CN113963562B - Avoidance method and device for multiple vehicles in working area - Google Patents
Avoidance method and device for multiple vehicles in working area Download PDFInfo
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- CN113963562B CN113963562B CN202111573040.1A CN202111573040A CN113963562B CN 113963562 B CN113963562 B CN 113963562B CN 202111573040 A CN202111573040 A CN 202111573040A CN 113963562 B CN113963562 B CN 113963562B
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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Abstract
The application discloses a method and a device for avoiding multiple vehicles in an operation area, relates to the technical field of control or adjustment systems of non-electric variables, and mainly aims to solve the technical problem that in the existing unmanned driving process, when multiple vehicles conflict, the vehicles cannot be controlled in time to avoid, so that the working efficiency of the vehicles is low. The method comprises the following steps: acquiring a reference path of a vehicle in a working area, wherein the reference path is a path which is formed by the vehicle passing through a working point from an entrance of the working area to an exit; searching a conflict area between any two reference paths; calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region; and determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially. The collision avoidance control system is mainly used for controlling vehicles to avoid when the vehicles in the operation area are in a collision state.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a method and a device for avoiding multiple vehicles in an operation area.
Background
In recent years, unmanned technology has been widely used in application scenes such as mines. The unmanned mine card can reduce the manual requirements of key production links on strip mine, loading and unloading, transportation and the like, and realize efficient cooperation among the production links. Meanwhile, the problems that a driver of the mining truck needs to face noise, floating dust, vibration and the like for a long time can be solved. On the other hand, safe production accidents caused by human factors in related links are reduced or even avoided, the labor cost of drivers and the vehicle maintenance cost are reduced, and the overall operation efficiency of the mine is improved.
In the existing unmanned driving process, when multiple vehicles are in a conflict state, the vehicles are generally controlled to detour according to human experience, the intelligence of unmanned driving is greatly reduced, and the situation that avoidance is not timely still exists, so that the efficiency of vehicle action is greatly influenced.
Disclosure of Invention
In view of this, the present application provides a method and a device for avoiding multiple vehicles in an operation area, and mainly aims to solve the technical problem that in the existing unmanned driving process, when multiple vehicles conflict with each other, the vehicles cannot be controlled to avoid in time, so that the working efficiency of the vehicles is low.
According to one aspect of the application, the method for avoiding the multiple vehicles in the working area comprises the following steps:
acquiring a reference path of a vehicle in a working area, wherein the reference path is a path which is formed by the vehicle passing through a working point from an entrance of the working area to an exit;
searching a conflict area between any two reference paths;
calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region;
and determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially.
Preferably, the searching for a collision region between any two of the reference paths includes:
according to a preset distance interval, performing down-sampling processing on the reference path to obtain a position point set, wherein the position point set comprises a plurality of position points corresponding to different reference paths;
and searching for any two conflict point pairs of the reference paths based on the position point set, and generating a conflict area matched with the conflict point pairs, wherein the distance between position point positions in the conflict point pairs is smaller than a preset safety distance threshold value.
Preferably, the calculating of the escape distance required for the vehicle to escape from the collision state in the corresponding collision zone includes:
acquiring a conflict point pair of the vehicle in the corresponding conflict area;
and counting the number of the position points required by the vehicle to escape from the conflict state according to the position points continuously determined as the conflict point pairs in the region, and determining the number as the escape distance required by the vehicle in the conflict region to escape from the conflict state.
Preferably, before the obtaining the reference path of the vehicle in the working area, the method further includes:
and acquiring idle operation points in an operation area from an idle operation point library, and generating a reference path of the vehicle at the entrance of the operation area according to the position points of the idle operation points, so that the vehicle operates on the idle operation points according to the reference path.
Preferably, before the acquiring of the free job point in the job space from the free job point library, the method further includes:
monitoring all operation points in the operation area;
and if any operation point is marked as a cleaning operation point, marking two idle operation points adjacent to the cleaning operation point as occupied operation points, and updating the idle operation point library.
