CN112965472A - Unmanned vehicle and advancing assisting method, device and system thereof - Google Patents
Unmanned vehicle and advancing assisting method, device and system thereof Download PDFInfo
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application discloses unmanned vehicle and auxiliary method, device and system for advancing thereof, wherein the method comprises the following steps: identifying a first type of identification on a road section position where the current unmanned vehicle is located to obtain first information; identifying a first type of identification on a road section position where an obstacle located in front of the unmanned vehicle is located at present to obtain second information; and determining the distance between the unmanned vehicle and the obstacle at present according to the first information and the second information. Therefore, whether the current unmanned vehicle is in a bumpy state or not, the first information and the second information can accurately reflect the position of the current unmanned vehicle and the position of the front obstacle, and the actual distance between the unmanned vehicle and the obstacle can be accurately reflected according to the distance value determined by the first information and the second information subsequently, so that the driving assisting effect of the unmanned vehicle is improved.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle and a method, a device and a system for assisting the unmanned vehicle in advancing.
Background
Currently, with the development of technologies and the increasing application requirements, the types and the number of unmanned vehicles are more and more, and the unmanned vehicles can be applied to various different scenes, so that a large amount of labor force is liberated, and the development progress of the society is promoted.
In the existing unmanned vehicle technology, corresponding measures are needed to assist the unmanned vehicle to travel, but the existing unmanned vehicle travel assist technology has the problems of unsatisfactory effect or deficient function and the like to a certain extent. For example, in order to confirm driving safety in the conventional unmanned vehicle technology, it is necessary to determine the distance between the current unmanned vehicle and the obstacle ahead in real time. In order to determine the distance, it is a conventional practice to mount a camera at a preset height position of the unmanned vehicle, fix the posture of the camera, then use the camera to acquire a real-time image of the obstacle in front, and calculate the distance between the unmanned vehicle and the obstacle in front by combining the image area position corresponding to the obstacle in the real-time image and the corresponding triangular relationship. On the premise that the unmanned vehicle runs stably, the accuracy of the distance value obtained by the distance determining mode can be guaranteed, however, when the unmanned vehicle bumps in the running process, the accuracy of the distance determining mode is very low, and the unmanned vehicle has very high potential safety hazards.
In summary, it can be seen that how to ensure that the obtained distance value has higher accuracy in the process of determining the distance between the unmanned vehicle and the front obstacle so as to further improve the effect of assisting the unmanned vehicle in traveling is a problem to be solved at present.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an unmanned vehicle, and a method, an apparatus, and a system for assisting the unmanned vehicle in traveling, which can ensure that an obtained distance value has higher accuracy in a process of determining a distance between the unmanned vehicle and a preceding obstacle, thereby facilitating improvement of an effect of assisting the unmanned vehicle in traveling. The specific scheme is as follows:
in a first aspect, the present invention discloses an unmanned vehicle traveling assistance method, which is applied to an unmanned vehicle traveling on a specified road segment, where different road segment positions of the specified road segment are provided with a first type identifier for representing road segment position information relative to the specified road segment, and the method includes:
identifying a first type of identification on a road section position where the current unmanned vehicle is located to obtain first information;
identifying a first type of identification on a road section position where an obstacle located in front of the unmanned vehicle is located at present to obtain second information;
and determining the distance between the unmanned vehicle and the obstacle at present according to the first information and the second information.
Optionally, the unmanned vehicle driving assisting method further includes:
acquiring the road section identity information of the specified road section;
and accurately positioning the current unmanned vehicle by using the road section identity information and the first information.
Optionally, the obtaining of the segment identity information of the specified segment includes:
acquiring global positioning information of the unmanned vehicle;
and according to the global positioning information, identity confirmation is carried out on the road section where the current unmanned vehicle is located, and road section identity information of the specified road section is obtained.
Optionally, the obtaining of the segment identity information of the specified segment includes:
and identifying a second type of identification which is preset on the specified road section and used for representing the identity information of the specified road section to obtain the road section identity information of the specified road section.
Optionally, the unmanned vehicle driving assisting method further includes:
identifying a third type of identification preset on a preset road section position of the specified road section to acquire third information, wherein the third type of identification is used for representing the distance between the preset road section position and a front traffic signal lamp;
and determining the distance between the current unmanned vehicle and the traffic signal lamp in front according to the third information.
