CN113815651B - Unmanned equipment control method, unmanned equipment control device, unmanned equipment control equipment and storage medium - Google Patents

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

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Publication number
CN113815651B
CN113815651B CN202111274626.8A CN202111274626A CN113815651B CN 113815651 B CN113815651 B CN 113815651B CN 202111274626 A CN202111274626 A CN 202111274626A CN 113815651 B CN113815651 B CN 113815651B
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obstacle
unmanned
decision
unmanned equipment
region
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CN113815651A (en
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张羽
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 specification discloses a unmanned equipment control method, a device, equipment and a storage medium. The method is based on the running track of the unmanned equipment in the expanded obstacle area, so that the unmanned equipment can keep a reasonable safety distance from the obstacle in the running process, and the running safety of the unmanned equipment is improved.

Description

Unmanned equipment control method, unmanned equipment control device, unmanned equipment control equipment and storage medium
Technical Field
The present disclosure relates to the field of unmanned technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling an unmanned device.
Background
At present, unmanned equipment is widely applied to various fields such as national defense, national economy and the like, and with continuous improvement of the technology level, the unmanned equipment is further developed, so that more convenience is brought to the life of people. The unmanned equipment can sense the road environment, automatically plan the track avoiding the obstacle in the driving process according to the acquired state information of the obstacle, and reach a preset target.
In the prior art, a displacement time coordinate system (ST coordinate system) shown in fig. 1 is generally constructed with a displacement S of the unmanned equipment as a vertical axis and a time T as a horizontal axis, and an obstacle region of the obstacle on the ST coordinate system shown in a hatched portion of fig. 1 is obtained according to a speed and a length of the obstacle. And then determining the speed required by the unmanned equipment to avoid the obstacle under different longitudinal decisions according to the different longitudinal decisions so as to enable the unmanned equipment to normally run at the speed.
However, in the prior art, the obstacle area is determined only according to the speed and the length of the obstacle, so that the reasonable safety distance between the unmanned equipment and the obstacle in the driving process cannot be ensured, and the driving safety of the unmanned equipment is reduced.
Disclosure of Invention
The present disclosure provides a method, apparatus, device and storage medium for controlling an unmanned device, so as to partially solve the above-mentioned problems in the prior art.
The technical scheme adopted in the specification is as follows:
the specification provides a control method of unmanned equipment, which comprises the following steps:
determining a corresponding obstacle region in a displacement time coordinate system of the obstacle according to a current path of the unmanned equipment, a predicted track of the obstacle and state information of the obstacle;
Determining a decision executed 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 region according to the decision of the unmanned equipment on the obstacle to obtain an expanded obstacle region;
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 running track.
Optionally, determining the obstacle region corresponding to the obstacle in the displacement time coordinate system specifically includes:
determining a time period during which the obstacle affects 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 region 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 the decision performed by the unmanned device on the obstacle specifically includes:
Determining an adjustment direction corresponding to the boundary of the obstacle region according to the type of decision carried out by the unmanned equipment on the obstacle; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system;
for each boundary of the obstacle region, the boundary is adjusted along the corresponding adjustment direction of the boundary.
Optionally, the decision performed by the unmanned device on the obstacle includes at least one of a following decision, a yielding decision, a look-ahead decision, and a stop decision;
according to the decision of the unmanned device on the obstacle, determining the adjustment direction corresponding to the boundary of the obstacle area specifically includes:
if the decision executed by the unmanned equipment on the obstacle is a following decision or a yielding 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 preceding decision, determining that the adjustment direction corresponding to the boundary of the obstacle area is the direction of displacement increase and the direction of time decrease;
and if the decision executed by the unmanned equipment on the obstacle is a stopping decision, determining the adjustment direction corresponding to the boundary of the obstacle area as the displacement reduction direction.
Optionally, the adjusting the boundary along the adjusting direction corresponding to the boundary specifically includes:
determining an adjustment distance corresponding to the boundary according to the environmental information of the unmanned equipment;
and adjusting the adjusting distance corresponding to the boundary along the adjusting direction corresponding to the boundary.
