CN113815651A - Unmanned equipment control method, device, equipment and storage medium - Google Patents

Unmanned equipment control method, device, equipment and storage medium Download PDF

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Publication number
CN113815651A
CN113815651A CN202111274626.8A CN202111274626A CN113815651A CN 113815651 A CN113815651 A CN 113815651A CN 202111274626 A CN202111274626 A CN 202111274626A CN 113815651 A CN113815651 A CN 113815651A
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obstacle
decision
unmanned equipment
unmanned
determining
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CN113815651B (en
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周奕达
丁曙光
黄庆
熊方舟
任冬淳
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Beijing Touch Da Unbounded Technology Co ltd
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Beijing Touch Da Unbounded Technology Co ltd
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The method expands an obstacle area according to a decision of the unmanned device on an obstacle to obtain an expanded obstacle area, and plans a driving track of the unmanned device according to the decision of the unmanned device on the obstacle and the expanded obstacle area so as to control the unmanned device according to the obtained driving track. The method ensures that the unmanned equipment can keep a reasonable safe distance with the obstacle in the driving process based on the enlarged driving track of the unmanned equipment in the obstacle area, and improves the driving safety of the unmanned equipment.

Description

Unmanned equipment control method, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of unmanned driving technologies, and in particular, to an unmanned device control method, apparatus, device, and storage medium.
Background
At present, unmanned equipment is widely applied to multiple fields such as national defense and national economy, and the unmanned equipment is further developed along with the continuous improvement of technological level, so that more convenience is brought to the life of people. The unmanned equipment can sense the road environment, automatically plans a track avoiding the obstacle in the driving process according to the acquired state information of the obstacle, and reaches a preset target.
In the prior art, a displacement time coordinate system (ST coordinate system) shown in fig. 1 is generally constructed by taking the displacement S of the unmanned device as a vertical axis and the time T as a horizontal axis, and an obstacle area of the obstacle on the ST coordinate system, which is shown by a shaded portion in fig. 1, is obtained according to the speed and the length of the obstacle. And then determining the speed required by the unmanned equipment to avoid the obstacle under different longitudinal decisions according to different longitudinal decisions so that the unmanned equipment normally runs at the speed.
However, the obstacle area in the prior art is determined only according to the speed and the length of the obstacle, so that a reasonable safety distance between the unmanned equipment and the obstacle in the driving process cannot be guaranteed, and the driving safety of the unmanned equipment is reduced.
Disclosure of Invention
The present specification provides an unmanned device control method, apparatus, device and storage medium, to partially solve the above problems in the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides an unmanned device control method including:
determining a corresponding obstacle area of the obstacle in a displacement time coordinate system according to the current path of the unmanned equipment, the predicted track of the obstacle and the state information of the obstacle;
determining a decision performed by the unmanned equipment on the obstacle according to the state information of the obstacle and the state information of the unmanned equipment;
expanding the obstacle area according to the decision of the unmanned equipment on the obstacle to obtain an expanded obstacle area;
planning a driving track of the unmanned equipment according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
and controlling the unmanned equipment according to the driving track.
Optionally, determining an obstacle area of the obstacle corresponding to the displacement time coordinate system specifically includes:
determining a time period for which the obstacle influences the unmanned equipment according to the current path of the unmanned equipment and the predicted track of the obstacle;
according to the state information of the obstacle, obtaining the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period;
and determining an obstacle area corresponding to the obstacle in a displacement time coordinate system according to the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period.
Optionally, expanding the obstacle area according to a decision performed by the unmanned device on the obstacle, specifically including:
determining an adjustment direction corresponding to the boundary of the obstacle area according to the type of the decision of the unmanned equipment on the obstacle; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system;
and aiming at each boundary of the obstacle area, adjusting the boundary along the adjustment direction corresponding to the boundary.
