Inc. | Calibration for autonomous vehicle operation |
-
2020
- 2020-11-04 CN CN202011218622.3A patent/CN112509353B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106537271A (en) * | 2014-07-31 | 2017-03-22 | 谷歌公司 | Traffic Signal Response for Autonomous Vehicles |
| CN109389844A (en) * | 2017-08-09 | 2019-02-26 | 三星电子株式会社 | Method and apparatus for controlling the driving of vehicle |
| CN109949590A (en) * | 2017-12-21 | 2019-06-28 | 通用汽车环球科技运作有限责任公司 | Traffic Light Status Assessment |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN110134124A (en) * | 2019-04-29 | 2019-08-16 | 北京小马慧行科技有限公司 | Vehicle driving control method, device, storage medium and processor |
| CN110162062A (en) * | 2019-06-10 | 2019-08-23 | 北京百度网讯科技有限公司 | Vehicle driving planing method, device, equipment and readable storage medium storing program for executing |
| CN110794827A (en) * | 2019-09-26 | 2020-02-14 | 国唐汽车有限公司 | A V2X-based high-efficiency speed control method for passing traffic lights |
| CN110706494A (en) * | 2019-10-30 | 2020-01-17 | 北京百度网讯科技有限公司 | Control method, device, device and storage medium for autonomous vehicle |
| CN110889965A (en) * | 2019-11-22 | 2020-03-17 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, device and unmanned vehicle |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112509353A (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230065411A1 (en) | Navigation method, device and system for cross intersection | |
| US10803740B2 (en) | System and method of navigating vehicles | |
| US11928967B2 (en) | System and method of using a vehicle as a backup roadside unit (RSU) | |
| CN112562408B (en) | Global path planning method, device and system based on vehicle-road cooperation | |
| JP6840240B2 (en) | Dynamic route determination for autonomous vehicles | |
| US10395522B2 (en) | Adaptive traffic optimization using unmanned aerial vehicles | |
| JP5526788B2 (en) | Traffic signal control system, traffic signal controller, central device and program | |
| JP7251114B2 (en) | Driving support device, driving support system, and driving support method | |
| US10636298B2 (en) | Adaptive traffic control using object tracking and identity details | |
| WO2015156146A1 (en) | Travel control device, onboard display device, and travel control system | |
| CN109509352A (en) | For the path planning of the autonomous vehicle in forbidden area | |
| CN111526483A (en) | Avoidance control method, device, storage medium, vehicle and system | |
| CN109584579B (en) | Traffic signal lamp control method based on face recognition and computer equipment | |
| JP2019106674A (en) | Automatic driving control system, automatic driving control method, and vehicle | |
| EP4145420A1 (en) | Hierarchical processing of traffic signal face states | |
| JP2022513929A (en) | Vehicles How and systems to control vehicles | |
| CN112509353B (en) | Robot passing method and device, robot and storage medium | |
| CN113851003A (en) | Vehicle control system, vehicle control method, vehicle control apparatus, and storage medium | |
| CN110428619A (en) | A kind of intelligent driving method based on bus or train route cooperative system | |
| CN110598563A (en) | Method and device for processing travelling of movable equipment and storage medium | |
| KR20200121652A (en) | Method for cooperatively regulating vehicle supporting regulation of illegal vehicle and illegal zone automatic moving using autonomous driving and apparatus for the same | |
| CN113196010B (en) | Intersection maps learned from long-term sensor data | |
| US11814068B2 (en) | Automated driving system | |
| EP3665056A1 (en) | Strategy modes for autonomous vehicle operations | |
| CN113485351B (en) | Mobile robot control method and device, mobile robot and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Unit 7-11, 6th Floor, Building B2, No. 999-8 Gaolang East Road, Wuxi Economic Development Zone, Wuxi City, Jiangsu Province, China 214000 Patentee after: Youdi Robot (Wuxi) Co.,Ltd. Country or region after: China Address before: 5D, Building 1, Tingwei Industrial Park, No. 6 Liufang Road, Xingdong Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: UDITECH Co.,Ltd. Country or region before: China |