Optionally, according to the decision of the unmanned device on the obstacle and the enlarged obstacle area, planning the driving track of the unmanned device specifically includes:
determining a programmable range when the unmanned equipment running track is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
and carrying out speed planning on the unmanned equipment in the programmable range according to the environmental information of the unmanned equipment and the state information of the unmanned equipment.
Optionally, determining a programmable range when the unmanned device is planned according to the decision of the unmanned device on the obstacle and the enlarged obstacle area, specifically including:
and 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 expanded obstacle region, and the range except for the expanded obstacle region corresponding to the obstacle.
The present description provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described unmanned 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 unmanned device control method when executing the program.
The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:
according to the method, an obstacle area is enlarged according to a decision of the unmanned equipment on the obstacle, an enlarged obstacle area is obtained, and then a running track of the unmanned equipment is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area, so that the unmanned equipment is controlled according to the obtained running track. According to the method, the running track of the unmanned equipment is planned based on the enlarged obstacle area, so that the unmanned equipment can keep a reasonable safety distance from the obstacle in the running process, and the running safety of the unmanned equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:
Fig. 1 is a schematic view of an obstacle region in an ST coordinate system in the present specification;
fig. 2 is a schematic flow chart of a method for controlling an unmanned device in the present specification;
fig. 3A is a schematic view of a scenario in which an unmanned device travels provided in the present disclosure;
fig. 3B is a schematic view of another scenario in which an unmanned device is traveling provided in the present disclosure;
FIG. 4 is a schematic view of an obstacle region in another ST coordinate system in the present specification;
FIG. 5A is a schematic view of an enlarged obstacle region in the ST coordinate system of the present specification;
fig. 5B is a schematic view of an enlarged obstacle region in another ST coordinate system in the present specification;
fig. 5C is a schematic view of an enlarged obstacle region in yet another ST coordinate system in the present specification;
fig. 6 is a schematic diagram of an unmanned device control apparatus provided in the present specification;
fig. 7 is a schematic diagram of an electronic device provided in the present specification.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of a method for controlling an unmanned device according to an embodiment of the present disclosure, which specifically includes the following steps:
s100: determining a corresponding obstacle region in a displacement time coordinate system of the obstacle according to a current path of the unmanned equipment, a predicted track of the obstacle and state information of the obstacle;
in the embodiment of the present specification, the unmanned device may be an unmanned vehicle, or may be an unmanned device such as an unmanned plane, and the unmanned device may be used to perform a delivery task. The unmanned device may sense the road environment through the configured sensors and automatically plan a route according to the road environment and reach a predetermined target. The obstacles may include dynamic obstacles and static obstacles, wherein the dynamic obstacles may include automobiles, non-automobiles, and pedestrians; the static obstacle may comprise a traffic light. The unmanned device can sense information of the obstacle and environmental information through sensor devices such as a laser radar and a camera, and predict a running track of the obstacle for a period of time in the future through a corresponding algorithm.
According to the current path of the unmanned equipment and the predicted track of the obstacle, the displacement information of the obstacle influencing the unmanned equipment is projected into a displacement time coordinate system, and the corresponding obstacle area of the obstacle in the displacement time coordinate system is determined. 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 executed 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, acceleration, length, etc. of the obstacle; the status information of the unmanned device includes speed, acceleration, etc. of the unmanned device. The decision performed by the unmanned device on the obstacle includes at least one of a following decision, a yielding decision, a look-ahead decision, and a stopping decision.
S104: expanding the obstacle region according to the decision of the unmanned equipment on the obstacle to obtain an expanded obstacle region;
since the obstacle region is determined according to the length and the speed of the obstacle, and then when the travel track is planned for the unmanned equipment according to the obstacle region, the planned travel track curve may be close to the boundary of the obstacle region, that is, the distance between the unmanned equipment and the obstacle is smaller when the unmanned equipment travels according to the travel track, the travel safety of the unmanned equipment cannot be ensured, and therefore the obstacle region needs to be enlarged.