Optionally, the decision performed by the drone on the obstacle comprises at least one of a follow-up decision, a yield decision, a look-ahead decision, and a stop decision;
determining an adjustment direction corresponding to the boundary of the obstacle area according to the decision of the unmanned equipment on the obstacle, specifically comprising:
if the decision executed by the unmanned equipment on the obstacle is a follow-up decision or a lead decision, determining that the adjustment direction corresponding to the boundary of the obstacle area is a displacement reduction direction and a time increase direction;
if the decision executed by the unmanned equipment on the obstacle is a prior decision, determining the adjustment direction corresponding to the boundary of the obstacle area as the direction of increasing displacement and the direction of reducing time;
and if the decision executed by the unmanned equipment on the obstacle is a stopping decision, determining that the adjusting direction corresponding to the boundary of the obstacle area is a direction of reducing displacement.
Optionally, adjusting the boundary along the adjustment direction corresponding to the boundary specifically includes:
determining an adjusting distance corresponding to the boundary according to the environment information of the unmanned equipment;
and adjusting the adjustment distance corresponding to the boundary along the adjustment direction corresponding to the boundary.
Optionally, planning a driving track of the unmanned aerial vehicle according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area, specifically including:
determining a programmable range when the unmanned equipment driving track is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
and performing speed planning on the unmanned equipment within the programmable range according to the environment information where the unmanned equipment is located and the state information of the unmanned equipment.
Optionally, determining a programmable range when planning a driving trajectory of the unmanned aerial vehicle according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area specifically includes:
and determining a range except for the expanded obstacle area corresponding to the obstacle according to the decision of the unmanned equipment on the obstacle and the expanded obstacle area, and determining a programmable range when planning the driving track of the unmanned equipment.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned aerial device control method.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned unmanned device control method when executing the program.
The technical scheme adopted by the specification can achieve the following beneficial effects:
according to the method, the obstacle area is expanded according to the decision of the unmanned equipment on the obstacle, the expanded obstacle area is obtained, and then the driving track of the unmanned equipment is planned according to the decision of the unmanned equipment on the obstacle and the expanded obstacle area, so that the unmanned equipment is controlled according to the obtained driving track. The method plans the driving track of the unmanned equipment based on the enlarged obstacle area, ensures that the unmanned equipment can keep a reasonable safe distance with the obstacle in the driving process, and improves the driving safety of the unmanned equipment.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
FIG. 1 is a schematic diagram of an obstacle region in an ST coordinate system in the present specification;
fig. 2 is a schematic flow chart of an unmanned aerial vehicle control method in the present specification;
fig. 3A is a schematic view of a driving scene of an unmanned aerial vehicle provided in this specification;
fig. 3B is a schematic view of another driving scenario of the unmanned aerial vehicle provided in this specification;
FIG. 4 is a schematic diagram of an obstacle region in another ST coordinate system used in this specification;
FIG. 5A is a schematic diagram of an enlarged obstacle region in an ST coordinate system of the present specification;
FIG. 5B is a schematic diagram of an enlarged obstacle region in another ST coordinate system of the present specification;
FIG. 5C is a schematic diagram of an enlarged obstacle region in yet another ST coordinate system used in the present specification;
FIG. 6 is a schematic diagram of an unmanned aerial vehicle control apparatus provided herein;
fig. 7 is a schematic diagram of an electronic device provided in this specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of an unmanned device control method provided in an embodiment of this specification, which specifically includes the following steps:
s100: determining a corresponding obstacle area of the obstacle in a displacement time coordinate system according to the current path of the unmanned equipment, the predicted track of the obstacle and the state information of the obstacle;
in this specification embodiment, the unmanned aerial vehicle can be unmanned vehicle, also can be unmanned aerial vehicle's unmanned aerial vehicle etc. unmanned aerial vehicle, unmanned aerial vehicle can be used to carry out the delivery task. The unmanned device can sense the road environment through the configured sensor, and automatically plan a route according to the road environment and reach a preset target. The obstacles may include dynamic obstacles and static obstacles, wherein the dynamic obstacles may include motor vehicles, non-motor vehicles and pedestrians; the static barrier may comprise a traffic light. The unmanned equipment can sense the information of the obstacle and the environmental information through sensor equipment such as a laser radar and a camera, and the driving track of the obstacle in the future for a period of time is predicted through a corresponding algorithm.