Preferably, before the acquiring of the free job point in the job space from the free job point library, the method further includes:
acquiring idle operation points in an operation area, and generating an idle operation point library, wherein different idle operation points are stored in the idle operation point library from the head of a queue to the tail of the queue;
if the idle operation point is marked as an occupied operation point or a cleaning operation point, deleting the idle operation point from the idle operation point library; and/or the presence of a gas in the gas,
and if the occupied operation point or the cleaning operation point is marked as an idle operation point, adding the idle operation point as a point to the tail of the queue in the idle operation point library.
Preferably, the controlling the target vehicle priority includes:
sending an avoidance instruction to a vehicle which generates a conflict state with the target vehicle so as to enable the vehicle to stop running;
and after the target vehicle escapes from the conflict state, sending a running instruction to the vehicle so as to enable the vehicle to run normally.
According to another aspect of the present application, there is provided an avoidance apparatus for a plurality of vehicles in a work area, including:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a reference path of a vehicle in a working area, and the reference path is a path which the vehicle passes from an entrance of the working area to an exit of the working area through a working point;
the searching module is used for searching a conflict area between any two reference paths;
the calculation module is used for calculating the escape distance required by the vehicle for escaping from the conflict state in the corresponding conflict region;
and the control module is used for determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle and controlling the target vehicle to pass preferentially.
Preferably, the search module includes:
the down-sampling unit is used for performing down-sampling processing on the reference paths according to a preset distance interval to obtain a position point set, and the position point set comprises a plurality of position points corresponding to different reference paths;
and the searching unit is used for searching any two conflict point pairs of the reference path based on the position point set and generating conflict areas matched with the conflict point pairs, wherein the distance between position point positions in the conflict point pairs is smaller than a preset safety distance threshold value.
Preferably, the calculation module includes:
the acquisition unit is used for acquiring the collision point pairs of the vehicles in the corresponding collision areas;
and the determining unit is used for counting the number of the position points required by the vehicle to escape from the collision state according to the position points continuously determined as the collision point pairs in the region, and determining the number as the escape distance required by the vehicle in the collision region to escape from the collision state.
Preferably, before the obtaining module, the apparatus further includes:
the first generation module is used for acquiring idle operation points in an operation area from an idle operation point library and generating a reference path of the vehicle at the entrance of the operation area according to the position points of the idle operation points so that the vehicle can operate the idle operation points according to the reference path.
Preferably, before the first generating module, the apparatus further comprises:
the detection module is used for monitoring all operation points in the operation area;
and the marking module is used for marking two idle operation points adjacent to the cleaning operation point as occupied operation points and updating the idle operation point library if any operation point is marked as a cleaning operation point.
Preferably, before the first generating module, the apparatus further comprises:
the second generation device is used for acquiring idle operation points in the operation area and generating an idle operation point library, wherein different idle operation points are stored in the idle operation point library from head of queue to tail of queue;
the deleting module is used for deleting the idle operation point from the idle operation point library if the idle operation point is marked as an occupied operation point or a cleaning operation point; and/or the presence of a gas in the gas,
and the adding module is used for adding the idle point as a point to the tail of the queue in the idle operation point library if the occupied operation point or the cleaning operation point is marked as an idle operation point.
Preferably, the control module includes:
the sending unit is used for sending an avoidance instruction to a vehicle which generates a conflict state with the target vehicle so as to enable the vehicle to stop running;
the sending unit is further configured to send a running instruction to the vehicle after the target vehicle escapes from the collision state, so that the vehicle runs normally.
According to another aspect of the application, a storage medium is provided, and the storage medium stores at least one executable instruction, and the executable instruction causes a processor to execute operations corresponding to the method for avoiding the multiple vehicles in the working area.
According to still another aspect of the present application, there is provided a terminal including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the avoidance method of the vehicles in the working area.