According to the decision of the unmanned equipment on the obstacle, the obstacle area is enlarged, so that the unmanned equipment can keep a reasonable safety distance from 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 equipment and the obstacle, according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area, determining the range except the enlarged obstacle area corresponding to the obstacle as a planned range when planning the driving track of the unmanned equipment. And planning the running track of the unmanned equipment in the programmable range according to the environmental information of the unmanned equipment and the state information of the unmanned equipment. The travel path planning of the unmanned device includes a speed planning.
S108: and controlling the unmanned equipment according to the running track.
In practical application, the unmanned equipment is controlled according to the planned driving track, so that the unmanned equipment and the obstacle keep a reasonable safe distance, and the decision of the unmanned equipment on the obstacle is used for avoiding the obstacle and driving safely.
According to the method, an obstacle area is enlarged according to a decision of the unmanned equipment on the obstacle, an enlarged obstacle area is obtained, and then a running track of the unmanned equipment is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area, so that the unmanned equipment is controlled according to the obtained running track. According to the method, the running track of the unmanned equipment is planned based on the enlarged obstacle area, so that the unmanned equipment can keep a reasonable safety distance from the obstacle in the running process, and the running safety of the unmanned equipment is improved.
In the embodiment of the present disclosure, the determining the obstacle area corresponding to the obstacle in the displacement time coordinate system as shown in step S100 of fig. 2 specifically includes the following steps:
firstly, determining a time period for the obstacle to influence the unmanned equipment according to the current path of the unmanned equipment and the predicted track of the obstacle.
In the embodiment of the present disclosure, the unmanned device may include an unmanned vehicle, an unmanned plane, and other unmanned devices, and for convenience of understanding, only the unmanned vehicle is taken as an example, and a specific technical solution will be described.
Specifically, if the traveling direction of the predicted path of the obstacle is the same as the traveling direction of the unmanned device, and the obstacle is about to turn or change the lane to merge into the lane where the unmanned device is located, the obstacle will have a period of influence on the unmanned device. The influence of the obstacle on the unmanned device may include that a longitudinal distance and/or a lateral distance of the obstacle from the unmanned device is smaller than a preset distance threshold, and an included angle between a traveling direction of the obstacle and a traveling direction of the unmanned device is smaller than a preset angle threshold.
For example, as shown in the road segment scene of fig. 3A, the current driving path of the unmanned device a located in the lane 1 is shown as a solid line, and the predicted trajectory of the obstacle B located in the lane 2 is shown as a broken line. The driving direction of the obstacle is the same as that of the unmanned equipment, the obstacle is about to transfer the lane where the unmanned equipment is located, the moment when the unmanned equipment A is located at the current position is 0 moment, when the obstacle B is about to transfer the lane 2 into the lane 1, the obstacle B affects the unmanned equipment A, and the time period is t 1 To t 2 Time; as shown in the intersection scene shown in fig. 3B, the current driving path of the unmanned device a is a solid line, the predicted path of the obstacle B is a dashed line, the obstacle is the same as the target driving lane of the unmanned device, and the obstacle is about to enter the lane where the unmanned device is located by turningWhen the obstacle B is about to turn and merge into the lane 3, the obstacle B will be at t with the moment when the unmanned equipment a is at the current position being 0 3 The moment starts to have an impact on the drone a.
And then, 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.
Specifically, in order to intuitively show an obstacle area of an obstacle, the current position of the unmanned equipment is set to be an origin O with a displacement of 0 and a time of 0, that is, the current position of the unmanned equipment is set to be the origin O (0, 0), the displacement S of the unmanned equipment and the obstacle is set to be a vertical axis, and the time T is set to be a horizontal axis, so that an ST coordinate system is constructed. That is, any point (t, s) in the ST coordinate system represents: the displacement of the object (here, the object may refer to an obstacle or an unmanned device) with respect to the origin O at the time t is s.
