CN113885498B

CN113885498B - Obstacle avoidance control method, control device and control system of road roller

Info

Publication number: CN113885498B
Application number: CN202111169573.3A
Authority: CN
Inventors: 刘健; 钟辉平; 黄子超
Original assignee: Hunan Sanyi Huayuan Machinery Co
Current assignee: Hunan Sanyi Huayuan Machinery Co
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2023-10-20
Anticipated expiration: 2041-10-08
Also published as: CN113885498A

Abstract

The invention provides an obstacle avoidance control method, a control device and a control system of a road roller. The obstacle avoidance control method comprises the following steps: obtaining a transverse distance and a longitudinal distance between the first road roller and the second road roller, a first running direction of the first road roller and a second running direction of the second road roller, and judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction and the second running direction; when the first road roller and the second road roller are judged to have collision risk, the first running direction and/or the second running direction are/is adjusted, so that the first running direction of the first road roller and/or the second running direction of the second road roller are/is adjusted to keep consistent with the road direction. The obstacle avoidance control method can accurately pre-judge the front, rear or side obstacles, effectively ensure the driving safety and furthest improve the construction efficiency.

Description

Obstacle avoidance control method, control device and control system of road roller

Technical Field

The invention relates to the technical field of unmanned driving, in particular to an obstacle avoidance control method, a control device and a control system of a road roller.

Background

Safety is very important, often the determining factor, both for manned and unmanned driving. Taking unmanned as an example, unmanned safety obstacle avoidance is mainly completed by various obstacle avoidance radars and visual recognition, and the type of the obstacle and the distance of the obstacle are judged, so that collision is avoided. However, at present, only obstacles in front of the vehicle are usually considered, namely, only obstacle avoidance and obstacle detouring in front and back are considered, and obviously, such obstacle avoidance strategies are not comprehensive and reasonable. Especially unmanned road roller crowd, the staggered construction around between the road roller when the construction exists adjacent interlude operation, exists the road roller slant and approaches the condition, only considers the obstacle avoidance of front and back, winds the obstacle, can't effectively guarantee driving safety. In addition, the road roller is not regulated in combination with the direction of the construction road, so that the construction efficiency is greatly affected.

Disclosure of Invention

In view of this, the present invention aims to solve or improve at least one of the technical problems existing in the prior art.

Therefore, the first aspect of the invention provides an obstacle avoidance control method of the road roller.

The second aspect of the invention provides an obstacle avoidance control device of a road roller.

The third aspect of the invention provides an obstacle avoidance control system of a road roller.

A fourth aspect of the present invention provides a storage medium.

In view of this, according to a first aspect of the present invention, there is provided an obstacle avoidance control method for a road roller, including: obtaining a transverse distance and a longitudinal distance between the first road roller and the second road roller, a first running direction of the first road roller and a second running direction of the second road roller, and judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller; when the first road roller and the second road roller are judged to have collision risk, the first running direction of the first road roller and/or the second running direction of the second road roller are/is regulated, so that the first running direction of the first road roller and/or the second running direction of the second road roller are/is regulated to the direction consistent with the road direction; the longitudinal direction is the same as the road direction, and the transverse direction is the direction perpendicular to the longitudinal direction.

According to the obstacle avoidance control method of the road roller, provided by the invention, the relative direction and the relative position of the first road roller and the second road roller can be determined in real time according to the transverse distance, the longitudinal distance, the first traveling direction and the second traveling direction by acquiring the transverse distance and the longitudinal distance between the first road roller and the second press machine and the first traveling direction of the first road roller and the second traveling direction of the second road roller, so that whether the first road roller and the second road roller have collision risks can be accurately judged. When the first road roller and the second road roller are judged to have collision risks, the first running direction of the first road roller and/or the second running direction of the second road roller are/is adjusted, and the first running direction and/or the second running direction are/is adjusted to be consistent with the road direction, so that the collision of the two road rollers can be effectively avoided, and the construction efficiency is improved to the greatest extent.

The first driving direction and the second driving direction comprise heading information and forward and backward information of the road roller. Specifically, the heading information can be obtained through the positioning information of the road roller, and the forward and backward information can be obtained through the gear information of the road roller.

According to the obstacle avoidance control method of the road roller, when judging whether collision risks exist between the two road rollers, the transverse distance and the longitudinal distance between the two road rollers and the respective heading information, the advancing information and the retreating information of the two road rollers are comprehensively considered, so that the collision risks of the road rollers and the front and rear or side obstacles can be accurately prejudged when the road rollers advance, the driving safety is effectively ensured, and the construction efficiency is improved to the greatest extent.

The longitudinal direction is the same direction as the road direction, and the transverse direction is the direction perpendicular to the longitudinal direction, and those skilled in the art will understand the meaning of the longitudinal direction and the transverse direction.

The obstacle avoidance control method of the road roller can also have the following technical characteristics:

in the above technical solution, according to the lateral distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller, judging whether the first road roller and the second road roller have collision risk, specifically including: and when the transverse distance between the first road roller and the second road roller is smaller than the first transverse preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than the first longitudinal preset distance, and the extended line of the first road roller in the forward direction of travel is intersected with the extended line of the second road roller in the forward direction of travel, judging that the first road roller and the second road roller have collision risks.