According to the current path of the unmanned equipment and the predicted track of the obstacle, projecting the displacement information of the obstacle influencing the unmanned equipment into a displacement time coordinate system, and determining the corresponding obstacle area of the obstacle in the displacement time coordinate system. The obstacle area comprises an area where the obstacle affects the unmanned equipment when the unmanned equipment runs along the current path.
S102: determining a decision performed by the unmanned equipment on the obstacle according to the state information of the obstacle and the state information of the unmanned equipment;
specifically, the state information of the obstacle includes the speed and acceleration of the obstacle, the length of the obstacle, and the like; the state information of the unmanned aerial device includes the velocity, acceleration, and the like of the unmanned aerial device. The decision performed by the drone on the obstacle includes at least one of a follow-up decision, a yield decision, a look-ahead decision, and a stop-go decision.
S104: expanding the obstacle area according to the decision of the unmanned equipment on the obstacle to obtain an expanded obstacle area;
the obstacle area is determined according to the length and the speed of the obstacle, and subsequently, when the driving track is planned for the unmanned aerial vehicle according to the obstacle area, the planned driving track curve may be close to the boundary of the obstacle area, that is, when the unmanned aerial vehicle drives according to the driving track, the distance between the unmanned aerial vehicle and the obstacle is small, and the driving safety of the unmanned aerial vehicle cannot be ensured, so that the obstacle area needs to be expanded.
And expanding the obstacle area according to the decision of the unmanned equipment on the obstacle, so that the unmanned equipment can be ensured to keep a reasonable safety distance with the obstacle under different decisions.
S106: planning a driving track of the unmanned equipment according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
specifically, in order to avoid collision between the unmanned aerial vehicle and the obstacle, according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area, a range except the enlarged obstacle area corresponding to the obstacle is determined as a plannable range when a driving track of the unmanned aerial vehicle is planned. And planning the running track of the unmanned equipment in the programmable range according to the environment information where the unmanned equipment is located and the state information of the unmanned equipment. The trajectory plan for the drone includes a speed plan.
S108: and controlling the unmanned equipment according to the driving track.
In practical application, the unmanned equipment is controlled according to the planned driving track so as to keep a reasonable safe distance between the unmanned equipment and the obstacle, and the unmanned equipment carries out decision on the obstacle so as to avoid the obstacle and drive safely.
According to the method, the obstacle area is expanded according to the decision of the unmanned equipment on the obstacle, the expanded obstacle area is obtained, and then the driving track of the unmanned equipment is planned according to the decision of the unmanned equipment on the obstacle and the expanded obstacle area, so that the unmanned equipment is controlled according to the obtained driving track. The method plans the driving track of the unmanned equipment based on the enlarged obstacle area, ensures that the unmanned equipment can keep a reasonable safe distance with the obstacle in the driving process, and improves the driving safety of the unmanned equipment.
In this embodiment of the present specification, as shown in step S100 in fig. 2, determining an obstacle area of the obstacle corresponding to the displacement time coordinate system specifically includes the following steps:
firstly, determining a time period of the influence of the obstacle on the unmanned equipment according to the current path of the unmanned equipment and the predicted track of the obstacle.
In this specification, the unmanned device may include an unmanned vehicle, an unmanned aerial vehicle, and other unmanned devices, and for convenience of understanding, only the unmanned vehicle is taken as an example, and a specific technical solution is described.
Specifically, if the driving direction of the predicted trajectory of the obstacle is the same as the driving direction of the unmanned aerial vehicle, and the obstacle is about to turn or merge into the lane where the unmanned aerial vehicle is located, the obstacle will have an influence on the unmanned aerial vehicle for a certain period of time. The obstacle affecting the unmanned aerial vehicle may include that a longitudinal distance and/or a transverse distance between the obstacle and the unmanned aerial vehicle is smaller than a preset distance threshold, and an included angle between a driving direction of the obstacle and a driving direction of the unmanned aerial vehicle is smaller than a preset angle threshold.