Optionally, the unmanned vehicle driving assisting method further includes:
collecting vibration characteristic information of the unmanned vehicle in the advancing process to obtain fourth information;
and judging whether the fourth information is consistent with preset characteristic information or not, and if so, controlling the unmanned vehicle to stop.
Optionally, the unmanned vehicle driving assisting method further includes:
identifying a fourth type of identification which is preset on the appointed road section and used for indicating the unmanned vehicle to stop so as to obtain fifth information;
and judging whether the fifth information is consistent with preset characteristic information or not, and if so, controlling the unmanned vehicle to stop.
In a second aspect, the invention discloses an unmanned vehicle traveling auxiliary device, which comprises a processor and a memory; wherein the processor implements the unmanned vehicle travel assistance method disclosed above when executing the computer program stored in the memory.
In a third aspect, the invention discloses an unmanned vehicle, which comprises the unmanned vehicle traveling auxiliary device disclosed in the foregoing.
In a fourth aspect, the invention discloses an unmanned vehicle traveling auxiliary system, which comprises the unmanned vehicle disclosed in the foregoing and the specified road section disclosed in the foregoing.
Therefore, the first type of identification used for representing the position information of the road section is arranged on different road section positions on the appointed road section in advance, the position information of the road section is the position information relative to the appointed road section, when the unmanned vehicle travels on the appointed road section, the first type of identification on the position of the road section where the unmanned vehicle is located and the position of the road section where the current front obstacle is located are respectively identified to obtain the corresponding first information and the corresponding second information, and the first information and the second information can accurately reflect the position where the current unmanned vehicle is located and the position where the front obstacle is located no matter whether the current unmanned vehicle is in a bumpy state or not, so that the actual distance between the unmanned vehicle and the obstacle can be accurately reflected by the distance value determined according to the first information and the second information subsequently. Therefore, the method and the device can ensure that the obtained distance value has higher accuracy in the process of determining the distance between the unmanned vehicle and the front obstacle, thereby being beneficial to improving the auxiliary effect of the unmanned vehicle.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an unmanned vehicle driving assistance method disclosed in an embodiment of the present invention;
fig. 2 is a schematic diagram of a specific road segment identifier distribution disclosed in the embodiment of the present invention;
fig. 3 is another specific road segment identifier distribution diagram disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an unmanned vehicle traveling auxiliary method, which is applied to an unmanned vehicle traveling on a specified road section, wherein different road section positions of the specified road section are provided with first-class identifiers used for representing road section position information relative to the specified road section, and the method comprises the following steps of:
step S11: and identifying the first type of identification on the road section position where the current unmanned vehicle is located to obtain first information.
In this embodiment, first type identifiers for representing corresponding link location information are preset at different locations of a specified link, and the link location information represented by these first type identifiers is location information relative to the specified link, for example, the link location information represented by the first type identifier may refer to a distance value between the link location and a link starting point or a link ending point of the specified link, which means that the first information obtained in step S11 specifically refers to a distance value between the link location where the current unmanned vehicle is located and the link starting point or the link ending point of the specified link.
Referring to fig. 2, in the present embodiment, all the first type identifiers on the specified road segment may be distributed at equal intervals, and it can be understood that the first type identifiers in fig. 2 are seemingly not equidistant but actually equidistant due to the perspective factor. The size of the distance between two adjacent first-type identifiers may be specifically set according to an actual situation, for example, the distance between every two adjacent first-type identifiers may be determined according to the level of the security requirement, and the higher the security requirement is, the smaller the distance between every two adjacent first-type identifiers may be set. Specifically, each 10 cm apart of the first type identifier may be provided. Of course, in this embodiment, the distribution manner of all the first type identifiers on the specified road segment is not limited to the equidistant distribution, and may also be non-equidistant distribution.
In addition, as can be seen from fig. 2, in this embodiment, different first-type identifiers may be formed by small circles with different characteristics, it should be noted that the identifier formation manner in this embodiment is only a specific manner, and this embodiment is not limited to the identifier formation manner, but may also be based on other identifier formation manners, as long as the first-type identifiers formed by these identifier formation manners can carry encoded information, and the encoded information carried by these first-type identifiers can reflect link position information of different link positions on the specified link relative to the specified link, these identifier formation manners can be applied to this embodiment, and both belong to the protection object in this embodiment. It should be further noted that the basic elements constituting the first type mark in this embodiment may be static image elements, text elements, etc., such as small circles shown in fig. 2, or may be elements capable of dynamically changing under electric control, such as units capable of emitting light when powered on.