According to the current path of the unmanned device and the predicted track of the obstacle, as shown in step S100 of fig. 2, the displacement information of the obstacle influencing the unmanned device is projected into a displacement time coordinate system, and the corresponding obstacle area in the displacement time coordinate system is determined by the following method.
In the embodiment of the present specification, the scenes in which the obstacle affects the unmanned device include a road segment scene and an intersection scene, and in order to facilitate understanding, displacement information in a period of time in which the obstacle B in the road segment scene affects the unmanned device a as shown in fig. 3A is projected into the ST coordinate system as shown in fig. 4, taking the road segment scene as an example only. Wherein t is 1 Time t at which obstacle B starts to affect unmanned device a 2 Time t for obstacle B to end influencing unmanned device a 1 To t 2 A time period during which the obstacle B affects the unmanned device a; s is(s) 1 At t as obstacle B 1 Displacement of moment of time with respect to origin O, s 2 At t as obstacle B 2 Displacement of the moment in time with respect to the origin O. It can be seen that in the displacement time coordinate system, the point (t 1 ，s 1 ) And point (t) 2 ，s 2 ) Is connected with line l 1 The slope of (a) isThe speed of the obstacle B can be uniform speed running or variable speed running, i.e.) 1 The present specification is not limited to this, and may be straight or curved. In the embodiments of the present specification, in order to facilitate understanding, a specific technical solution will be described only by taking obstacle traveling at a constant speed as an example.
At t 1 To t 2 And in the time period, obtaining the displacement of each moment of the obstacle relative to the current position of the unmanned equipment.
In the ST coordinate system as shown in FIG. 4, l 1 Is the rear end of obstacle B, l 3 Is the front end of the obstacle B, l 2 The length of (a) is the length of the obstacle B. I.e. at t 1 At this time, the displacement of the front end of the obstacle B with respect to the origin O is s 3 The displacement of the rear end of the obstacle B with respect to the origin O is s 1 The method comprises the steps of carrying out a first treatment on the surface of the At t 2 At this time, the displacement of the front end of the obstacle B with respect to the origin O is s 4 The displacement of the rear end of the obstacle B with respect to the origin O is s 2 . Thus, from l 1 、l 2 、l 3 、l 4 The region of composition is that comprising the obstacle B at t 1 To t 2 The displacement area of each moment in the time period relative to the origin O is the obstacle area of the obstacle.
In this embodiment of the present disclosure, as shown in step S104 of fig. 2, the method for expanding the obstacle area according to the decision performed by the unmanned device on the obstacle specifically includes the following steps:
determining an adjustment direction corresponding to the boundary of the obstacle region according to the type of decision carried out by 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 time direction includes a direction in which time increases and a direction in which time decreases.
In practical application, the boundary of the obstacle region is adjusted in the displacement direction in a displacement time coordinate system so as to keep reasonable distance between unmanned equipment and the obstacle; and the boundary of the obstacle region is adjusted in the time direction of displacement in the time coordinate system, so that the time difference between 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, the influence of the speed change of the obstacle in front on the unmanned equipment in the rear is reduced, and the driving safety of the unmanned equipment is ensured.
Specifically, if the decision performed by the unmanned device on the obstacle is a following decision or a yielding decision, it is indicated that the unmanned device will travel behind the obstacle and keep a reasonable distance, so that the adjustment direction corresponding to the boundary of the obstacle region is determined to be the direction of displacement decrease and the direction of time increase.
If the decision performed by the unmanned device on the obstacle is a preceding decision, it is indicated that the unmanned device will travel in front of the obstacle and keep a reasonable distance, so that the adjustment direction corresponding to the boundary of the obstacle region is determined to be the direction in which the displacement increases and the direction in which the time decreases.
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 from the obstacle, and the time difference between the unmanned equipment and the obstacle passing through the same position is not required to be increased, so that the adjustment direction corresponding to the boundary of the obstacle area is determined to be the direction of displacement reduction.