By means of the technical scheme, the technical scheme provided by the embodiment of the application at least has the following advantages:
the application provides a method and a device for avoiding multiple vehicles in an operation area, wherein a reference path of a vehicle in the operation area is obtained firstly, and the reference path is a path which the vehicle passes from an entrance to an exit of the operation area through an operation point; secondly, searching a conflict area between any two reference paths; calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region again; and finally, determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially. Compared with the prior art, when multiple vehicles in a working area are in a conflict state, the corresponding escape distance is further calculated by searching the conflict area between the vehicle reference paths in the conflict state, the vehicles with small escape distances are controlled to preferentially pass through, and the purposes that the vehicles are controlled to avoid in time when the conflict state occurs are achieved, so that the unmanned intelligence and the vehicle working efficiency are improved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flow chart of an avoidance method for multiple vehicles in a working area according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a pair of collision points according to an embodiment of the present application;
FIG. 3 is a flow chart of another avoidance method for multiple vehicles in a working area according to an embodiment of the application;
fig. 4 shows a calculation flow of an escape distance required for a vehicle to escape from a collision state in a corresponding collision region according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a planned path provided by an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an unloading point cleaning operation provided by an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a conflict state for controlling vehicle escape provided by an embodiment of the present application;
FIG. 8 is a block diagram showing a control apparatus of a vehicle according to an embodiment of the present application;
fig. 9 shows a schematic structural diagram of a terminal provided in an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Embodiments of the application are applicable to computer systems/servers that are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known computing systems, environments, and/or configurations that may be suitable for use with the computer system/server include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, networked personal computers, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.
The computer system/server may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
The embodiment of the application provides an avoidance method for multiple vehicles in a working area, as shown in fig. 1, the method comprises the following steps:
101. a reference path of a vehicle in a work area is acquired.
As a current execution end, the method for avoiding multiple vehicles in a working area provided by the embodiment of the application can be applied to a control end of an unmanned vehicle, for example, the method can be used for controlling an unmanned mine card to perform loading and unloading operations in the working area of a mine. In order to avoid the occurrence of a situation that vehicles in an operation area are deadlocked due to a collision state, in the embodiment of the application, reference paths of all vehicles in the operation area are firstly acquired. The reference path is a path which is passed by the vehicle from an entrance of the operation area to an exit through the operation point.
It should be noted that the reference paths of the vehicles in the work area are not completely separated from each other, and it can be understood that the reference paths are optimal paths planned based on the position information of the work point and the entrance/exit, and therefore, the reference paths may intersect or partially overlap each other to serve as a collision area.
102. A collision region between any two reference paths is searched.
In the above step, it is mentioned that there may be a case of intersection or partial coincidence between the reference paths of the vehicles, and in order to avoid a case that the vehicles collide and are locked due to the vehicles simultaneously reaching the positions of intersection or partial coincidence in the reference paths, in this embodiment of the application, after the reference paths of all vehicles in the working area are acquired, a collision area between any two reference paths is searched. As shown in fig. 2, for the reference path where the position point of B3 is located, the distance between the position point of A3-a5 and the position point of B3 is less than the preset safe distance, and then the region between the position points of A3-a5 is the collision region of the reference path where the position point of B3 is located.
It is understood that the number of position point location pairs included in one collision region that are smaller than the preset safe distance is not fixed.
103. And calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region.
It can be understood that the number of collision areas in any two reference paths is not fixed, and may be 1 or more. Wherein the collision state is used to characterize a state in which the distance between two vehicles is less than a preset safe distance threshold. The escape distance is used for representing the distance from the current position point of the vehicle in the collision state to the distance from the current position point of the vehicle in the collision state, and the distance can be described by the number of the position points.
It should be noted that, for safety, when the distance between any two vehicles is smaller than the preset safety distance threshold, an alarm may be output to avoid vehicle collision.