For example, in the link scenario shown in fig. 3A, the current travel path of the unmanned aerial vehicle a located in lane 1 is shown as a solid line, and the predicted trajectory of the obstacle B located in lane 2 is shown as a dashed line. The driving directions of the obstacle and the unmanned equipment are the same, the obstacle is about to change the lane and merge into the lane where the unmanned equipment is located, the time when the unmanned equipment A is located at the current position is taken as the time 0, when the obstacle B is about to change the lane from the lane 2 and merge into the lane 1, the obstacle B influences the unmanned equipment A, and the time period is t1To t2Time of day; in the intersection scene shown in fig. 3B, the current driving path of the unmanned aerial vehicle a is the solid line, the predicted trajectory of the obstacle B is the dotted line, the obstacle is the same as the target driving lane of the unmanned aerial vehicle, the obstacle is about to turn and merge into the lane where the unmanned aerial vehicle is located, and when the time when the unmanned aerial vehicle a is located at the current position is 0, and when the obstacle B is about to turn and merge into the lane 3, the obstacle B will merge into the lane at t3The moment starts to have an influence on the unmanned aerial device a.
Then, according to the state information of the obstacle, the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period is obtained.
Specifically, in order to visually display the obstacle area of the obstacle, the current position of the unmanned aerial vehicle is set to be an origin O with displacement of 0 and time of 0, that is, the current position of the unmanned aerial vehicle is set to be the origin O (0,0), and an ST coordinate system is constructed by taking the displacement S of the unmanned aerial vehicle and the obstacle as a vertical axis and the time T as a horizontal axis. That is, an arbitrary point (t, s) in the ST coordinate system represents: the displacement of the target (here, the target may refer to an obstacle or an unmanned device) from the origin O at time t is s.
As shown in step S100 in fig. 2, according to the current path of the unmanned aerial vehicle and the predicted trajectory of the obstacle, projecting the displacement information of the obstacle affecting the unmanned aerial vehicle into a displacement time coordinate system, and determining the obstacle area of the obstacle corresponding to the displacement time coordinate system, which is implemented in the following manner.
In the embodiment of the present specification, the scenes in which the obstacle affects the unmanned aerial vehicle include a link scene and an intersection scene, and for convenience of understanding, only the link scene is taken as an example, and the displacement information in the time period in which the obstacle B in the link scene affects the unmanned aerial vehicle a as shown in fig. 3A is projected into the ST coordinate system as shown in fig. 4. Wherein, t1Moment, t, at which obstacle B starts to affect unmanned aerial vehicle A2Moment, t, at which obstacle B ends to affect unmanned aerial vehicle A1To t2The time period when the obstacle B influences the unmanned equipment A; s1Is an obstacle B at t1Displacement of time relative to origin O, s2Is an obstacle B at t2The displacement of the time relative to the origin O. It can be seen that in the displaced time coordinate system, the point (t)1，s1) And point (t)2，s2) Connecting line l1The slope of (a) is the speed of the obstacle B, and the obstacle can be in constant speed running or variable speed running, i.e. l1The shape may be a straight line or a curved line, which is not limited in the present specification. In the embodiments of the present specification, for convenience of understanding, only the case where the obstacle travels at a constant speed is taken as an example, and a specific technical solution is described.
At t1To t2And in a time period, obtaining the displacement of the obstacle relative to the current position of the unmanned equipment at each moment.
In the ST coordinate system shown in FIG. 4,/1Is the rear end of the obstacle B, /)3Is the front end of the obstacle B, /)2Is the length of the obstacle B. I.e. at t1At this time, the displacement of the front end of the obstacle B with respect to the origin O is s3The displacement of the rear end of the obstacle B with respect to the origin O is s1(ii) a At t2At this time, the displacement of the front end of the obstacle B with respect to the origin O is s4The displacement of the rear end of the obstacle B with respect to the origin O is s2. Thus, from1、l2、l3、l4Is formed by a region containing the said obstacle B at t1To t2The area of displacement of each time instant within the time period relative to the origin O,i.e. the obstacle area of the obstacle.