And determining the adjustment distance corresponding to each boundary of the obstacle area according to the environmental information of the unmanned equipment. The environment information of the unmanned equipment comprises scenes of the unmanned equipment, such as road sections, intersections and the like. That is, if the scenes in which the unmanned devices are located are different, the adjustment distances of the boundaries of the obstacle region are different. For example, the adjustment distance of each boundary of the obstacle region in the intersection scene is generally larger than the adjustment distance of each boundary of the obstacle region in the road segment scene.
In practical application, the boundary of the obstacle region is adjusted along the direction corresponding to the boundary, so that the enlarged obstacle region is obtained. The boundary adjustment may be performed by simultaneously adjusting each boundary of the obstacle region, or may be performed by adjusting a predetermined boundary to be adjusted.
And adjusting the adjusting distance corresponding to each boundary of the obstacle region along the adjusting direction corresponding to the boundary. Taking the obstacle region shown in FIG. 5A as an example, wherein the obstacle region of the obstacle is represented by l 1 、l 2 、l 3 、l 4 And the decision of the unmanned equipment on the obstacle is a following decision or a yielding decision, and the adjustment direction of the boundary of the obstacle area is a displacement decreasing direction and a time increasing direction.
Specifically, if the boundary is adjusted by simultaneously adjusting each boundary of the obstacle region, the boundary l of the obstacle region is first adjusted 1 、l 2 、l 3 、l 4 While adjusting m in the direction of displacement decrease 1 Obtain the product of l 1 ’、l 2 、l 3 、l 4 And an extension line, then will be composed of l 1 ’、l 2 、l 3 、l 4 And the extension line adjusts n along the time increasing direction 1 Will be represented by l 1 、l 2 、l 3 、l 4 The solid line region formed is merged with the broken line region passed by the obstacle region in the adjustment process, and is determined as an obstacle region enlarged according to the yielding decision or the following decision. That is, each boundary of the obstacle region is adjusted in the corresponding direction by the corresponding adjustment distance, and the obstacle region is combined with the region passed during the adjustment to determine the enlarged obstacle region. The region passed through in the adjustment process is a region surrounded by each boundary of the obstacle region and each boundary before adjustment and/or each boundary before adjustment after the boundary of the obstacle region is adjusted in the adjustment direction.
If the mode of adjusting the boundary is to adjust the predetermined boundary to be adjusted, determining the boundary to be adjusted according to the type of the decision executed by the unmanned equipment on the obstacle, and determining the boundary to be adjusted as the following decision or the yielding decision when the decision executed by the unmanned equipment on the obstacle is the following decisionl 1 And l 2 . Will l 1 Adjusting m in the direction of displacement reduction 1 Obtaining boundary l 1 ', l 1 ' and l 2 While adjusting n in the direction of increasing time 1 Obtaining boundary l 1 "and l 2 '. Will l 3 And l 4 Extending in the corresponding direction and l 1 ”、l 2 The 'phase' is the dotted line area shown in fig. 5A, and the area formed by the solid line and the dotted line is the obstacle area expanded according to the yielding decision or the following decision.
The ST coordinate system as shown in FIG. 5B, wherein the obstacle region of the obstacle is represented by l 1 、l 2 、l 3 、l 4 A solid line region formed by the unmanned aerial vehicle performing a decision on the obstacle as a preceding decision, so that the boundary of the obstacle region is adjusted by m along the direction of increasing displacement 2 Adjusting n in a direction of time decrease 2 . The obstacle region formed by the solid line and the broken line after adjustment is the obstacle region which is enlarged according to the advanced decision. The adjustment of the boundary of the obstacle region in the ST coordinate system shown in fig. 5B is similar to that of the obstacle region in fig. 5A, and a detailed adjustment process is not repeated here.