104. And determining the minimum escape distance of any two vehicles when the two vehicles generate a conflict state in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially.
In order to save time consumed during avoidance and improve the working efficiency of vehicles, in the embodiment of the application, when two vehicles run to a current conflict area to generate a conflict state, a vehicle with a smaller escape distance in the two vehicles is determined and is taken as a target vehicle, and the target vehicle is further controlled to pass preferentially.
In addition, under the condition that the vehicle speed is the same, the time for the vehicle with a small escape distance to escape from a collision state is relatively short, so that the time for controlling the vehicle with the small escape distance to preferentially pass can be shortened, and the work efficiency of the vehicle can be improved.
Compared with the prior art, when multiple vehicles in a working area are in a conflict state, the corresponding escape distance is further calculated by searching the conflict area between the vehicle reference paths in the conflict state, the vehicles with small escape distances are controlled to preferentially pass through, and the purposes that the vehicles are controlled to avoid in time when the conflict state occurs are achieved, so that the unmanned intelligence and the vehicle working efficiency are improved.
The embodiment of the application provides another avoidance method for multiple vehicles in a working area, as shown in fig. 3, the method includes:
201. and according to a preset distance interval, performing downsampling processing on the reference path to obtain a position point set.
In the reference planning process, when a conflict area between any two reference paths is searched, in order to save resources, in the embodiment of the present application, downsampling processing may be performed on the reference paths according to a preset distance interval, so as to obtain a plurality of position points according to the preset distance interval, and thus each path may obtain a corresponding position point set. The position point set comprises a plurality of position point positions corresponding to different reference paths. In addition, the resolution of the path may reach 0.1 meter, and the preset distance interval may be set according to an actual situation, for example, the distance interval is 1 meter or 0.5 meter, and the embodiment of the present application is not particularly limited.
It should be noted that, since the position point set is obtained by downsampling based on a fixed distance interval, distances between position points in the position point set are the same, and a product of the number of the position points and the distance interval is a real distance.
202. And searching the conflict point pairs of any two reference paths based on the position point set, and generating conflict areas matching the conflict point pairs.
In the embodiment of the application, position points corresponding to any two reference paths in the position point set are combined pairwise to search all the conflict point pairs. And the distance between two position points in the conflict point pair is smaller than a preset safety distance threshold value. Preferably, in order to increase the speed of searching the conflict point pairs, a KD tree can be established for the position point planning path of every two reference paths, and the near-neighbor points within the safety distance can be searched based on the KD tree. Further, a conflict area matched with the searched conflict point pair is generated based on the searched conflict point pair.
For example, as shown in fig. 2, the pairs of collision points between the reference path where the position point of a4 is located and the reference path where the position point of B3 is located are searched to obtain pairs of collision points A3& B3, a4& B3 and a5& B3, so that for the reference path where B3 is located, the matching collision region is the region between A3 and a 5.
203. And acquiring the conflict point pairs of the vehicles in the corresponding conflict areas.
In the embodiment of the application, since the calculation of the escape distance needs to correspond to different conflict areas and conflict point pairs in the conflict areas, when the escape distance is calculated, the conflict point pair of the vehicle in the current conflict area needs to be acquired first.
204. And counting the number of passing position points required by the vehicles to escape from the collision state according to the position points continuously determined as the collision point pairs in the region, and determining the number as the escape distance required by the vehicles in the collision region to escape from the collision state.
In the above step, it is mentioned that the escape distance is used to represent that the vehicle in the collision occurrence state travels from the current position point to the distance away from the current collision occurrence state according to the reference path, and when a collision area between any two reference paths is searched, in order to save resources, each reference path is downsampled according to the preset distance interval to obtain the position point set, that is, the distance between every two position points in the position point set is the preset distance interval. As shown in fig. 2, the points colliding with the position point B3 are A3, a4, and a5, and for the collision point pair A3& B3, since the points at which A3 subsequently continues and collides with B3 are A3-a5, the escape distance of A3 is 3. Similarly, the escape distance of the conflict point pair A4& B3, A4 is 2.
