CN113479198B - Unmanned vehicle control method and device - Google Patents
Unmanned vehicle control method and device Download PDFInfo
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- CN113479198B CN113479198B CN202110962265.XA CN202110962265A CN113479198B CN 113479198 B CN113479198 B CN 113479198B CN 202110962265 A CN202110962265 A CN 202110962265A CN 113479198 B CN113479198 B CN 113479198B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
Abstract
The invention discloses a method and a device for controlling an unmanned vehicle, and relates to the technical field of intelligent control. One embodiment of the method comprises: detecting obstacles in a preset range of the target path point; respectively calculating the distance between each obstacle and the target path point; and determining a minimum distance value according to each distance, and determining a speed limit value of the target path point according to the minimum distance value. According to the unmanned vehicle control method, the speed limit of the unmanned vehicle can be realized in the process that the unmanned vehicle laterally approaches the obstacle, and further the driving safety and stability of the unmanned vehicle are higher.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a method and a device for controlling an unmanned vehicle.
Background
In recent years, with the continuous expansion of application scenes and modes of mobile robots, various mobile robots are developed, and unmanned vehicles in the mobile robots are gradually widely applied in the field of logistics. In the decision planning of the unmanned vehicle, a speed limiting method of the unmanned vehicle is important.
At present, the conventional speed limiting method for the unmanned vehicle is to limit the speed by reading a map speed limiting index, but the speed of the unmanned vehicle cannot be limited in advance in the process of laterally approaching an obstacle, so that the safety and the stability of unmanned driving are difficult to ensure.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for controlling an unmanned vehicle, where a speed limit value at a target route point is determined by obtaining a minimum distance value among distances between each obstacle and the target route point, so that the unmanned vehicle can limit speed in advance in a process of attaching to the obstacle, and the unmanned vehicle can travel more safely and stably.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided an unmanned vehicle control method including:
detecting obstacles in a preset range of the target path point;
respectively calculating the distance between each obstacle and the target path point;
and determining a minimum distance value according to each distance, and determining a speed limit value of the target path point according to the minimum distance value.
Optionally, before detecting the obstacle within the preset range of the target waypoint, the method includes:
determining a driving path of the unmanned vehicle and a current path point of the unmanned vehicle;
and taking the current path point and/or a plurality of path points determined from the driving path according to the current path point as the target path point.
Optionally, taking a plurality of waypoints determined from the driving route according to the current waypoint as the target waypoint includes: and taking part or all of all path points in the driving path, the distance between which and the current path point is less than or equal to a preset distance, as the target path points.
Optionally, the calculating the distance between each obstacle and the target path point respectively includes:
when the obstacle is a static obstacle,
determining the position of each obstacle and the position of the target path point;
and respectively calculating the distance between each obstacle and the target path point according to the position of each obstacle and the position of the target path point.
Optionally, separately calculating the distance between each obstacle and the target path point includes:
when the obstacle is a dynamic obstacle,
determining the position of the target path point, the first position of each obstacle at the current moment and the driving track of the obstacle;
determining the driving time of the unmanned vehicle from the current path point to the target path point;
determining a second position of the obstacle when the unmanned vehicle travels to the target waypoint according to the first position of the obstacle, the travel time, and the travel trajectory of the obstacle;
and respectively calculating the distance between each obstacle and the target path point according to the position of the target path point and the second position of each obstacle.
Optionally, the calculating the distance between each obstacle and the target path point respectively includes:
according to the position of the target path point and the second position of the obstacle, and the appearance of the obstacle and the appearance of the unmanned vehicle;
calculating a minimum distance of the unmanned vehicle from the obstacle when the unmanned vehicle is located at the target waypoint.
Optionally, determining the speed limit value of the target path point according to the minimum distance value includes:
calculating the square of the distance minimum;
and determining the speed limit value according to the square of the minimum distance value, wherein the speed limit value is positively correlated with the square of the minimum distance value.