The ST coordinate system as shown in FIG. 5C, wherein the obstacle region of the obstacle is represented by l 1 、l 2 、l 3 、l 4 And in the solid line area, the decision performed by the unmanned equipment on the obstacle is a stopping decision. Therefore, the boundary of the obstacle region is adjusted by m in the direction of displacement decrease 3 . The obstacle region formed by the solid line and the broken line after adjustment is the obstacle region which is enlarged according to the stopping decision. The adjustment of the boundary of the obstacle region in the ST coordinate system shown in fig. 5C is similar to that of the obstacle region in fig. 5A, and a detailed adjustment process is not repeated here.
In this embodiment of the present disclosure, the determination as to the planned range when planning the driving track of the unmanned device, as shown in step S106 of fig. 2, may be specifically determined by the following method.
And determining a programmable upper bound and a programmable lower bound when the driving track of the unmanned equipment is planned according to the decision of the unmanned equipment on the obstacle and the expanded obstacle region, and determining a programmable range when the driving track of the unmanned equipment is planned according to the programmable upper bound and the programmable lower bound.
For example, as shown in the schematic diagram of the enlarged obstacle region in fig. 5A, the enlarged obstacle region is a region composed of a solid line and a broken line, and since the decision performed by the unmanned device on the obstacle is a following decision or a yielding decision, the upper programmable boundary of the planned driving track of the unmanned device is a curve L in fig. 5A 1 The lower boundary can be planned to be a time coordinate axis, L 1 The range between the time coordinate axis and the time coordinate axis is a programmable range when the running track of the unmanned equipment is planned; similarly, as shown in fig. 5B, the enlarged obstacle region is a region composed of a solid line and a broken line, and the decision performed by the unmanned device on the obstacle is a preceding decision, so that the lower programmable boundary of the planned travel track of the unmanned device is a curve L in fig. 5B 2 The upper bound can be planned to be a displacement coordinate axis, L 2 The range between the displacement coordinate axis and the displacement coordinate axis is the programmable range when the running track of the unmanned equipment is planned; as shown in fig. 5C, the enlarged obstacle region is a region formed by solid lines and broken lines, and since the decision performed by the unmanned device on the obstacle is a stopping decision, the upper bound of the planned range of the planned travel track of the unmanned device is the curve L in fig. 5C 3 The lower bound is the time axis, L 3 The range between the time coordinate axis and the time coordinate axis is the programmable range when the running track of the unmanned equipment is planned.
The above method for controlling the unmanned equipment provided for one or more embodiments of the present disclosure further provides a corresponding device for controlling the unmanned equipment based on the same concept, as shown in fig. 6.
Fig. 6 is a schematic diagram of an unmanned device control apparatus provided in the present specification, specifically including:
the obstacle region determining module 200 is configured to determine an obstacle region corresponding to the obstacle in the displacement time coordinate system according to a current path of the unmanned device, a predicted track of the obstacle, and state information of the obstacle;
a decision determining module 202, configured to determine a decision performed by the unmanned device on the obstacle according to the state information of the obstacle and the state information of the unmanned device;
an enlarged obstacle region determining module 204, configured to enlarge the obstacle region according to a decision performed by the unmanned device on the obstacle, to obtain an enlarged obstacle region;
a driving track planning module 206, configured to plan a driving track of the unmanned device according to the decision performed by the unmanned device 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 region determining module 200 is specifically configured to determine, according to the current path of the unmanned device and the predicted trajectory of the obstacle, a period of time during which the obstacle affects the unmanned device; 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 region 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 region 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 region; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system; for each boundary of the obstacle region, the boundary is adjusted along the corresponding adjustment direction of the boundary.
Optionally, the enlarged obstacle region determining module 204 is specifically configured to make a decision on the obstacle by the unmanned device including at least one of a following decision, a yielding decision, a leading decision, and a stopping decision; if the decision executed by the unmanned equipment on the obstacle is a following decision or a yielding 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 preceding decision, determining that the adjustment direction corresponding to the boundary of the obstacle area is the direction of displacement increase and the direction of time decrease; and if the decision executed by the unmanned equipment on the obstacle is a stopping decision, determining the adjustment direction corresponding to the boundary of the obstacle area as the displacement reduction direction.