It can be understood that, in order to identify the identifiers on the specified road sections, a recognition device with a machine vision algorithm correspondingly integrated on the unmanned vehicle is required, and the identifiers on the specified road sections are identified through the machine vision algorithm so as to extract the information corresponding to the identifiers.
It should be further noted that, in step S11 of this embodiment, the first type identifier on the road segment position where the current unmanned vehicle is located may be a first type identifier on a road segment position corresponding to a position in front of the vehicle body of the current unmanned vehicle, and may also be a first type identifier on a road segment position corresponding to other vehicle body positions of the current unmanned vehicle.
Step S12: and identifying the first type of identification on the road section position where the barrier in front of the unmanned vehicle is located at present to obtain second information.
It can be understood that, in this embodiment, the first type identifier located at the position of the road segment where the obstacle located in front of the unmanned vehicle is located at present specifically refers to the first type identifier located at the position of the road segment corresponding to the rear portion of the obstacle located in front of the unmanned vehicle.
In this embodiment, if the road section position information represented by the first type identifier is a distance value between the position of the road section and the road section starting point or the road section ending point of the specified road section, the second information obtained in the step S12 specifically is a distance value between the position of the road section where the front obstacle of the current unmanned vehicle is located and the road section starting point or the road section ending point of the specified road section.
Step S13: and determining the distance between the unmanned vehicle and the obstacle at present according to the first information and the second information.
Specifically, when the road section position information represented by the first type identifier in this embodiment refers to a distance value between the position of the road section and the road section starting point of the specified road section, the first information specifically refers to a distance value between the position of the road section where the current unmanned vehicle is located and the road section starting point of the specified road section, the second information specifically refers to a distance value between the position of the road section where the obstacle ahead of the current unmanned vehicle is located and the road section starting point of the specified road section, and then based on the two distance values, the distance between the unmanned vehicle and the obstacle ahead can be determined, where the corresponding determination manner specifically includes:
in a specific implementation manner, if the first type identifier on the road section position where the current unmanned vehicle is located is specifically the first type identifier on the road section position corresponding to the position in front of the vehicle body of the current unmanned vehicle in this embodiment, and the first type identifier on the road section position where the obstacle located in front of the unmanned vehicle is specifically the first type identifier on the road section position corresponding to the position behind the obstacle in front, the first information and the second information may be directly subtracted from each other subsequently, so as to obtain the distance between the current unmanned vehicle and the obstacle in front.
In another specific implementation manner, if the first type identifier on the road section position where the current unmanned vehicle is located is specifically a first type identifier on a road section position corresponding to a part of the current unmanned vehicle other than a part in front of the vehicle body, and the first type identifier on the road section position where the obstacle located in front of the unmanned vehicle is located is specifically a first type identifier on a road section position corresponding to a part behind the obstacle in front, when the distance between the current unmanned vehicle and the obstacle in front is determined subsequently, the distance between the current unmanned vehicle and the obstacle in front may be determined according to the first information, the information, and the distance between the part of the other vehicle body and the part in front of the vehicle body.
Further, in order to avoid traffic safety accidents possibly caused by the fact that the current barrier located behind the unmanned vehicle is close to the unmanned vehicle, the unmanned vehicle can be controlled to perform proper acceleration operation under the condition that the distance between the unmanned vehicle and the barrier behind the unmanned vehicle is too small, the distance between the unmanned vehicle and the barrier behind the unmanned vehicle is increased, and driving safety factor is improved. In order to enable the unmanned vehicle to timely acquire the distance between the current unmanned vehicle and the rear obstacle, the unmanned vehicle traveling auxiliary method in this embodiment may further include: identifying the first type of identification on the road section position of the barrier located behind the unmanned vehicle, determining the distance between the unmanned vehicle and the barrier behind the unmanned vehicle according to the information obtained by identification and the first information,
therefore, in the embodiment of the invention, the first type of identification used for representing the position information of the road section is preset at different road section positions on the specified road section, and the position information of the road section is the position information relative to the specified road section, when the unmanned vehicle travels on the specified road section, the first type of identification on the position of the road section where the unmanned vehicle is located and the position of the road section where the current front obstacle is located are respectively identified to obtain the corresponding first information and second information, and the first information and the second information can accurately reflect the position where the current unmanned vehicle is located and the position where the front obstacle is located no matter whether the current unmanned vehicle is in a bumpy state, so that the actual distance between the unmanned vehicle and the obstacle can also be accurately reflected by the distance value subsequently determined according to the first information and the second information. Therefore, the embodiment of the invention can ensure that the obtained distance value has higher accuracy in the process of determining the distance between the unmanned vehicle and the front obstacle, thereby being beneficial to improving the auxiliary effect of the unmanned vehicle.