According to still another aspect of an embodiment of the present invention, there is provided an unmanned vehicle control apparatus including:
the acquisition module is used for detecting obstacles in a preset range of the target path point;
the operation module is used for respectively calculating the distance between each obstacle and the target path point;
and the determining module is used for determining the minimum distance value according to each distance and determining the speed limit value of the target path point according to the minimum distance value.
According to still another aspect of an embodiment of the present invention, there is provided an electronic apparatus including:
one or more processors;
a storage device to store one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the unmanned vehicle control method provided by the present invention.
According to still another aspect of an embodiment of the present invention, there is provided a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the unmanned vehicle control method provided by the present invention.
One embodiment of the above invention has the following advantages or benefits: according to the unmanned vehicle control method, the obstacles in the preset range of the target path points are detected, the distances between the obstacles and the target path points are calculated, the minimum distance values are obtained from the distances, and the speed limit values of the target path points are calculated according to the minimum distance values, so that the speed limit values of the target path points can be obtained in advance, the speed limit of the unmanned vehicle can be limited in advance in the process of enabling the unmanned vehicle to approach the obstacles, the driving speed of the unmanned vehicle can be controlled, and the safety and the stability of the unmanned vehicle are guaranteed.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a main flow of an unmanned vehicle control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a main flow of another unmanned vehicle control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a main flow of yet another unmanned vehicle control method according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a target waypoint and a location of an obstacle of an unmanned vehicle in accordance with an embodiment of the invention;
FIG. 5 is a schematic diagram of the main modules of an unmanned vehicle control apparatus according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 7 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic view of a main flow of an unmanned vehicle control method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S101: detecting obstacles in a preset range of the target path point;
step S102: respectively calculating the distance between each barrier and the target path point;
step S103: and determining the minimum distance value according to each distance, and determining the speed limit value of the target path point according to the minimum distance value.
In the embodiment of the present invention, the driving path of the unmanned vehicle may be obtained according to a path planning algorithm, for example, the driving path of the unmanned vehicle may be obtained based on a conventional path planning algorithm, or may be a path generated based on a non-linear optimizer. The conventional path planning algorithm includes, for example, an Astar algorithm (a;, shortest path algorithm), an RRT algorithm (Rapid-expansion Random Tree), a DP (Dynamic programming, dynamic planning algorithm), and the like.
The travel path of the unmanned vehicle, which is composed of a plurality of discrete pose points (path points), can be obtained based on a path planning algorithm, for example, the travel path of the unmanned vehicle, which is obtained by the path planning algorithm, is composed of N discrete pose points, which can be expressed as a set P = { P, with a cartesian coordinate system yMx as a reference coordinate system i (x i ,y i ,θ i ,kappa i ,s i ) I = 1.. N }, where i represents the index number of the path point, (x) represents the index number of the path point i ,y i ,θ i ) Indicates the position and orientation angle of the ith path point, the orientation angle is the angle between the orientation of the unmanned vehicle and the x-axis, kappa i Denotes the curvature of the ith path point, s i Indicates the position between the ith path point and the 1 st path pointThe mileage of (1).
In the driving process of the unmanned vehicle, the unmanned vehicle detects the obstacles through the sensing component, and the sensing component can be at least one of a camera, a laser radar, an ultrasonic radar and the like. The unmanned vehicle can detect the obstacles in the preset range of the target path point in real time or at regular time, and can obtain obstacle information by detecting the obstacles, wherein the obstacle information comprises information such as the position of the obstacles, the running track of the obstacles, the running speed of the obstacles and the like. The preset range can be set in a self-defined mode, and the position of the obstacle, the running track and the running speed of the obstacle, and the running path and the running speed of the unmanned vehicle can be comprehensively considered to be set, so that each obstacle which possibly influences the running safety and the running stability of the unmanned vehicle can be obtained.
In the embodiment of the present invention, before detecting an obstacle within a preset range of a target waypoint in step S101, the method includes: determining a driving path of the unmanned vehicle and a current path point of the unmanned vehicle; and taking the current path point and/or a plurality of path points determined from the driving path according to the current path point as target path points.