In the technical scheme, the relative position and the relative direction of the two road rollers can be judged by comparing the transverse distance between the first road roller and the second road roller with the first transverse preset distance, comparing the longitudinal distance between the first road roller and the second road roller with the first longitudinal preset distance and judging whether the forward extension line of the first running direction of the first road roller and the forward extension line of the second running direction of the second road roller are intersected. Only when the transverse distance and the longitudinal distance between the first road roller and the second road roller are smaller than the respective preset distances and the extension line of the first road roller in the forward direction of travel and the extension line of the second road roller in the forward direction of travel are intersected, the first road roller and the second road roller are judged to have collision risks. According to the technical scheme, whether the first road roller and the second road roller which are adjacent front and back or adjacent left and right in the construction process have collision risks can be accurately pre-judged, so that the steering of the two road rollers can be planned in advance, the construction efficiency is improved, and the safety is improved.

In any of the above technical solutions, adjusting the first traveling direction of the first road roller and/or the second traveling direction of the second road roller so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller are adjusted in a direction consistent with the road direction, specifically including: the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance and larger than the second lateral preset distance; determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction; when the first included angle is zero and the second included angle is not zero, the second running direction of the second road roller is adjusted; when the first included angle is not zero and the second included angle is zero, the first running direction of the first road roller is adjusted; when the first included angle and the second included angle are not zero, the first running direction of the first road roller and the second running direction of the second road roller are adjusted; wherein the first lateral preset distance is greater than the second lateral preset distance.

In the technical scheme, the first transverse preset distance is a transverse warning distance, the second transverse preset distance is a transverse safety distance, and the first transverse preset distance is greater than the second transverse preset distance. When it is determined that the lateral distance between the first roller and the second roller is between the first lateral preset distance and the second lateral preset distance, it is indicated that the first roller and the second roller are in the guard zone with respect to each other, but still in the safe zone. Further determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction. And if the first included angle or the second included angle is zero, indicating that the running direction of the first road roller or the second road roller is consistent with the road direction. When the first included angle is zero and the second included angle is not zero, the second running direction of the second road roller is adjusted; when the first included angle is not zero and the second included angle is zero, the first running direction of the first road roller is adjusted; and when the first included angle and the second included angle are not zero, adjusting the first running direction of the first road roller and the second running direction of the second road roller. The steering angle of the road roller with the heading not consistent with the direction of the road is adjusted, so that the collision of two vehicles can be avoided in time, and the construction efficiency can be improved to the greatest extent.

In any of the above technical solutions, adjusting the first traveling direction of the first road roller and/or the second traveling direction of the second road roller so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller are adjusted in a direction consistent with the road direction, specifically including: when the transverse distance between the first road roller and the second road roller is equal to the second transverse preset distance; determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction; when the first included angle is zero and the second included angle is not zero, the first road roller keeps running, and the second road roller stops; when the first included angle is not zero and the second included angle is zero, the first road roller is stopped, and the second road roller keeps running; when the first included angle and the second included angle are not zero, stopping the first road roller and the second road roller; when the first included angle and the second included angle are both zero, the first road roller and the second road roller both keep running.

In this solution, if the lateral distance between the first roller and the second roller is equal to the second lateral preset distance, it is indicated that the first roller and the second roller are at a safe zone boundary with respect to each other. When the first included angle is zero and the second included angle is not zero, the first road roller successfully avoids possible collision risks, is considered to be in a safe state, can continue running and work, and the second road roller stops; when the first included angle is not zero and the second included angle is zero, the second road roller is considered to be in a safe state and can continue running, and the first road roller stops; when the first included angle and the second included angle are not zero, stopping the first road roller and the second road roller; when the first included angle and the second included angle are both zero, the first road roller and the second road roller are both proved to successfully avoid possible collision risks, and are considered to be in a safe state, so that running work can be continued. Through the technical scheme of the invention, the obstacle avoidance is smoothly realized, and meanwhile, the operation efficiency and the safety can be further improved.

In any of the above technical solutions, adjusting the first traveling direction of the first road roller and/or the second traveling direction of the second road roller so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller are adjusted in a direction consistent with the road direction, specifically including: when the transverse distance between the first road roller and the second road roller is smaller than the second transverse preset distance; determining an included angle between an extended line forward in a first running direction of a first road roller and an extended line forward in a second running direction of a second road roller; if the included angle is an obtuse angle or a right angle, stopping the first road roller and the second road roller; if the included angle is an acute angle, the road roller positioned at the front of the first road roller and the second road roller keeps running, and the road roller positioned at the rear stops.

In the technical scheme, when the transverse distance between the first road roller and the second road roller is smaller than the second transverse preset distance, the two road rollers are illustrated to cross the transverse safety zone, and the included angle between the extended line forward in the first running direction of the first road roller and the extended line forward in the second running direction of the second road roller is determined. If the included angle is an obtuse angle or a right angle, the two road pressing vehicles still have collision risks, and the two road pressing vehicles stop; if the included angle is an acute angle, the road pressing vehicle running in front is kept running, and the road pressing vehicle running in back is stopped. Therefore, the collision of two vehicles can be effectively avoided, the driving safety in the construction road is improved, and the maximum operation efficiency is considered.

In any of the above technical solutions, the step of adjusting the second traveling direction of the second road roller specifically includes: calculating a first difference value between the transverse distance between the first road roller and the second road roller and a second transverse preset distance, and determining a transverse margin compensation value according to the first difference value; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value; and adjusting the second driving direction of the second road roller according to the second included angle, the second included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value until the second included angle is equal to the second included angle target value.

In the technical scheme, the second transverse preset distance is the transverse safety distance, and the transverse margin compensation value can be determined through a first difference value between the transverse distance between the first road roller and the second transverse preset distance. The second longitudinal preset distance is a longitudinal safety distance, and the longitudinal margin compensation value can be determined through a second difference value between the longitudinal distance between the first road roller and the second longitudinal preset distance. And adjusting the second running direction of the second road roller through the second included angle, the second included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value so that the second included angle is equal to the second included angle target value. According to the technical scheme, the aim that the second running direction of the second road roller is consistent with the road direction can be achieved, double safety guarantee can be achieved outside the transverse/longitudinal safety distance, and obstacle avoidance is achieved smoothly.