The embodiment of the invention discloses a specific unmanned vehicle traveling auxiliary method, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Specifically, the method comprises the following steps:
since it is considered that in this embodiment, the information represented by the first type identifier on the specified road segment is the road segment location information of different road segment locations of the specified road segment relative to the specified road segment itself, such as distance information relative to a road segment starting point or a road segment ending point of the specified road segment, if the accurate location information of the unmanned vehicle on the global geographic location cannot be obtained only based on the road segment location information obtained after identifying the first type identifier on the location where the unmanned vehicle is currently located, in order to obtain the accurate location information of the unmanned vehicle, the unmanned vehicle traveling assistance method in this embodiment may further include:
and acquiring the road section identity information of the specified road section, and then accurately positioning the current unmanned vehicle by using the road section identity information and the first information.
It can be understood that after the road segment identity information of the specified road segment is obtained, it may be determined, according to the road segment identity information, which road segment is currently traveled by the unmanned vehicle is which one of the road segments, for example, assuming that there are 100 specified road segments, and a first type identifier for representing road segment location information relative to the specified road segment is provided at different road segment locations on each specified road segment, then the road segment identity information obtained for the specified road segment is actually determined from the 100 specified road segments, which specified road segment is currently traveled by the unmanned vehicle. And then, the unmanned vehicle can be accurately positioned by combining the road section position information corresponding to the current position of the unmanned vehicle.
In a specific embodiment, the step of obtaining the segment identity information of the specified segment may specifically include:
and acquiring global positioning information of the unmanned vehicle, and then confirming the identity of the current road section where the unmanned vehicle is located according to the global positioning information to obtain the road section identity information of the specified road section.
Therefore, the identity information of the road section where the current unmanned vehicle is located can be determined according to the global positioning information of the unmanned vehicle. The reason why the global positioning information of the unmanned vehicle is not directly determined as the final positioning information of the unmanned vehicle is that the signal of the global positioning device on the unmanned vehicle is not stable in some cases, so that the accuracy of the global positioning information directly acquired by the global positioning device is difficult to meet the requirement of the unmanned vehicle on the positioning accuracy in the traveling process, so that the embodiment selects to determine the current unmanned vehicle to travel on which specified road section through the global positioning technology, and then determines the accurate positioning information of the current unmanned vehicle by combining the first information.
In another specific implementation, the step of obtaining the segment identity information of the specified segment may specifically include:
and identifying a second type of identification which is preset on the specified road section and used for representing the identity information of the specified road section to obtain the road section identity information of the specified road section.
That is, in this embodiment, a second type of identifier for representing the identity information of the specified road segment may be set in advance on each specified road segment, and then the second type of identifier is identified by a recognition device installed in advance on the unmanned vehicle, so that the road segment identity information of the corresponding specified road segment can be directly obtained. It is understood that, if the effective recognition range of the recognition device for recognizing the second type identifier on the unmanned vehicle is large enough, the present embodiment may set only one second type identifier on the same specified road segment, and if the effective recognition range of the recognition device for recognizing the second type identifier on the unmanned vehicle is limited, a plurality of identical second type identifiers may be set on each specified road segment. In addition, the specific construction manner of the second type identifier in this embodiment may be determined according to actual situations, and as long as the identifiers constructed by the identifier construction manners can carry encoded information and the encoded information can reflect the road segment identity information of the corresponding specified road segment, these identifier construction manners may all be used to construct the second type identifier in this embodiment, and all belong to the protection object in this embodiment. For example, the second type of identifier in the present embodiment may be specifically configured in a one-dimensional barcode or a two-dimensional barcode.