In this embodiment of the present specification, as shown in step S104 in fig. 2, expanding the obstacle area according to the decision performed by the unmanned aerial vehicle on the obstacle specifically includes the following steps:
determining an adjustment direction corresponding to the boundary of the obstacle area according to the type of the decision of the unmanned equipment on the obstacle; the adjustment direction includes a displacement direction and a time direction in a displacement time coordinate system. Wherein the displacement direction includes a direction in which the displacement increases and a direction in which the displacement decreases; the temporal direction includes a direction of temporal increase and a direction of temporal decrease.
In practical application, the boundary of the obstacle area is adjusted in the displacement direction in a displacement time coordinate system, so that the unmanned equipment and the obstacle keep a reasonable distance; the boundary of the obstacle area is adjusted in the time direction in the displacement time coordinate system, so that the time difference of the unmanned equipment and the obstacle passing through the same position is increased, the reasonable distance between the unmanned equipment and the obstacle is ensured, meanwhile, the influence of the speed change of the obstacle in front on the unmanned equipment behind is reduced, and the driving safety of the unmanned equipment is ensured.
Specifically, if the decision performed by the unmanned aerial vehicle on the obstacle is a follow-up decision or a lead-by decision, it is determined that the unmanned aerial vehicle will travel behind the obstacle and keep a reasonable distance, and therefore the adjustment direction corresponding to the boundary of the obstacle area is determined to be a direction in which the displacement decreases and a direction in which the time increases.
If the decision executed by the unmanned equipment on the obstacle is a prior decision, the unmanned equipment is indicated to be driven in front of the obstacle and keep a reasonable distance, and therefore the adjustment direction corresponding to the boundary of the obstacle area is determined to be a direction of increasing displacement and a direction of decreasing time.
If the decision executed by the unmanned equipment on the obstacle is a stopping decision, the unmanned equipment stops running at a position which is a certain displacement away from the obstacle, and the time difference that the unmanned equipment and the obstacle pass through the same position does not need to be increased, so that the adjusting direction corresponding to the boundary of the obstacle area is determined to be the direction of reducing the displacement.
And determining an adjusting distance corresponding to each boundary of the obstacle area according to the environment information of the unmanned equipment. The environment information of the unmanned equipment comprises scenes, such as road sections, intersections and the like, of the unmanned equipment. That is, if the scene in which the unmanned aerial vehicle is located is different, the adjustment distance of each boundary of the obstacle area is different. For example, the adjusted distance of each boundary of the obstacle area in the intersection scene is generally larger than the adjusted distance of each boundary of the obstacle area in the link scene.
In practical application, the enlarged obstacle area is obtained by adjusting the boundary of the obstacle area along the direction corresponding to the boundary. The boundary adjusting method may be to adjust each boundary of the obstacle area at the same time, or to adjust a predetermined boundary to be adjusted.
And aiming at each boundary of the obstacle area, adjusting the adjustment distance corresponding to the boundary along the adjustment direction corresponding to the boundary. Take the obstacle area shown in FIG. 5A as an example, wherein the obstacle area of the obstacle is represented by1、l2、l3、l4And the decision executed by the unmanned equipment on the obstacle is a follow-up decision or a lead decision, and the adjustment direction of the boundary of the obstacle area is the direction of displacement reduction and the direction of time increase.
Specifically, if the boundary is adjusted in such a manner that each boundary of the obstacle area is adjusted at the same time, first, the boundary l of the obstacle area is adjusted1、l2、l3、l4While adjusting m in the direction of decreasing displacement1To obtain a reaction product of1’、l2、l3、l4And an area of extension lines, then will be composed of1’、l2、l3、l4And the extension line simultaneously adjusts n in the direction of increasing time1Will be composed of1、l2、l3、l4The solid line area and the obstacle area are formed inAnd combining the broken line areas passing through the adjustment process, and determining the broken line areas as barrier areas expanded according to yielding decisions or following decisions. Namely, each boundary of the obstacle area is adjusted along the corresponding direction at the same time by the corresponding adjustment distance, and the obstacle area and the area passing through in the adjustment process are combined to be determined as the enlarged obstacle area. The area that passes through during adjustment is an area surrounded by the boundaries of the obstacle area after being adjusted in the adjustment direction for each adjustment direction, the boundaries after adjustment and/or the extension lines of the boundaries after adjustment, and the boundaries before adjustment and/or the extension lines of the boundaries before adjustment.