In any of the above technical solutions, the step of adjusting the first driving direction of the first road roller specifically includes: calculating a first difference value between the transverse distance between the first road roller and the second road roller and a second transverse preset distance, and determining a transverse margin compensation value according to the first difference value; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value; and adjusting the first traveling direction of the first road roller according to the first included angle, the first included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value until the first included angle is equal to the first included angle target value.

In the technical scheme, the first traveling direction of the first road roller is adjusted through the first included angle, the first included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value, so that the first included angle is equal to the first included angle target value. According to the technical scheme, the aim that the first running direction of the first road roller is consistent with the road direction can be achieved, double safety guarantee can be achieved outside the transverse/longitudinal safety distance, and obstacle avoidance is achieved smoothly.

In any of the above technical solutions, the step of adjusting the first traveling direction of the first road roller and the second traveling direction of the second road roller specifically includes: calculating a first difference value between the transverse distance between the first road roller and the second road roller and a second transverse preset distance, and determining a transverse margin compensation value according to the first difference value; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value; determining a third included angle between an extension line forward in the first traveling direction of the first road roller and an extension line forward in the second traveling direction of the second road roller; when the third included angle is not zero, the first running direction of the first road roller and the second running direction of the second road roller are adjusted according to the third included angle, the third included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value, and the adjustment is carried out until the third included angle is equal to the third included angle target value.

In the technical scheme, a transverse margin compensation value is determined through a first difference value between a transverse distance between the first road roller and the second road roller and a transverse safety distance (namely a second transverse preset distance), and a longitudinal margin compensation value is determined through a first difference value between a longitudinal distance between the first road roller and the second road roller and a longitudinal safety distance (namely a second longitudinal preset distance). When the included angle (namely, the third included angle) between the forward extension line of the first traveling direction of the first road roller and the forward extension line of the second traveling direction of the second road roller is not zero, the first traveling direction of the first road roller is adjusted through the third included angle, the third included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value, so that the third included angle is equal to the third included angle target value. According to the technical scheme, the aim that the first running direction of the first road roller and the second running direction of the second road roller are consistent with the road direction is achieved, the first road roller and the second road roller are outside the transverse/longitudinal safety distance, double safety guarantee is achieved, obstacle avoidance is achieved smoothly, and meanwhile construction efficiency is improved.

According to a second aspect of the present invention, there is provided an obstacle avoidance control device for implementing the obstacle avoidance control method of a road roller according to any one of the above aspects, including: the device comprises an acquisition unit, a judging unit and a control unit, wherein the acquisition unit is used for acquiring the transverse distance and the longitudinal distance between a first road roller and a second road roller, the first running direction of the first road roller and the second running direction of the second road roller, and the judging unit is used for judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller; the control unit is used for adjusting the first running direction of the first road roller and/or the second running direction of the second road roller when judging that the first road roller and the second road roller have collision risks, so that the first running direction of the first road roller and/or the second running direction of the second road roller are adjusted to be consistent with the road direction; the longitudinal direction is the same as the road direction, and the transverse direction is the direction perpendicular to the longitudinal direction.

According to the obstacle avoidance control device provided by the invention, the transverse distance and the longitudinal distance between the first road roller and the second press machine are acquired through the acquisition unit, and the first traveling direction of the first road roller and the second traveling direction of the second road roller are acquired, and the judgment unit can determine the relative direction and the relative position of the first road roller and the second road roller in real time according to the transverse distance, the longitudinal distance, the first traveling direction and the second traveling direction, so that whether the first road roller and the second road roller have collision risks or not can be accurately judged. When the first road roller and the second road roller are judged to have collision risks, the control unit adjusts the first running direction of the first road roller and/or the second running direction of the second road roller, and enables the first running direction and/or the second running direction to be adjusted in the direction consistent with the road direction, so that the collision of the two road rollers can be effectively avoided, and the construction efficiency is improved to the greatest extent.

According to a third aspect of the present invention, an obstacle avoidance control system of a road roller is provided, which comprises a first road roller, a second road roller and the obstacle avoidance control device according to the above technical scheme, wherein the obstacle avoidance control device is connected with the first road roller and the second road roller.

The obstacle avoidance control system of the road roller comprises the first road roller, the second road roller and the obstacle avoidance control device according to the technical scheme, so that the obstacle avoidance control system of the road roller has all the beneficial effects of the obstacle avoidance control device and is not discussed one by one.

According to a fourth aspect of the present invention, there is provided a storage medium having a program stored thereon, which when executed by a processor, implements a method for obstacle avoidance control of a road roller according to any one of the above aspects.

The storage medium provided by the invention stores a program which is executed by the processor to realize the obstacle avoidance control method of the road roller according to any one of the technical schemes, so that the method has all the beneficial effects of the obstacle avoidance control method of the road roller according to any one of the technical schemes, and the method is not discussed one by one.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic flow chart of a method for obstacle avoidance control of a road roller according to an embodiment of the present invention;

FIG. 2 is a second flow chart of a method for controlling obstacle avoidance of a roller according to an embodiment of the invention;

FIG. 3 is a third flow chart of a method for controlling obstacle avoidance of a compactor according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of a method for obstacle avoidance control of a compactor according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of a method for obstacle avoidance control of a compactor according to an embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for obstacle avoidance control of a compactor according to an embodiment of the present disclosure;

FIG. 7 is a flow chart of a method for controlling obstacle avoidance of a compactor according to an embodiment of the present disclosure;

FIG. 8 is a flowchart of a method for controlling obstacle avoidance of a roller according to an embodiment of the present invention;

FIG. 9 is a schematic block diagram of an obstacle avoidance control device according to an embodiment of the present invention;

FIG. 10 is a flow chart of a method for obstacle avoidance control of a compactor according to an embodiment of the present disclosure;

FIG. 11 is one of the schematic views of a collision risk scenario in accordance with one embodiment of the present invention;

FIG. 12 is a second schematic view of a collision risk scenario in accordance with an embodiment of the present invention;

fig. 13 is a control schematic diagram of an obstacle avoidance control method of a road roller according to an embodiment of the invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and the scope of the invention is therefore not limited to the specific embodiments disclosed below.