Further, because a traffic signal lamp for commanding the unmanned vehicle to run in traffic is usually arranged on a road section where the unmanned vehicle travels, the existing unmanned vehicle usually needs to start a traffic light detection system installed in advance, and whether the traffic signal lamp exists in front of the current unmanned vehicle is detected by the traffic light detection system, on one hand, the unmanned vehicle needs to start the traffic light detection system all the time to cause large energy loss, and on the other hand, the unmanned vehicle misdetects some objects similar to the traffic signal lamp as the traffic signal lamp due to possible interference sources in the external environment, so that traffic confusion is caused, for this reason, the unmanned vehicle travel auxiliary method in this embodiment may further include: and identifying a third type of identifier which is preset on the preset road section position of the specified road section and used for representing the distance between the preset road section position and the front traffic signal lamp so as to obtain third information, and then determining the distance between the current unmanned vehicle and the front traffic signal lamp according to the third information.
That is, in this embodiment, the third type of identifier for representing the distance between the preset road position and the traffic signal lamp in front is set at the preset road position of the specified road, and when the third type of identifier is identified by the unmanned vehicle, it means that the traffic signal lamp exists in front of the current unmanned vehicle, so that the unmanned vehicle can determine whether the traffic signal lamp exists in front of the current unmanned vehicle without starting the traffic light detection system all the time, and false detection events caused by the existence of some similar traffic signal lamp light sources in the surrounding environment can be avoided, thereby ensuring normal and orderly traffic. In addition, in this embodiment, the process of determining the distance between the current unmanned vehicle and the traffic signal lamp in front according to the third information may specifically include:
the first type identification on the road section position where the third type identification corresponding to the third information is located at present is identified, then the distance between the current unmanned vehicle and the third type identification can be determined according to the identified information and the first information, and then the distance is added with the distance reflected by the third information, so that the distance between the current unmanned vehicle and the front traffic signal lamp can be obtained.
It can be understood that, in this embodiment, the identifier formation manners of the third type identifier may be determined according to actual situations, and as long as the third type identifier formed by the identifier formation manners can carry coding information, and the coding information can reflect the distance between the position of the preset road section where the third type identifier is located and the traffic signal lamp in front, these identifier formation manners may all be applicable to this embodiment and all belong to the protection object in this embodiment. For example, referring to FIG. 3, the designated road segment shown in FIG. 3 is provided with three third type identifiers, respectively "! ","! | A "and"! | A | A ", wherein"! "is used to characterize the distance between the road section position of the mark and the traffic signal lamp in front is 30 meters, mark"! | A "the distance between the road section position for representing the mark and the traffic signal lamp in front is 20 meters, mark! | A | A "is used for representing that the distance between the position of the road section where the mark is located and the traffic signal lamp in front is 10 meters.
Further, this embodiment may further include: and after the third information is acquired, starting a traffic light detection system which is pre-installed on the unmanned vehicle. For example, using FIG. 3 as an example, when the unmanned vehicle recognizes the symbol "! After the corresponding information, a traffic light detection system which is pre-installed on the unmanned vehicle can be started immediately, and then the traffic running condition of the unmanned vehicle is correspondingly controlled according to the actual traffic light detection result.
In addition, in order to enable the unmanned vehicle to realize autonomous intelligent parking, the unmanned vehicle driving assisting method of the embodiment may further include: the vibration characteristic information of the unmanned vehicle in the advancing process is collected to obtain fourth information, whether the fourth information is consistent with corresponding preset characteristic information or not is judged, and if yes, the unmanned vehicle is controlled to stop.
It is understood that the present embodiment may previously install a protrusion on a road surface of a designated section to form an uneven traveling area for indicating that the unmanned vehicle is parked on the road surface, which will generate vibrations in a vertical direction when the unmanned vehicle travels in the traveling area, and form vibration characteristic information having a specific vibration law. In this way, when the unmanned vehicle travels, if the vibration characteristic information of the current unmanned vehicle is monitored to be consistent with the vibration characteristic information corresponding to the travel area, it can be judged that the unmanned vehicle has traveled to the travel area, and then the unmanned vehicle is controlled to stop. It can be understood that, in this embodiment, the vibration characteristic information of the unmanned vehicle may be collected by using a vibration sensor, an acceleration sensor, a gyroscope, or the like, which is pre-installed on the unmanned vehicle.