In a specific application scenario, a calculation flow of an escape distance required by a vehicle to escape from a collision state in a corresponding collision area is shown in fig. 4, and first, downsampling each reference path to obtain position point sets, and establishing a KD tree for each group of the position point sets; secondly, searching a conflict point pair based on the KD tree, generating a conflict area matched with the conflict point pair, and calculating escape distances corresponding to all position points in the conflict point pair in the current conflict area; when the situation that two vehicles enter a current conflict area simultaneously to conflict is monitored, acquiring the escape distance of the two vehicles; and finally, controlling the vehicle to decelerate and avoid based on the escape distance.
In order to ensure that all the operation points allocated to the vehicle are idle operation points, thereby improving the working efficiency of the vehicle, reducing the dependence on manual experience and ensuring that the path passed by the vehicle in the operation process is the optimal path, in the embodiment of the application, before the reference path of the vehicle in the operation area is acquired, the method of the embodiment further comprises the following steps: and acquiring the idle operation points in the operation area from the idle operation point library, and generating a reference path of the vehicle at the entrance in the operation area according to the position points of the idle operation points so that the vehicle can operate on the idle operation points according to the reference path.
The method comprises the steps of establishing an idle operation point library in advance for storing idle operation points in an operation area, and acquiring idle operation points from the idle operation point library to distribute to a current vehicle when it is monitored that vehicles to enter the operation area exist at an entrance of the operation area so as to ensure that the operation points distributed to the vehicles are idle operation points, thereby improving the working efficiency of the vehicles. Further, based on the free work point assigned to the current vehicle, a reference path from the entrance to the work area to the exit through the work point is generated, as shown in fig. 5, to obtain an optimal path.
It should be noted that, if it is monitored that the vehicle deviates from the reference path matched with the vehicle, the current reference path may be updated, so as to control the vehicle to perform the operation according to the updated reference path.
In order to ensure the safety of vehicle operation, in the embodiment of the present application, before acquiring an idle work point in a work area from an idle work point library, the method in the embodiment further includes: monitoring all operation points in the operation area; if any operation point is marked as a cleaning operation point, two idle operation points adjacent to the cleaning operation point are marked as occupied operation points, and an idle operation point library is updated.
Specifically, all the work points in the work area are monitored in real time, when it is monitored that the cleaning vehicle performs cleaning work at any one of the work points, two work points on the left side and the right side adjacent to the work point being cleaned are marked as occupied work points, as shown in fig. 6, and the idle work point library is updated (i.e., the occupied work points are deleted from the idle work point library) at the same time, so that danger caused by interference between the work vehicle and the cleaning vehicle is avoided.
For further explanation and limitation, in the embodiment of the present application, before acquiring the free job points in the job space from the free job point library, the method in the embodiment further includes: acquiring idle operation points in an operation area and generating an idle operation point library; if the idle operation point is marked as an occupied operation point or a cleaning operation point, deleting the idle operation point from the idle operation point library; and/or if the occupied operation point or the cleaning operation point is marked as an idle operation point, adding the idle operation as a point to the tail of the queue in the idle operation point library.
Specifically, all idle operation points in an operation area are obtained firstly, an idle operation point library is generated, so that when a vehicle to enter the operation area is monitored, the idle operation points are obtained from the idle operation point library and are distributed to the vehicle to enter, wherein different idle operation points are stored in the idle operation point library from the head of a queue to the tail of the queue. In order to ensure that all the operating points in the idle operating point library are in an idle state, in the embodiment of the application, when it is monitored that an idle operating point is marked as an occupied operating point or a cleaning operating point, it is indicated that the operating point is occupied by a cleaning vehicle for cleaning, or the operating point which is adjacent to the cleaning operating point and is marked as the occupied operating point is considered for safety, and at the moment, the two types of operating points are deleted from the idle operating point library. And when the completion of the cleaning operation is monitored, adding the idle operation point to the queue tail of the idle operation library.