The following describes obstacle avoidance control methods, control devices, and control systems of a road roller according to some embodiments of the present invention with reference to fig. 1 to 13.

Embodiment one:

fig. 1 is a schematic flow chart of a method for controlling obstacle avoidance of a road roller according to an embodiment of the invention. The obstacle avoidance control method of the road roller comprises the following steps:

102, obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller;

104, judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller; when it is determined that the first road roller and the second road roller have collision risk, executing step 106;

Step 106, adjusting the first traveling direction of the first road roller and/or the second traveling direction of the second road roller, so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller is adjusted in a direction consistent with the road direction.

The longitudinal direction is the same as the road direction, and the transverse direction is the direction perpendicular to the longitudinal direction.

According to the obstacle avoidance control method for the road roller, provided by the embodiment of the invention, the relative direction and the relative position of the first road roller and the second road roller can be determined in real time according to the transverse distance, the longitudinal distance, the first traveling direction and the second traveling direction of the first road roller by acquiring the transverse distance and the longitudinal distance between the first road roller and the second press machine and the first traveling direction and the second traveling direction of the second road roller, so that whether the first road roller and the second road roller have collision risks can be accurately judged. When the first road roller and the second road roller are judged to have collision risks, the first running direction of the first road roller and/or the second running direction of the second road roller are/is adjusted, and the first running direction and/or the second running direction are/is adjusted to be consistent with the road direction, so that the collision of the two road rollers can be effectively avoided, and the construction efficiency is improved to the greatest extent.

Embodiment two:

fig. 2 is a second flow chart of a method for controlling obstacle avoidance of a road roller according to an embodiment of the invention. The obstacle avoidance control method of the road roller comprises the following steps:

step 202, obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller;

Step 204, when the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than the first longitudinal preset distance, and the extended line of the first road roller in the forward direction of travel is intersected with the extended line of the second road roller in the forward direction of travel, judging that the first road roller and the second road roller have collision risk;

step 206, adjusting the first traveling direction of the first road roller and/or the second traveling direction of the second road roller, so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller are adjusted to keep consistent with the road direction.

In this embodiment, the relative position and the relative direction of the two rollers may be determined by comparing the lateral distance between the first roller and the second roller with the first lateral preset distance, comparing the longitudinal distance between the first roller and the second roller with the first longitudinal preset distance, and determining whether the extended line of the first roller forward in the first traveling direction and the extended line of the second roller forward in the second traveling direction intersect. Only when the transverse distance and the longitudinal distance between the first road roller and the second road roller are smaller than the respective preset distances and the extension line of the first road roller in the forward direction of travel and the extension line of the second road roller in the forward direction of travel are intersected, the first road roller and the second road roller are judged to have collision risks. According to the embodiment of the invention, whether the first road roller and the second road roller which are adjacent front and back or are adjacent left and right in the construction process have collision risks can be accurately pre-judged, so that the steering of the two road rollers can be planned in advance, the construction efficiency is improved, and the safety is improved.

Embodiment III:

fig. 3 is a third flow chart of a method for controlling obstacle avoidance of a road roller according to an embodiment of the invention. The obstacle avoidance control method of the road roller comprises the following steps:

step 302, obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller;

step 304, when the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than the first longitudinal preset distance, and the extended line of the first road roller in the forward direction of travel is intersected with the extended line of the second road roller in the forward direction of travel, judging that the first road roller and the second road roller have collision risk;

step 306, the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance and larger than the second lateral preset distance; determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction;

step 308, when the first included angle is zero and the second included angle is not zero, adjusting the second traveling direction of the second road roller;

Step 310, when the first included angle is not zero and the second included angle is zero, adjusting the first traveling direction of the first road roller;

step 312, when both the first included angle and the second included angle are not zero, the first traveling direction of the first road roller and the second traveling direction of the second road roller are adjusted.

Wherein the first lateral preset distance is greater than the second lateral preset distance.

In this embodiment, the first lateral preset distance is a lateral guard distance, the second lateral preset distance is a lateral safety distance, and the first lateral preset distance is greater than the second lateral preset distance. When it is determined that the lateral distance between the first road roller and the second road roller is between the first lateral preset distance and the second lateral preset distance, it is indicated that the lateral distance between the first road roller and the second road roller is further reduced. Further determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction. If the first angle or the second angle is zero, it is indicated that the first roller and the second roller are in the warning area with respect to each other, but still in the safety area. When the first included angle is zero and the second included angle is not zero, the second running direction of the second road roller is adjusted; when the first included angle is not zero and the second included angle is zero, the first running direction of the first road roller is adjusted; and when the first included angle and the second included angle are not zero, adjusting the first running direction of the first road roller and the second running direction of the second road roller. The steering angle of the road roller with the heading not consistent with the direction of the road is adjusted, so that the collision of two vehicles can be avoided in time, and the construction efficiency can be improved to the greatest extent.