In order to enable the unmanned vehicle to realize autonomous intelligent parking, the unmanned vehicle driving assistance method of the embodiment may further include: identifying a fourth type of identification which is preset on the appointed road section and used for indicating the unmanned vehicle to stop so as to obtain fifth information; and judging whether the fifth information is consistent with preset characteristic information or not, and if so, controlling the unmanned vehicle to stop.
For example, a pentagon-shaped parking mark may be previously provided on the specified road section, and when the unmanned vehicle recognizes a piece of information, and the piece of information coincides with the recognition information corresponding to the pentagon-shaped parking mark, the unmanned vehicle may be controlled to park.
Correspondingly, the embodiment of the invention also discloses an unmanned vehicle traveling auxiliary device, which comprises a processor and a memory; wherein the processor implements the unmanned vehicle travel assisting method disclosed in the foregoing embodiment when executing the computer program stored in the memory.
It is to be understood that the unmanned vehicle traveling assisting device in the present embodiment may further include a recognition device for recognizing various types of identifiers.
For the specific steps of the method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, which are not described herein again.
Further, an embodiment of the present invention further discloses a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the unmanned vehicle traveling assistance method disclosed in the foregoing embodiment.
For the specific steps of the method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, which are not described herein again.
Furthermore, the invention also discloses an unmanned vehicle which comprises the unmanned vehicle traveling auxiliary device.
Furthermore, the invention also discloses an unmanned vehicle traveling auxiliary system which comprises the unmanned vehicle disclosed in the foregoing and the specified road section disclosed in the foregoing embodiment. For the specific structure of the specified road section, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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 invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The unmanned vehicle and the method, the device and the system for assisting the vehicle in advancing provided by the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An unmanned vehicle traveling assisting method is applied to an unmanned vehicle traveling on a specified road section, wherein a first type of identifier for representing road section position information relative to the specified road section is arranged on different road section positions of the specified road section, and the method comprises the following steps:
identifying a first type of identification on a road section position where the current unmanned vehicle is located to obtain first information;
identifying a first type of identification on a road section position where an obstacle located in front of the unmanned vehicle is located at present to obtain second information;
and determining the distance between the unmanned vehicle and the obstacle at present according to the first information and the second information.
2. The unmanned vehicle traveling assist method according to claim 1, further comprising:
acquiring the road section identity information of the specified road section;
and accurately positioning the current unmanned vehicle by using the road section identity information and the first information.
3. The unmanned aerial vehicle traveling assistance method according to claim 2, wherein the acquiring of the link identification information of the specified link includes:
acquiring global positioning information of the unmanned vehicle;
and according to the global positioning information, identity confirmation is carried out on the road section where the current unmanned vehicle is located, and road section identity information of the specified road section is obtained.
4. The unmanned aerial vehicle traveling assistance method according to claim 2, wherein the acquiring of the link identification information of the specified link includes:
and identifying a second type of identification which is preset on the specified road section and used for representing the identity information of the specified road section to obtain the road section identity information of the specified road section.
5. The unmanned vehicle traveling assist method according to claim 1, further comprising:
identifying a third type of identification preset on a preset road section position of the specified road section to acquire third information, wherein the third type of identification is used for representing the distance between the preset road section position and a front traffic signal lamp;
and determining the distance between the current unmanned vehicle and the traffic signal lamp in front according to the third information.
6. The unmanned vehicle travel assist method according to any one of claims 1 to 5, further comprising:
collecting vibration characteristic information of the unmanned vehicle in the advancing process to obtain fourth information;
and judging whether the fourth information is consistent with preset characteristic information or not, and if so, controlling the unmanned vehicle to stop.
7. The unmanned vehicle travel assist method according to any one of claims 1 to 5, further comprising:
identifying a fourth type of identification which is preset on the appointed road section and used for indicating the unmanned vehicle to stop so as to obtain fifth information;
and judging whether the fifth information is consistent with preset characteristic information or not, and if so, controlling the unmanned vehicle to stop.
8. An unmanned vehicle travel assistance device comprising a processor and a memory; wherein the processor, when executing the computer program stored in the memory, implements the unmanned vehicle travel assistance method of any of claims 1 to 7.
9. An unmanned vehicle comprising the unmanned vehicle travel assist device of claim 8.
10. An unmanned aerial vehicle travel assistance system comprising an unmanned aerial vehicle according to claim 9 and a specified section according to any one of claims 1 to 7.
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