In an optional implementation manner of the embodiment of the present invention, taking a plurality of waypoints determined from a driving route according to a current waypoint as target waypoints includes: and taking part or all of all path points in the driving path, the distance between which and the current path point is less than or equal to the preset distance, as target path points.
In the embodiment of the present invention, the target waypoint may be a current waypoint of the unmanned vehicle, or all waypoints or a part of waypoints in the driving route, which are located at a distance less than or equal to a preset distance from the current waypoint, may be used as the target waypoint according to the driving route of the unmanned vehicle. For example, the current path point of the unmanned vehicle is the ith path point, the preset distance is r, the target path point may be the current path point, or all or part of the path points with the distance from the ith path point being less than or equal to r, so as to realize the advanced speed limit of the unmanned vehicle. Or determining to acquire each target path point according to the addition and subtraction of the mileage of the current path point and a preset distance.
The preset distance can be set in a self-defined mode according to the running direction of the unmanned vehicle, and after the running direction of the unmanned vehicle is determined, all path points or part of path points on the running path with the same direction as the running direction of the unmanned vehicle equal to the preset distance and all path points or part of path points on the running path with the direction opposite to the running direction of the unmanned vehicle smaller than the preset distance can be used as target path points because the obstacle on the front side of the unmanned vehicle has large influence on the running of the unmanned vehicle. The number of the target path points in front of the unmanned vehicle is smaller than that of the target path points behind the unmanned vehicle, so that the running stability and safety of the unmanned vehicle are better guaranteed.
It can be understood that the obstacle in the embodiment of the present invention may be a static obstacle or a dynamic obstacle, and it can be understood that the static obstacle is a static obstacle when the unmanned vehicle operates, and the dynamic obstacle is a moving obstacle when the unmanned vehicle operates.
In the embodiment of the present invention, as shown in fig. 2, in step S102, the calculating the distance between each obstacle and the target waypoint includes: when the obstacle is a static obstacle,
step S201: determining the position of each obstacle and the position of a target path point;
step S201: and respectively calculating the distance between each obstacle and the target path point according to the position of each obstacle and the position of the target path point.
When the obstacle is a static obstacle, when the unmanned vehicle runs from the current path point to the target path point, the position of the obstacle does not change, the position of each obstacle can be obtained according to the detected obstacle in the preset range of the target path point, the distance between each obstacle and the target path point is calculated, the distance between each obstacle and the target path point can be calculated according to the position coordinates of the obstacle and the position coordinates of the target path point, the minimum distance between the unmanned vehicle and each obstacle can be calculated when the unmanned vehicle is at the target path point according to the shape of the obstacle and the shape of the unmanned vehicle, the minimum distance can be calculated according to a method for calculating the polygon minimum distance, and the minimum distance between each obstacle and the unmanned vehicle is used as each distance between each obstacle and the target path point.
In the embodiment of the present invention, as shown in fig. 3, in step S102, the calculating the distance between each obstacle and the target waypoint includes: when the obstacle is a dynamic obstacle,
step S301: determining the position of a target path point, the first position of each obstacle at the current moment and the driving track of the obstacle;
step S302: determining the driving time of the unmanned vehicle from the current path point to the target path point;
step S303: determining a second position of the obstacle when the unmanned vehicle travels to the target path point according to the first position of the obstacle, the travel time and the travel track of the obstacle;
step S304: and respectively calculating the distance between each obstacle and the target path point according to the position of the target path point and the second position of each obstacle.
In a further optional implementation manner of the embodiment of the present invention, the calculating the distance between each obstacle and the target path point includes: according to the position of the target path point and the second position of the barrier, the shape of the barrier and the shape of the unmanned vehicle; the minimum distance of the unmanned vehicle from the obstacle when the unmanned vehicle is located at the target path point is calculated.