Embodiment four:

fig. 4 is a flow chart of a method for controlling obstacle avoidance of a road roller according to an embodiment of the invention. The obstacle avoidance control method of the road roller comprises the following steps:

step 402, obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller;

step 404, when the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than the first longitudinal preset distance, and the extended line of the first road roller forward in the first running direction is intersected with the extended line of the second road roller forward in the second running direction, judging that the first road roller and the second road roller have collision risk;

step 406, when the lateral distance between the first road roller and the second road roller is equal to the second lateral preset distance; determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction;

step 408, when the first included angle is zero and the second included angle is not zero, the first road roller keeps running, and the second road roller stops;

Step 410, when the first included angle is not zero and the second included angle is zero, the first road roller is stopped, and the second road roller keeps running;

step 412, stopping the first road roller and the second road roller when the first included angle and the second included angle are not zero;

in step 414, when the first included angle and the second included angle are both zero, both the first road roller and the second road roller remain running.

In this embodiment, if the lateral distance between the first roller and the second roller is equal to the second lateral preset distance, it is indicated that the first roller and the second roller are at a safe zone boundary with respect to each other. When the first included angle is zero and the second included angle is not zero, the first road roller successfully avoids possible collision risks, is considered to be in a safe state, can continue running and work, and the second road roller stops; when the first included angle is not zero and the second included angle is zero, the second road roller is considered to be in a safe state and can continue running, and the first road roller stops; when the first included angle and the second included angle are not zero, stopping the first road roller and the second road roller; when the first included angle and the second included angle are both zero, the first road roller and the second road roller are both proved to successfully avoid possible collision risks, and are considered to be in a safe state, so that running work can be continued. According to the embodiment of the invention, the obstacle avoidance is smoothly realized, and meanwhile, the operation efficiency and the safety can be further improved.

Fifth embodiment:

fig. 5 is a flowchart of a method for controlling obstacle avoidance of a road roller according to an embodiment of the present invention. The obstacle avoidance control method of the road roller comprises the following steps:

step 502, obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller;

step 504, when the lateral distance between the first road roller and the second road roller is smaller than the first lateral preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than the first longitudinal preset distance, and the extended line of the first road roller forward in the first running direction is intersected with the extended line of the second road roller forward in the second running direction, judging that the first road roller and the second road roller have collision risk;

step 506, when the lateral distance between the first road roller and the second road roller is smaller than the second lateral preset distance; determining an included angle between an extended line forward in a first running direction of a first road roller and an extended line forward in a second running direction of a second road roller;

step 508, if the included angle is an obtuse angle or a right angle, stopping both the first road roller and the second road roller;

If the included angle is acute, the road roller positioned in front of the first road roller and the second road roller keeps running, and the road roller positioned in back stops 510.

In this embodiment, when the lateral distance between the first roller and the second roller is smaller than the second lateral preset distance, it is indicated that the two rollers have crossed the lateral safety zone, and the included angle between the extended line forward in the first traveling direction of the first roller and the extended line forward in the second traveling direction of the second roller is determined. If the included angle is an obtuse angle or a right angle, the two road pressing vehicles still have collision risks, and the two road pressing vehicles stop; if the included angle is an acute angle, the road pressing vehicle running in front is kept running, and the road pressing vehicle running in back is stopped. Therefore, the collision of two vehicles can be effectively avoided, the driving safety in the construction road is improved, and the maximum operation efficiency is considered.

Example six:

in any of the above embodiments, as shown in fig. 6, the step of adjusting the second traveling direction of the second road roller specifically includes:

step 602, calculating a first difference value between a lateral distance between the first road roller and the second road roller and a second lateral preset distance, and determining a lateral margin compensation value according to the first difference value; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value;

Step 604, adjusting the second traveling direction of the second road roller according to the second included angle, the second included angle target value, the lateral margin compensation value and the longitudinal margin compensation value until the second included angle is equal to the second included angle target value.

In this embodiment, the second lateral preset distance, i.e. the lateral safety distance, is determined by a first difference between the lateral distance between the first road roller and the second lateral preset distance. The second longitudinal preset distance is a longitudinal safety distance, and the longitudinal margin compensation value can be determined through a second difference value between the longitudinal distance between the first road roller and the second longitudinal preset distance. And adjusting the second running direction of the second road roller through the second included angle, the second included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value so that the second included angle is equal to the second included angle target value. According to the embodiment of the invention, the aim that the second running direction of the second road roller is consistent with the road direction can be realized, and the second road roller can be ensured to be double safety outside the transverse/longitudinal safety distance, so that obstacle avoidance is smoothly realized.

Embodiment seven:

in any of the above embodiments, as shown in fig. 7, the step of adjusting the first traveling direction of the first road roller specifically includes:

Step 702, calculating a first difference between a lateral distance between the first road roller and the second road roller and a second lateral preset distance, and determining a lateral margin compensation value according to the first difference; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value;

step 704, adjusting the first traveling direction of the first road roller according to the first included angle, the first included angle target value, the lateral margin compensation value and the longitudinal margin compensation value until the first included angle is equal to the first included angle target value.

In this embodiment, the first travel direction of the first road roller is adjusted by the first angle, the first angle target value, the lateral margin compensation value, and the longitudinal margin compensation value so that the first angle is equal to the first angle target value. According to the embodiment of the invention, the aim that the first running direction of the first road roller is consistent with the road direction can be realized, and the first road roller can be ensured to be double safety outside the transverse/longitudinal safety distance, so that obstacle avoidance is smoothly realized.