If the boundary adjusting mode is to adjust a predetermined boundary to be adjusted, determining the boundary to be adjusted according to the type of a decision performed by the unmanned equipment on the obstacle, and when the decision performed by the unmanned equipment on the obstacle is a follow-up decision or a yield decision, determining that the boundary to be adjusted is l1And l2. Will l1Adjusting m in the direction of decreasing displacement1To obtain a boundary l1', will1' and l2While adjusting n in the direction of increasing time1To obtain a boundary l1"and l2'. Will l3And l4Is elongated in a corresponding direction, is1”、l2' meet, obtain the dashed area as shown in fig. 5A, the area formed by the solid line and the dashed line is the obstacle area expanded according to the yielding decision or the following decision.
ST coordinate system shown in FIG. 5B, wherein the obstacle area of the obstacle is represented by1、l2、l3、l4A solid line area composed such that a decision performed by the unmanned aerial device on the obstacle is a leading decision, and therefore, a boundary of the obstacle area is adjusted by m in a direction in which the displacement increases2Adjusting n in the direction of decreasing time2. And the adjusted obstacle area formed by the solid line and the dotted line is the enlarged obstacle area according to the prior decision. The adjustment manner of the obstacle area boundary in the ST coordinate system shown in fig. 5B is similar to that of the obstacle area boundary in fig. 5A, and the detailed adjustment process is not repeated here.
ST coordinate system shown in FIG. 5C, wherein the obstacle area of the obstacle is represented by1、l2、l3、l4A solid line area of composition, a decision performed by the drone on the obstacle being a stop decision. Therefore, the boundary of the obstacle region is adjusted m in the direction of the reduction of the displacement3. And the obstacle area formed by the adjusted solid line and the adjusted dotted line is the obstacle area expanded according to the stop decision. The adjustment manner of the obstacle area boundary in the ST coordinate system shown in fig. 5C is similar to that of the obstacle area boundary in fig. 5A, and the detailed adjustment process is not repeated here.
In this embodiment of the present specification, the determination as shown in step S106 in fig. 2 is a programmable range when the unmanned aerial vehicle is planned, and may be specifically determined by the following method.
According to the decision executed by the unmanned equipment on the obstacle and the enlarged obstacle area, determining a programmable upper bound and a programmable lower bound when planning the driving track of the unmanned equipment in a range except the enlarged obstacle area corresponding to the obstacle, and according to the programmable upper bound and the programmable lower bound, determining a programmable range when planning the driving track of the unmanned equipment.
For example, as shown in fig. 5A, the enlarged obstacle area is an area formed by a solid line and a dashed line, and since the decision performed by the unmanned aerial vehicle on the obstacle is a follow decision or a yield decision, the upper limit of the planned driving trajectory of the unmanned aerial vehicle is a curve L in fig. 5A1The lower bound can be planned as the time coordinate axis, L1The range between the time coordinate axis and the time coordinate axis is a programmable range when the unmanned equipment driving track is planned; similarly, as shown in the schematic diagram of the enlarged obstacle area shown in fig. 5B, the enlarged obstacle area is an area formed by a solid line and a dashed line, and since the decision performed by the unmanned aerial vehicle on the obstacle is a leading decision, the lower programmable boundary of the planned driving trajectory of the unmanned aerial vehicle is a curve L in fig. 5B2The upper bound can be planned as the displacement coordinate axis, L2The range between the displacement coordinate axis and the displacement coordinate axis is the planning unmanned equipment rowA plannable range when driving a track; as shown in fig. 5C, the enlarged obstacle area is an area formed by a solid line and a dashed line, and since the decision performed by the unmanned aerial vehicle on the obstacle is a stopping decision, the upper bound of the programmable range of the planned travel track of the unmanned aerial vehicle is the curve L in fig. 5C3The lower bound is the time axis, L3And the range between the time coordinate axis and the time coordinate axis is the programmable range when the unmanned equipment driving track is planned.