In order to ensure driving safety, in the embodiment of the present application, controlling the target vehicle preferentially includes: sending an avoidance instruction to a vehicle which generates a conflict state with a target vehicle so as to enable the vehicle to stop running; and when the target vehicle escapes from the conflict state, sending a running instruction to the vehicle so as to enable the vehicle to run normally.
The target vehicle is used for representing the vehicle with smaller escape distance in two vehicles in a collision state. When the current execution end monitors that the vehicles have a conflict state, according to the escape distances of the two vehicles in the conflict state, a command of preferentially passing is sent to the target vehicle with a smaller escape distance, and an avoidance command is sent to the other vehicle, so that the other vehicle stops running. And when the target vehicle escapes from the conflict state, sending a running instruction to the suspended vehicle so as to recover the normal running of the suspended vehicle.
For example, when a vehicle collides, as shown in fig. 7, the location point of the vehicle a is A3, the location point of the vehicle B is B3, and in the collision point pairs A3& B3, the escape distance of the vehicle A3 is 3, and the escape distance of the vehicle B3 is 2, in order to quickly escape from the collision state, the current execution end may send a deceleration and avoidance instruction to the vehicle a, and control the vehicle a to continue to complete the operation according to the original reference path until the vehicle B drives away from the point B4 to escape from the collision state. In addition, when more than two vehicles are in a conflict state, the two vehicles are judged.
In the case of an open pit mine, the working area may be a loading area or a loading area. That is, the multi-vehicle avoidance strategy claimed in the present application can be adopted in both loading area and unloading area. The type of work area is not further limited by this application.
The embodiment of the application provides a method for avoiding multiple vehicles in an operation area, which comprises the steps of firstly, obtaining a reference path of a vehicle in the operation area, wherein the reference path is a path which the vehicle passes from an entrance to an exit of the operation area through an operation point; secondly, searching a conflict area between any two reference paths; calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region again; and finally, determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially. Compared with the prior art, when multiple vehicles in a working area are in a conflict state, the corresponding escape distance is further calculated by searching the conflict area between the vehicle reference paths in the conflict state, the vehicles with small escape distances are controlled to preferentially pass through, and the purposes that the vehicles are controlled to avoid in time when the conflict state occurs are achieved, so that the unmanned intelligence and the vehicle working efficiency are improved.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present application provides an avoidance apparatus for multiple vehicles in a work area, as shown in fig. 8, the apparatus includes:
the device comprises an acquisition module 31, a search module 32, a calculation module 33 and a control module 34.
The acquiring module 31 is configured to acquire a reference path of a vehicle in a working area, where the reference path is a path through which the vehicle passes from an entrance to the working area through a working point to an exit;
a searching module 32, configured to search a collision region between any two of the reference paths;
a calculating module 33, configured to calculate an escape distance required by the vehicle to escape from the collision state in the corresponding collision region;
and the control module 34 is configured to determine a minimum escape distance between any two vehicles when a collision state occurs in the collision region, determine a vehicle corresponding to the minimum escape distance as a target vehicle, and control the target vehicle to pass preferentially.
In a specific application scenario, the search module includes:
the down-sampling unit is used for performing down-sampling processing on the reference paths according to a preset distance interval to obtain a position point set, and the position point set comprises a plurality of position points corresponding to different reference paths;
and the searching unit is used for searching any two conflict point pairs of the reference path based on the position point set and generating conflict areas matched with the conflict point pairs, wherein the distance between position point positions in the conflict point pairs is smaller than a preset safety distance threshold value.
In a specific application scenario, the computing module includes:
the acquisition unit is used for acquiring the collision point pairs of the vehicles in the corresponding collision areas;
and the determining unit is used for counting the number of the position points required by the vehicle to escape from the collision state according to the position points continuously determined as the collision point pairs in the region, and determining the number as the escape distance required by the vehicle in the collision region to escape from the collision state.