When the obstacles are dynamic obstacles, the first position, the obstacle running track and the running speed of each obstacle at the current moment can be obtained by detecting the obstacles in the preset range of the target path point, when the unmanned vehicle runs from the current path point to the target path point, the running time of the unmanned vehicle can be determined according to the maximum running speed of the unmanned vehicle, the second position of each obstacle when the unmanned vehicle runs to the target path point can be determined according to the first position of each obstacle, the running time of the unmanned vehicle, the running speed of each obstacle and the running track of each obstacle, then the distance between each obstacle and the target path point is calculated according to the second position of each obstacle and the position of the target path point, and optionally, the distance between each obstacle and the target path point can be calculated according to the position coordinates of each obstacle and the position coordinates of the target path point; further, the minimum distance between the unmanned vehicle and the obstacle when the unmanned vehicle travels to the target waypoint may be calculated based on the shape of each obstacle and the shape of the unmanned vehicle, the minimum distance may be calculated based on a method of calculating the polygonal minimum distance, and the minimum distance between each obstacle and the unmanned vehicle may be used as each distance between each obstacle and the target waypoint.
In the embodiment of the invention, the determining the speed limit value of the target path point according to the minimum distance value comprises the following steps: calculating the square of the distance minimum; and determining the speed limit value according to the square of the minimum distance value, wherein the speed limit value is positively correlated with the square of the minimum distance value.
After calculating each distance between each obstacle and each target path point, the minimum distance value in each distance is obtained, that is, each target path point corresponds to one minimum distance value, according to the minimum distance value, the speed limit value of the target path point is calculated, the speed limit value can be obtained by calculating the square of the minimum distance value, the speed limit value is positively correlated with the square of the minimum distance value, for example, the speed limit value is equal to the product of the square of the minimum distance value and a proportionality coefficient, and the proportionality coefficient is greater than 0.
Wherein the content of the first and second substances,
for the speed limit value of the unmanned vehicle at the target path point (i-th path point), d min And k is a constant coefficient for the minimum distance, and ratio is a regulation proportion, and can vary with different types of obstacles. It can be understood that the speed limit value and the distance minimum value can also be expressed by other expressions, so that the speed limit value and the distance minimum value meet the following speed limit indexes, and the speed limit indexes are as follows: the speed limit value of the target path point increases rapidly with the increase of the distance minimum value and decreases sharply with the decrease of the distance minimum value.
FIG. 4 is a schematic diagram of the target waypoint of the unmanned vehicle and the location of the obstacleObtaining a driving path P of the unmanned vehicle consisting of N discrete attitude points according to a path planning algorithm 1 、P 2 、P 3 ......P N For N discrete pose points, form a set P = { P i (x i ，y i ，θ i ，kappa i ，s i ) I = 1.. N }, the ith path point is the current path point and also is the target path point, and the mileage between the ith path point and the 1 st path point is s i And calculating the speed limit value of the unmanned vehicle at the ith path point
Firstly, acquiring mileage S between the current path point and the set P under the condition sets Q and D i All path points within the preset distance r, namely the mileage is within s i -r and s i All path points between + r, including P i-2 、P i-1 、P i 、P i+1 、P i+2 Equal storage set Q = { Q = { Q = j (x j ，y j ，θ j ，kappa j ，s j ) I j = 1.. Said., M }, where M represents the number of path points that satisfy the condition; traversing any path point Q in the set Q j Traversing all the detected obstacles in the preset range of the ith path point, wherein the obstacles are static obstacles on the lateral side of the unmanned vehicle and comprise an obstacle 1, an obstacle 2, an obstacle 3 and an obstacle 4, acquiring the positions and the shapes of the 4 obstacles, calculating the minimum distance d between the 4 obstacles and the unmanned vehicle according to the calculation method of the distance between two polygons when the unmanned vehicle is positioned at the ith path point, and calculating the minimum distance d between the 4 obstacles and the unmanned vehicle j And storing the data into a set D; obtaining the minimum distance value D in the set D min (ii) a According to the minimum value of distance d min The determined speed limit value of the target path point is as follows:
wherein k is a constant coefficient, ratio is an adjusting proportion, and ratio can be changed along with different types of obstacles so as to obtain any target path point p j Speed limit value of unmanned vehicle
And controlling the unmanned vehicle according to the speed limit value at the target path point, so that the unmanned vehicle can run more safely and stably.