Based on the same idea, the present specification further provides a corresponding unmanned aerial vehicle control apparatus, as shown in fig. 6, for the unmanned aerial vehicle control method provided in one or more embodiments of the present specification.
Fig. 6 is a schematic diagram of an unmanned equipment control device provided in this specification, which specifically includes:
the obstacle area determination module 200 is configured to determine an obstacle area corresponding to an obstacle in a displacement time coordinate system according to a current path of the unmanned aerial vehicle, a predicted trajectory of the obstacle, and state information of the obstacle;
a decision determining module 202, configured to determine, according to the state information of the obstacle and the state information of the unmanned device, a decision that the unmanned device performs on the obstacle;
an enlarged obstacle region determination module 204, configured to enlarge the obstacle region according to a decision that the unmanned device performs on the obstacle, so as to obtain an enlarged obstacle region;
a driving track planning module 206, configured to plan a driving track of the unmanned aerial vehicle according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area;
and the control module 208 is used for controlling the unmanned equipment according to the running track.
Optionally, the obstacle area determining module 200 is specifically configured to determine, according to the current path of the unmanned aerial vehicle and the predicted trajectory of the obstacle, a time period in which the obstacle affects the unmanned aerial vehicle; according to the state information of the obstacle, obtaining the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period; and determining an obstacle area corresponding to the obstacle in a displacement time coordinate system according to the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period.
Optionally, the enlarged obstacle area determining module 204 is specifically configured to determine, according to a type of a decision performed by the unmanned device on the obstacle, an adjustment direction corresponding to a boundary of the obstacle area; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system; and aiming at each boundary of the obstacle area, adjusting the boundary along the adjustment direction corresponding to the boundary.
Optionally, the enlarged obstacle region determination module 204 is specifically configured to make a decision performed by the unmanned aerial vehicle on the obstacle include at least one of a follow-up decision, a yield decision, a look-ahead decision, and a stop decision; if the decision executed by the unmanned equipment on the obstacle is a follow-up decision or a lead decision, determining that the adjustment direction corresponding to the boundary of the obstacle area is a displacement reduction direction and a time increase direction; if the decision executed by the unmanned equipment on the obstacle is a prior decision, determining the adjustment direction corresponding to the boundary of the obstacle area as the direction of increasing displacement and the direction of reducing time; and if the decision executed by the unmanned equipment on the obstacle is a stopping decision, determining that the adjusting direction corresponding to the boundary of the obstacle area is a direction of reducing displacement.
Optionally, the enlarged obstacle area determining module 204 is specifically configured to determine, according to the environment information where the unmanned device is located, an adjustment distance corresponding to the boundary; and adjusting the adjustment distance corresponding to the boundary along the adjustment direction corresponding to the boundary.
Optionally, the driving trajectory planning module 206 is specifically configured to determine a programmable range when the driving trajectory of the unmanned aerial vehicle is planned according to the decision that the unmanned aerial vehicle performs on the obstacle and the enlarged obstacle area; and performing speed planning on the unmanned equipment within the programmable range according to the environment information where the unmanned equipment is located and the state information of the unmanned equipment.
Optionally, the driving trajectory planning module 206 is specifically configured to determine, according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area, a range excluding the enlarged obstacle area corresponding to the obstacle, as a plannable range when the driving trajectory of the unmanned aerial vehicle is planned.
The present specification also provides a computer-readable storage medium storing a computer program operable to execute the above-described unmanned aerial device control method provided in fig. 2.
This specification also provides a schematic block diagram of the electronic device shown in fig. 7. As shown in fig. 7, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the method for controlling the unmanned aerial vehicle described in fig. 2. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present invention.