In a specific application scenario, before the obtaining module, the apparatus further includes:
the first generation module is used for acquiring idle operation points in an operation area from an idle operation point library and generating a reference path of the vehicle at the entrance of the operation area according to the position points of the idle operation points so that the vehicle can operate the idle operation points according to the reference path.
In a specific application scenario, before the first generating module, the apparatus further includes:
the detection module is used for monitoring all operation points in the operation area;
and the marking module is used for marking two idle operation points adjacent to the cleaning operation point as occupied operation points and updating the idle operation point library if any operation point is marked as a cleaning operation point.
In a specific application scenario, before the first generating module, the apparatus further includes:
the second generation device is used for acquiring idle operation points in the operation area and generating an idle operation point library, wherein different idle operation points are stored in the idle operation point library from head of queue to tail of queue;
the deleting module is used for deleting the idle operation point from the idle operation point library if the idle operation point is marked as an occupied operation point or a cleaning operation point; and/or the presence of a gas in the gas,
and the adding module is used for adding the idle point as a point to the tail of the queue in the idle operation point library if the occupied operation point or the cleaning operation point is marked as an idle operation point.
In a specific application scenario, the control module includes:
the sending unit is used for sending an avoidance instruction to a vehicle which generates a conflict state with the target vehicle so as to enable the vehicle to stop running;
the sending unit is further configured to send a running instruction to the vehicle after the target vehicle escapes from the collision state, so that the vehicle runs normally.
The application provides an avoidance device for multiple vehicles in an operation area, which comprises the steps of firstly, obtaining a reference path of the vehicles in the operation area, wherein the reference path is a path which is formed by the vehicles passing through an operation point from an entrance of the operation area to an exit; secondly, searching a conflict area between any two reference paths; calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region again; and finally, determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially. Compared with the prior art, when multiple vehicles in a working area are in a conflict state, the corresponding escape distance is further calculated by searching the conflict area between the vehicle reference paths in the conflict state, the vehicles with small escape distances are controlled to preferentially pass through, and the purposes that the vehicles are controlled to avoid in time when the conflict state occurs are achieved, so that the unmanned intelligence and the vehicle working efficiency are improved.
According to an embodiment of the present application, a storage medium is provided, where the storage medium stores at least one executable instruction, and the computer executable instruction may execute the method for avoiding multiple vehicles in a working area in any of the above method embodiments.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present application.
Fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application, where the specific embodiment of the present application does not limit a specific implementation of the terminal.
As shown in fig. 9, the terminal may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.
Wherein: the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.
A communication interface 404 for communicating with network elements of other devices, such as clients or other servers.
The processor 402 is configured to execute the program 410, and may specifically execute relevant steps in the embodiment of the avoidance method for multiple vehicles in the work area of the interface.
In particular, program 410 may include program code comprising computer operating instructions.
The processor 402 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present application. The terminal comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may specifically be configured to cause the processor 402 to perform the following operations:
acquiring a reference path of a vehicle in a working area, wherein the reference path is a path which is formed by the vehicle passing through a working point from an entrance of the working area to an exit;
searching a conflict area between any two reference paths;
calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region;
and determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially.
The storage medium may further include an operating system and a network communication module. The operating system is a program for managing hardware and software resources of the entity device for avoiding the plurality of vehicles in the work area, and supports the operation of the information processing program and other software and/or programs. The network communication module is used for realizing communication among components in the storage medium and communication with other hardware and software in the information processing entity device.
The terminal in the embodiment of the application is used as a control or adjustment system for executing non-electric variables, and the non-electric variables such as the speed and the displacement of the vehicle are controlled or adjusted, so that the multiple vehicles can avoid in the operation area.