Example eight:

in any of the above embodiments, as shown in fig. 8, the step of adjusting the first traveling direction of the first road roller and the second traveling direction of the second road roller specifically includes:

Step 802, calculating a first difference value between a lateral distance between the first road roller and the second road roller and a second lateral preset distance, and determining a lateral margin compensation value according to the first difference value; calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value;

step 804, determining a third included angle between an extended line forward in the first traveling direction of the first road roller and an extended line forward in the second traveling direction of the second road roller;

step 806, when the third included angle is not zero, adjusting the first traveling direction of the first road roller and the second traveling direction of the second road roller according to the third included angle, the third included angle target value, the lateral margin compensation value and the longitudinal margin compensation value, until the third included angle is equal to the third included angle target value.

In this embodiment, the lateral margin compensation value is determined by a first difference in lateral distance between the first roller and the second roller and lateral safety distance (i.e., the second lateral preset distance), and the longitudinal margin compensation value is determined by a first difference in longitudinal distance between the first roller and the second roller and longitudinal safety distance (i.e., the second longitudinal preset distance). When the included angle (namely, the third included angle) between the forward extension line of the first traveling direction of the first road roller and the forward extension line of the second traveling direction of the second road roller is not zero, the first traveling direction of the first road roller is adjusted through the third included angle, the third included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value, so that the third included angle is equal to the third included angle target value. According to the embodiment of the invention, the aim that the first running direction of the first road roller and the second running direction of the second road roller are consistent with the road direction is achieved, the first road roller and the second road roller are outside the transverse/longitudinal safety distance, double safety guarantee is achieved, obstacle avoidance is smoothly achieved, and meanwhile, the construction efficiency is improved.

Example nine:

fig. 9 is a schematic block diagram of an obstacle avoidance control 900 according to an embodiment of the invention. Wherein, this obstacle avoidance control device 900 includes:

an acquisition unit 902 for acquiring a lateral distance and a longitudinal distance between the first roller and the second roller, a first travelling direction of the first roller and a second travelling direction of the second roller,

a judging unit 904, configured to judge whether the first road roller and the second road roller have a collision risk according to the lateral distance and the longitudinal distance between the first road roller and the second road roller, the first traveling direction of the first road roller, and the second traveling direction of the second road roller;

a control unit 906, configured to adjust a first traveling direction of the first road roller and/or a second traveling direction of the second road roller when it is determined that the first road roller and the second road roller have collision risk, so that the first traveling direction of the first road roller and/or the second traveling direction of the second road roller are adjusted in a direction consistent with the road direction;

According to the obstacle avoidance control device provided by the embodiment of the invention, the transverse distance and the longitudinal distance between the first road roller and the second press machine, the first running direction of the first road roller and the second running direction of the second road roller are acquired through the acquisition unit 902, and the judgment unit 904 can determine the relative direction and the relative position of the first road roller and the second road roller in real time according to the transverse distance, the longitudinal distance, the first running direction and the second running direction, so that whether the first road roller and the second road roller have collision risks or not can be accurately judged. When it is determined that the first road roller and the second road roller have collision risk, the control unit 906 adjusts the first running direction of the first road roller and/or the second running direction of the second road roller, so that the first running direction and/or the second running direction are adjusted in a direction consistent with the road direction, collision of the two road rollers can be effectively avoided, and the construction efficiency is improved to the greatest extent.

Example ten:

the obstacle avoidance control system comprises a first road roller, a second road roller and the obstacle avoidance control device according to the technical scheme, wherein the obstacle avoidance control device is connected with the first road roller and the second road roller.

The obstacle avoidance control system of the road roller provided by the embodiment comprises the first road roller, the second road roller and the obstacle avoidance control device according to the technical scheme, so that the obstacle avoidance control system of the road roller has all the beneficial effects of the obstacle avoidance control device, and the discussion of the obstacle avoidance control system is omitted.

Example eleven:

a storage medium is provided, on which a program is stored, which when executed by a processor implements an obstacle avoidance control method of a road roller according to any of the embodiments described above. Therefore, the storage medium provided in this embodiment has all the beneficial effects of the obstacle avoidance control method of the road roller in any of the foregoing embodiments, which are not discussed here.

Embodiment twelve:

there is provided an obstacle avoidance control system for a road roller, comprising: a memory storing a program or instructions; and the processor is used for realizing the steps of the obstacle avoidance control method of the road roller according to any embodiment when executing the program or the instructions.

The obstacle avoidance control system of the road roller provided by the embodiment comprises a memory and a processor, wherein the memory stores a program or an instruction, and the processor realizes the steps of the obstacle avoidance control method of the road roller according to any embodiment when executing the program or the instruction. Therefore, the obstacle avoidance control system of the road roller has all the beneficial effects of the obstacle avoidance control method of the road roller according to any embodiment, and are not discussed one by one.

Embodiment thirteen:

because the unmanned road roller group is constructed in a front-back staggered manner between the road rollers during construction, adjacent alternate running exists, the condition that the road rollers are obliquely close exists, and only the front and back obstacle avoidance and obstacle detouring are considered, so that the road roller group is obviously incomplete and unreasonable:

1) The obstacle which moves sideways cannot be effectively avoided by adopting a front-rear obstacle avoidance deceleration parking strategy;

2) The road roller has large volume, large mass, large inertia and heavier weight, the conventional obstacle detouring is obviously unreasonable, the risk of collision exists, and the construction specification is not met;

3) The position relation between the road rollers is not known, and difficulty is brought to an obstacle avoidance strategy.

For this reason, the present embodiment provides a method for controlling obstacle avoidance of a road roller, and fig. 10 is a schematic flow chart of the method for controlling obstacle avoidance of a road roller according to the present embodiment; fig. 11 is one of schematic views of a scene of collision risk of the present embodiment; FIG. 12 is a second schematic view of a collision risk scenario in the present embodiment; fig. 13 is a control schematic diagram of the obstacle avoidance control method of the road roller according to the present embodiment. Next, the obstacle avoidance control method of the road roller provided in this embodiment will be described with reference to fig. 10, 11, 12, and 13.