According to the unmanned vehicle control method, the obstacles in the preset range of the target path points are detected, the distances between the obstacles and the target path points are calculated, the minimum distance values are obtained from the distances, and the speed limit values of the target path points are calculated according to the minimum distance values, so that the speed limit values of the target path points can be obtained in advance, the speed limit of the unmanned vehicle can be limited in advance in the process of enabling the unmanned vehicle to approach the obstacles, the driving speed of the unmanned vehicle can be controlled, and the safety and the stability of the unmanned vehicle are guaranteed.
As shown in fig. 5, an embodiment of the present invention further provides an unmanned vehicle control apparatus 500, including:
the acquisition module 501 detects obstacles in a preset range of a target path point;
an operation module 502, which respectively calculates the distance between each obstacle and the target path point;
and the determining module 503 determines the minimum distance value according to each distance, and determines the speed limit value of the target path point according to the minimum distance value.
In this embodiment of the present invention, the obtaining module 501 is further configured to: before detecting the obstacles in the preset range of the target path point, determining the driving path of the unmanned vehicle and the current path point of the unmanned vehicle; and taking the current path point and/or a plurality of path points determined from the driving path according to the current path point as target path points.
In this embodiment of the present invention, the obtaining module 501 is further configured to: and taking part or all of all path points in the driving path, the distance between which and the current path point is less than or equal to the preset distance, as target path points.
In this embodiment of the present invention, the operation module 502 is further configured to: when the obstacles are static obstacles, determining the positions of all the obstacles and the positions of the target path points; and respectively calculating the distance between each obstacle and the target path point according to the position of each obstacle and the position of the target path point.
In this embodiment of the present invention, the operation module 502 is further configured to: respectively calculating the distance between each obstacle and the target path point, wherein the method comprises the following steps: when the obstacles are dynamic obstacles, determining the positions of the target path points, the first positions of the obstacles at the current moment and the driving tracks of the obstacles; determining the driving time of the unmanned vehicle from the current path point to the target path point; determining a second position of the obstacle when the unmanned vehicle travels to the target path point according to the first position of the obstacle, the travel time and the travel track of the obstacle; and respectively calculating the distance between each obstacle and the target path point according to the position of the target path point and the second position of each obstacle. Further, the operation module 502 is configured to: according to the position of the target path point, the second position of the barrier, the appearance of the barrier and the appearance of the unmanned vehicle; the minimum distance of the unmanned vehicle from the obstacle when the unmanned vehicle is located at the target waypoint is calculated.
In this embodiment of the present invention, the determining module 503 is further configured to: calculating the square of the distance minimum; and determining the speed limit value according to the square of the minimum distance value, wherein the speed limit value is positively correlated with the square of the minimum distance value.
The unmanned vehicle control device provided by the embodiment of the invention detects the obstacles in the preset range of the target path point through the acquisition module, calculates the distance between each obstacle and the target path point through the operation module, obtains the minimum distance value from each distance through the determination module, and determines the speed limit value of the target path point according to the minimum distance value, so that the speed limit value of each target path point can be obtained in advance, the speed limit can be realized in the process that the unmanned vehicle approaches the obstacle laterally, the driving speed of the unmanned vehicle can be controlled, and the safety and the stability of the unmanned vehicle can be guaranteed.
An embodiment of the present invention further provides an electronic device, including: one or more processors; the storage device is used for storing one or more programs, and when the one or more programs are executed by one or more processors, the one or more processors realize the unmanned vehicle control method.
Embodiments of the present invention also provide a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the unmanned vehicle control method according to the embodiments of the present invention.