Claims (10)

1. An unmanned equipment control method, comprising:
determining a corresponding obstacle area of the obstacle in a displacement time coordinate system according to the current path of the unmanned equipment, the predicted track of the obstacle and the state information of the obstacle;
determining a decision performed by the unmanned equipment on the obstacle according to the state information of the obstacle and the state information of the unmanned equipment;
expanding the obstacle area according to the decision of the unmanned equipment on the obstacle to obtain an expanded obstacle area;
planning a driving track of the unmanned equipment according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
and controlling the unmanned equipment according to the driving track.
2. The method of claim 1, wherein determining the corresponding obstacle region of the obstacle in the displacement time coordinate system specifically comprises:
determining a time period for which the obstacle influences the unmanned equipment according to the current path of the unmanned equipment and the predicted track of the obstacle;
according to the state information of the obstacle, obtaining the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period;
and determining an obstacle area corresponding to the obstacle in a displacement time coordinate system according to the displacement of the obstacle relative to the current position of the unmanned equipment at each moment in the time period.
3. The method of claim 1, wherein expanding the obstacle area based on the decision performed by the drone on the obstacle comprises:
determining an adjustment direction corresponding to the boundary of the obstacle area according to the type of the decision of the unmanned equipment on the obstacle; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system;
and aiming at each boundary of the obstacle area, adjusting the boundary along the adjustment direction corresponding to the boundary.
4. The method of claim 3, wherein the decision performed by the drone on the obstacle comprises at least one of a follow-up decision, a yield decision, a look-ahead decision, and a stop decision;
determining an adjustment direction corresponding to the boundary of the obstacle area according to the decision of the unmanned equipment on the obstacle, specifically comprising:
if the decision executed by the unmanned equipment on the obstacle is a follow-up decision or a lead decision, determining that the adjustment direction corresponding to the boundary of the obstacle area is a displacement reduction direction and a time increase direction;
if the decision executed by the unmanned equipment on the obstacle is a prior decision, determining the adjustment direction corresponding to the boundary of the obstacle area as the direction of increasing displacement and the direction of reducing time;
and if the decision executed by the unmanned equipment on the obstacle is a stopping decision, determining that the adjusting direction corresponding to the boundary of the obstacle area is a direction of reducing displacement.
5. The method of claim 3, wherein adjusting the boundary along the adjustment direction corresponding to the boundary comprises:
determining an adjusting distance corresponding to the boundary according to the environment information of the unmanned equipment;
and adjusting the adjustment distance corresponding to the boundary along the adjustment direction corresponding to the boundary.
6. The method according to claim 1, wherein planning a driving trajectory of the unmanned aerial vehicle according to the decision made by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area comprises:
determining a programmable range when the unmanned equipment driving track is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
and performing speed planning on the unmanned equipment within the programmable range according to the environment information where the unmanned equipment is located and the state information of the unmanned equipment.
7. The method according to claim 6, wherein determining a plannable range when planning a driving trajectory of the unmanned aerial vehicle according to the decision made by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area comprises:
and determining a range except for the expanded obstacle area corresponding to the obstacle according to the decision of the unmanned equipment on the obstacle and the expanded obstacle area, and determining a programmable range when planning the driving track of the unmanned equipment.
8. An unmanned equipment control device, comprising:
the obstacle area determination module is used for determining an obstacle area corresponding to the obstacle in a displacement time coordinate system according to the current path of the unmanned equipment, the predicted track of the obstacle and the state information of the obstacle;
the decision determining module is used for determining a decision which is executed by the unmanned equipment on the obstacle according to the state information of the obstacle and the state information of the unmanned equipment;
an enlarged obstacle region determination module, configured to enlarge the obstacle region according to a decision that the unmanned device performs on the obstacle, so as to obtain an enlarged obstacle region;
a driving track planning module, configured to plan a driving track of the unmanned aerial vehicle according to the decision performed by the unmanned aerial vehicle on the obstacle and the enlarged obstacle area;
and the control module is used for controlling the unmanned equipment according to the running track.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the program.
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