During construction, the road roller group needs to advance and retreat, and generally walks along the direction of a construction road except for the case of changing roads. And referring to the data output by the radar of the driving direction of the road roller, and considering other road rollers as obstacles. The control room can receive the forward and backward state of the road roller and the radar and course angle information of the road roller, and can send out an execution instruction of the road roller.

When the radar detects that the barrier exists on the side edge of the warning line in the front of the movement direction, the running direction (comprising the forward or backward state and the course angle) of the road roller is started to judge, and the relative position relation of the two vehicles is obtained. If the collision risk is judged, the speed is reduced, and the difference value between the transverse distance X of the two vehicles and the set transverse safety distance X1 and the difference value between the running direction of the road roller and the direction of the construction road are calculated through the data returned by the radar and are respectively used as steering angle R adjusting parameters. And controlling the road roller to rotate towards the road direction until the running direction is consistent with the construction road direction. Determining the relative direction and the transverse distance of the two vehicles in real time, and continuing running if the running direction of the road roller outside the safety area is consistent with the road direction; crossing the safety zone or at the safety zone boundary, and the traveling direction is adjusted to the target value, the vehicle is stopped.

The obstacle avoidance control method is shown in fig. 10, wherein the obstacle avoidance control method of the road roller comprises the following steps:

step 1002, a controller processes radar data in real time;

step 1004, whether a road roller appears laterally on the front warning line; if yes, go to step 1008, if not, go to step 1006;

step 1006, continuing running;

step 1008, determining the relative position and state of the two vehicles;

Step 1010, whether there is a collision risk; if yes, go to step 1012, if not, go to step 1008;

step 1012, calculating Δx and Δy;

step 1014, adjusting the steering angle;

step 1016, whether safe; if yes, go to step 1018, if not, go to step 1008;

step 1018, park.

The control room judges whether the road roller is located on the side of the front warning line or not and the direction of the road roller according to the data returned by the radar of the road roller, and if an obstacle appears, the control room judges the relative positions of the two vehicles according to the running directions (including the forward or backward state and the course angle) of the two vehicles, so that whether the two vehicles have collision risks or not is further judged.

The obstacle avoidance radar is arranged at the front and rear of the road roller, and the controller starts protection in the corresponding direction according to the forward and backward state of the road roller.

By the relative position and the relative direction of the two vehicles, whether the two vehicles have collision risk can be judged, and the scene of collision risk is shown in fig. 11 and 12, wherein the relative position and the relative direction of the two vehicles are considered to have collision risk, and the situation that the road roller is arranged on the left side in the road construction direction is taken as an example. In fig. 11 and 12, the included angle between the first traveling direction of the A1 road roller and the road construction direction is Δy, and the included angle between the second traveling direction of the A2 road roller and the road construction direction is zero, i.e., the A2 road roller is consistent with the road construction direction.

After judging that there is collision risk, Δx and Δy are calculated and used as feedback values for controlling the magnitude of the steering angle R, respectively, and the control principle is shown in fig. 13.

In fig. 13, xref is a given value of the lateral safety distance, yref is a given value of the difference between the road roller driving direction and the construction road direction, and X is the lateral distance between two road rollers. The steering adjustment function is:

wherein t is time, K _p For the first adjustment parameter, K _d For the second adjustment parameter, K _i For the third adjustment parameter, e (t) =Δy+Δy ', the steering adjustment dynamically and accurately adjusts the steering angle R according to the magnitude of Δx and Δy, so as to ensure safety, wherein Δx=x-Xref is converted into Δy' through edge margin compensation calculation, and the Δx=x-Xref is used as an edge margin compensation feedback quantity. In the present embodiment, Δy' =1/Δx, but is not limited thereto. The controller sends a steering angle value instruction to the steering mechanism to perform steering. The adjustment of steering angle can be quickened according to the size of the transverse distance by adding the margin compensation quantity, so that the aim that the direction of the road roller is consistent with the direction of the construction road can be fulfilled, and the obstacle avoidance can be smoothly realized outside the transverse safety distance.

The steering angle is adjusted according to the control principle, and when the included angle between the running direction of the road roller and the direction of the construction road is 0, namely, the running direction is consistent with the direction of the construction road, even if deltaX is not 0 at the moment, the steering is stopped, namely, the steering is adjusted with the aim of keeping the running direction of the road roller consistent with the direction of the construction road. When the running direction of the road roller is inconsistent with the direction of the construction road, the road roller is dynamically adjusted according to the size of e (t).

In addition, the amount of compensation of S (i.e., longitudinal distance) may be increased to adjust the steering angle.

Δy=0 and Δx+.0, at which point the road roller has successfully avoided the possible risk of collision, is considered to be in a safe state and can continue the driving operation. When the road roller is used for adjusting the steering angle, when DeltaX=0, the included angle between the driving direction of the road roller and the direction of the construction road is not 0, or the road roller passes through a transverse safety zone, and then the vehicle is stopped.

The above description is given by taking the fact that the running direction of one road roller is consistent with the road direction as an example, in practical application, the protection strategy is applicable no matter whether the running directions of two road rollers are consistent with the road direction, but the two road rollers need to turn.

In another embodiment, when Δx=0, Δy1+.0, and Δy2=0, then the A1 road roller is stopped and the A2 road roller continues to operate to improve the construction efficiency.

Wherein Δy1 is the angle between the first traveling direction of the A1 road roller and the road direction, and Δy2 is the angle between the second traveling direction of the A2 road roller and the road direction.