Optionally, the enlarged obstacle area determining module 204 is specifically configured to determine, according to the environmental information in which the unmanned device is located, an adjustment distance corresponding to the boundary; and adjusting the adjusting distance corresponding to the boundary along the adjusting direction corresponding to the boundary.
Optionally, the driving track planning module 206 is specifically configured to determine a programmable range when the driving track of the unmanned device is planned according to the decision performed by the unmanned device on the obstacle and the enlarged obstacle area; and carrying out speed planning on the unmanned equipment in the programmable range according to the environmental information of the unmanned equipment and the state information of the unmanned equipment.
Optionally, the driving track planning module 206 is specifically configured to determine, according to the decision performed by the unmanned device on the obstacle and the enlarged obstacle area, a range other than the enlarged obstacle area corresponding to the obstacle, and determine a planned range when planning the driving track of the unmanned device.
The present specification also provides a computer readable storage medium storing a computer program operable to perform the unmanned device control method provided in fig. 2 above.
The present specification also provides a schematic structural diagram of the electronic device 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 storage, as described in fig. 7, although other hardware required by other services may be included. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to realize the unmanned equipment control method described in the above figure 2. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of 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, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, 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 of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, 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 functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The 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.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present invention.

Claims (6)

1. A method of controlling an unmanned device, comprising:
determining a corresponding obstacle region in a displacement time coordinate system of the obstacle according to a current path of the unmanned equipment, a predicted track of the obstacle and state information of the obstacle;
determining a decision executed by the unmanned equipment on the obstacle according to the state information of the obstacle and the state information of the unmanned equipment;
Determining an adjustment direction corresponding to a boundary of the obstacle region according to a type of a decision performed by the unmanned device on the obstacle, wherein the decision performed by the unmanned device on the obstacle comprises at least one of a following decision, a yielding decision, a leading decision and a stopping decision, and determining the adjustment direction corresponding to the boundary of the obstacle region according to the decision performed by the unmanned device on the obstacle specifically comprises: determining that an adjustment direction corresponding to a boundary of the obstacle region is a displacement decreasing direction and a time increasing direction if a decision executed by the unmanned equipment on the obstacle is a following decision or a yielding decision, determining that an adjustment direction corresponding to the boundary of the obstacle region is a preceding decision if the decision executed by the unmanned equipment on the obstacle is a displacement increasing direction and a time decreasing direction, and determining that an adjustment direction corresponding to the boundary of the obstacle region is a displacement decreasing direction if the decision executed by the unmanned equipment on the obstacle is a stopping decision; the adjustment direction comprises a displacement direction and a time direction in a displacement time coordinate system; for each boundary of the obstacle region, determining an adjustment distance corresponding to the boundary according to the environmental information of the unmanned equipment, adjusting the adjustment distance corresponding to the boundary along the adjustment direction corresponding to the boundary, expanding the obstacle region, and obtaining an expanded obstacle region;
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 running track.
2. The method of claim 1, wherein determining the corresponding obstacle region in the displacement time coordinate system of the obstacle comprises:
determining a time period during which the obstacle affects 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 region 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 according to claim 1, wherein planning the travel trajectory of the unmanned device based on the decision performed by the unmanned device on the obstacle and the enlarged obstacle region, comprises:
determining a programmable range when the unmanned equipment running track is planned according to the decision of the unmanned equipment on the obstacle and the enlarged obstacle area;
And carrying out speed planning on the unmanned equipment in the programmable range according to the environmental information of the unmanned equipment and the state information of the unmanned equipment.
4. A method according to claim 3, characterized in that the determination of the planable range when planning the trajectory of the unmanned device is based on the decision performed by the unmanned device on the obstacle and the enlarged obstacle area, in particular comprising:
and 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 expanded obstacle region, and the range except for the expanded obstacle region corresponding to the obstacle.
5. 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 1-4.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of the preceding claims 1-4 when executing the program.
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