Fig. 6 illustrates an exemplary system architecture 600 to which the unmanned vehicle control method or device of embodiments of the present invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 serves as a medium for providing communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. The terminal devices 601, 602, 603 may have various messaging client applications installed thereon, such as shopping applications, web browser applications, search applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 605 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 601, 602, 603. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the unmanned vehicle control method provided by the embodiment of the present invention is generally executed by the server 605, and accordingly, the unmanned vehicle control device is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for an implementation.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present invention, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes an acquisition module, an operation module, and a determination module. The names of the modules do not limit the module itself in some cases, for example, the acquiring module may be further described as a module for detecting an obstacle within a preset range of the target path point.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: detecting obstacles in a preset range of the target path point; respectively calculating the distance between each barrier and the target path point; and determining the minimum distance value according to each distance, and determining the speed limit value of the target path point according to the minimum distance value.
According to the technical scheme of the embodiment of the invention, the unmanned vehicle control method of the embodiment of the invention detects the obstacles in the preset range of the target path point, calculates the distance between each obstacle and the target path point, obtains the minimum distance value from each distance, and calculates the speed limit value of the target path point according to the minimum distance value, so that the speed limit value of each target path point can be obtained in advance, the speed limit of the unmanned vehicle in the process of approaching the obstacle in the lateral direction can be realized, the running speed of the unmanned vehicle can be controlled, and the safety and the stability of the unmanned vehicle can be ensured.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned vehicle control method, comprising:
detecting obstacles in a preset range of the target path point;
respectively calculating the distance between each obstacle and the target path point;
determining a distance minimum value according to each distance, and determining a speed limit value of the target path point according to the distance minimum value;
wherein, before surveying the barrier of target path point within the predetermined scope, include:
determining a driving path of the unmanned vehicle and a current path point of the unmanned vehicle;
and taking the current path point and/or a plurality of path points determined from the driving path according to the current path point as the target path point.
2. The method according to claim 1, wherein taking a plurality of waypoints determined from the travel path according to the current waypoint as the target waypoint comprises: and taking part or all of all path points in the driving path, the distance between which and the current path point is less than or equal to a preset distance, as the target path points.
3. The method of claim 1, wherein separately calculating the distance of each obstacle from the target waypoint comprises:
when the obstacle is a static obstacle,
determining the position of each obstacle and the position of the target path point;
and respectively calculating the distance between each obstacle and the target path point according to the position of each obstacle and the position of the target path point.
4. The method of claim 1, wherein separately calculating the distance of each obstacle from the target waypoint comprises:
when the obstacle is a dynamic obstacle,
determining the position of the target path point, the first position of each obstacle at the current moment and the driving track of the obstacle;
determining the driving time of the unmanned vehicle from the current path point to the target path point;
determining a second position of the obstacle when the unmanned vehicle travels to the target waypoint according to the first position of the obstacle, the travel time, and the travel trajectory of the obstacle;
and respectively calculating the distance between each obstacle and the target path point according to the position of the target path point and the second position of each obstacle.
5. The method of claim 4, wherein separately calculating the distance of each obstacle from the target waypoint comprises:
according to the position of the target path point and the second position of the obstacle, and the appearance of the obstacle and the appearance of the unmanned vehicle;
calculating a minimum distance of the unmanned vehicle from the obstacle when the unmanned vehicle is located at the target path point.
6. The method of claim 1, wherein determining the speed limit value of the target waypoint from the distance minimum comprises:
calculating the square of the distance minimum;
and determining the speed limit value according to the square of the minimum distance value, wherein the speed limit value is positively correlated with the square of the minimum distance value.
7. An unmanned vehicle control device, characterized by comprising:
the acquisition module is used for detecting obstacles in a preset range of the target path point;
the operation module is used for respectively calculating the distance between each obstacle and the target path point;
the determining module is used for determining a distance minimum value according to each distance and determining a speed limit value of the target path point according to the distance minimum value;
wherein, the unmanned vehicle control device is further used for executing the following operations: before detecting the obstacles in the preset range of the target path point, determining the driving path of the unmanned vehicle and the current path point of the unmanned vehicle; and taking the current path point and/or a plurality of path points determined from the driving path according to the current path point as the target path point.
8. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
9. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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