In practical applications, the difference value (for example, the difference value is 0) between Y1 and Y2 may be used as a target to adjust instead of keeping the heading of the road roller consistent with the direction of the construction road.

In addition, in this embodiment, the azimuth of the road roller is determined by the radar, and in other embodiments, the azimuth may be determined by the information visually fed back by the GPS positioning system or the camera.

In the description of the present specification, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified and limited otherwise; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The obstacle avoidance control method of the road roller is characterized by comprising the following steps of:

obtaining a transverse distance and a longitudinal distance between a first road roller and a second road roller, a first running direction of the first road roller and a second running direction of the second road roller, and judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller;

when the first road roller and the second road roller are judged to have collision risk, the first running direction of the first road roller and/or the second running direction of the second road roller are/is regulated, so that the first running direction of the first road roller and/or the second running direction of the second road roller are/is regulated to a direction consistent with the road direction;

Wherein the longitudinal direction is the same direction as the road direction, and the transverse direction is the direction perpendicular to the longitudinal direction;

adjusting the first running direction of the first road roller and/or the second running direction of the second road roller to adjust the first running direction of the first road roller and/or the second running direction of the second road roller to a direction consistent with the road direction, specifically comprising:

the lateral distance between the first roller and the second roller is less than a first lateral preset distance and greater than a second lateral preset distance;

determining a first included angle between the first driving direction and the road direction and a second included angle between the second driving direction and the road direction;

when the first included angle is zero and the second included angle is not zero, adjusting a second running direction of the second road roller;

when the first included angle is not zero and the second included angle is zero, the first running direction of the first road roller is adjusted;

when the first included angle and the second included angle are not zero, the first running direction of the first road roller and the second running direction of the second road roller are adjusted;

2. The method for obstacle avoidance control of a roller according to claim 1, wherein the determining whether the first roller and the second roller have collision risk according to a lateral distance and a longitudinal distance between the first roller and the second roller, a first traveling direction of the first roller, and a second traveling direction of the second roller specifically comprises:

and when the transverse distance between the first road roller and the second road roller is smaller than a first transverse preset distance, the longitudinal distance between the first road roller and the second road roller is smaller than a first longitudinal preset distance, and the extended line of the first road roller forward in the first running direction is intersected with the extended line of the second road roller forward in the second running direction, judging that the first road roller and the second road roller have collision risk.

3. The method for obstacle avoidance control of a roller according to claim 1, wherein,

When the lateral distance between the first road roller and the second road roller is equal to the second lateral preset distance;

when the first included angle is zero and the second included angle is not zero, the first road roller keeps running, and the second road roller stops;

when the first included angle is not zero and the second included angle is zero, the first road roller is stopped, and the second road roller keeps running;

when the first included angle and the second included angle are not zero, stopping the first road roller and the second road roller;

when the first included angle and the second included angle are both zero, the first road roller and the second road roller both keep running.

4. The method for obstacle avoidance control of a roller according to claim 1, wherein,

When the transverse distance between the first road roller and the second road roller is smaller than the second transverse preset distance;

determining a third included angle between an extension line forward in a first traveling direction of the first road roller and an extension line forward in a second traveling direction of the second road roller;

if the third included angle is an obtuse angle or a right angle, stopping the first road roller and the second road roller;

and if the third included angle is an acute angle, the road roller at the front position in the first road roller and the second road roller keeps running, and the road roller at the back position stops.

5. The method for obstacle avoidance control of a roller according to claim 1, wherein said step of adjusting the second direction of travel of said second roller comprises:

calculating a first difference value between the transverse distance between the first road roller and the second road roller and a second transverse preset distance, and determining a transverse margin compensation value according to the first difference value;

calculating a second difference value between the longitudinal distance between the first road roller and the second road roller and a second longitudinal preset distance, and determining a longitudinal margin compensation value according to the second difference value;

and adjusting a second driving direction of the second road roller according to the second included angle, a second included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value until the second included angle is equal to the second included angle target value.

6. The method for obstacle avoidance control of a roller according to claim 1, characterized in that said step of adjusting the first travel direction of said first roller comprises:

and adjusting the first traveling direction of the first road roller according to the first included angle, the first included angle target value, the transverse margin compensation value and the longitudinal margin compensation value until the first included angle is equal to the first included angle target value.

7. The obstacle avoidance control method of claim 1, wherein the step of adjusting the first travel direction of the first roller and the second travel direction of the second roller comprises:

determining a third included angle between an extension line forward in the first traveling direction of the first road roller and an extension line forward in the second traveling direction of the second road roller;

and when the third included angle is not zero, adjusting the first running direction of the first road roller and the second running direction of the second road roller according to the third included angle, a third included angle target value, the transverse edge distance compensation value and the longitudinal edge distance compensation value until the third included angle is equal to the third included angle target value.

8. An obstacle avoidance control device implementing the obstacle avoidance control method of a roller as claimed in any one of claims 1 to 7, comprising:

an acquisition unit for acquiring a lateral distance and a longitudinal distance between a first road roller and a second road roller, a first travelling direction of the first road roller and a second travelling direction of the second road roller,

the judging unit is used for judging whether the first road roller and the second road roller have collision risks according to the transverse distance and the longitudinal distance between the first road roller and the second road roller, the first running direction of the first road roller and the second running direction of the second road roller;

The control unit is used for adjusting the first running direction of the first road roller and/or the second running direction of the second road roller when the first road roller and the second road roller are judged to have collision risk, so that the first running direction of the first road roller and/or the second running direction of the second road roller are adjusted to keep consistent with the road direction;

9. An obstacle avoidance control system for a roller comprising a first roller, a second roller, and an obstacle avoidance control device as claimed in claim 8, the obstacle avoidance control device being connected to the first roller and the second roller.