It should be noted that the terminal includes, but is not limited to: the vehicle can implement the method provided by the application through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The method and system of the present application may be implemented in a number of ways. For example, the methods and systems of the present application may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present application are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present application may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present application. Thus, the present application also covers a recording medium storing a program for executing the method according to the present application.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for avoiding multiple vehicles in a working area is characterized by comprising the following steps:
acquiring a reference path of a vehicle in a working area, wherein the reference path is a path which is formed by the vehicle passing through a working point from an entrance of the working area to an exit;
searching a conflict area between any two reference paths, wherein the conflict area is generated by searching a conflict point pair in a position point set corresponding to any two reference paths, the distance between position points in the conflict point pair is smaller than a preset safety distance threshold, the position point set is obtained from the reference paths according to a preset distance interval, and the position point set comprises a plurality of position points corresponding to different reference paths;
calculating the escape distance required by the vehicle to escape from the conflict state in the corresponding conflict region, wherein the escape distance is used for representing the distance from the current position point of the vehicle in the conflict state to the distance from the conflict state;
and determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle, and controlling the target vehicle to pass preferentially.
2. The method of claim 1, wherein the searching for a collision region between any two of the reference paths comprises:
and according to a preset distance interval, performing downsampling processing on the reference path to obtain a position point set.
3. The method of claim 2, wherein the calculating an escape distance required for the vehicle to escape a collision state in the corresponding collision zone comprises:
acquiring a conflict point pair of the vehicle in the corresponding conflict area;
and counting the number of the position points required by the vehicle to escape from the conflict state according to the position points continuously determined as the conflict point pairs in the region, and determining the number as the escape distance required by the vehicle in the conflict region to escape from the conflict state.
4. The method of claim 1, wherein prior to obtaining the reference path of the vehicle within the work area, the method further comprises:
and acquiring idle operation points in an operation area from an idle operation point library, and generating a reference path of the vehicle at the entrance of the operation area according to the position points of the idle operation points, so that the vehicle operates on the idle operation points according to the reference path.
5. The method of claim 4, wherein prior to said retrieving an idle work point in the work area from the pool of idle work points, the method further comprises:
monitoring all operation points in the operation area;
and if any operation point is marked as a cleaning operation point, marking two idle operation points adjacent to the cleaning operation point as occupied operation points, and updating the idle operation point library.
6. The method of claim 4, wherein prior to said retrieving an idle work point in the work area from the pool of idle work points, the method further comprises:
acquiring idle operation points in an operation area, and generating an idle operation point library, wherein different idle operation points are stored in the idle operation point library from the head of a queue to the tail of the queue;
if the idle operation point is marked as an occupied operation point or a cleaning operation point, deleting the idle operation point from the idle operation point library; and/or the presence of a gas in the gas,
and if the occupied operation point or the cleaning operation point is marked as an idle operation point, adding the idle operation point to the tail of the queue in the idle operation point library.
7. The method of claim 1, wherein the controlling the target vehicle preemption comprises:
sending an avoidance instruction to a vehicle which generates a conflict state with the target vehicle so as to enable the vehicle to stop running;
and after the target vehicle escapes from the conflict state, sending a running instruction to the vehicle so as to enable the vehicle to run normally.
8. An avoidance device for a plurality of vehicles in a working area, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a reference path of a vehicle in a working area, and the reference path is a path which the vehicle passes from an entrance of the working area to an exit of the working area through a working point;
the searching module is used for searching a collision region between any two reference paths, wherein the collision region is generated by searching collision point pairs in position point sets corresponding to any two reference paths, the distance between position points in the collision point pairs is smaller than a preset safety distance threshold value, the position point sets are acquired from the reference paths according to preset distance intervals, and the position point sets comprise a plurality of position points corresponding to different reference paths;
the calculation module is used for calculating the escape distance required by the vehicle for escaping from the conflict state in the corresponding conflict region, wherein the escape distance is used for representing the distance from the current position point of the vehicle in the conflict state to the distance from the conflict state;
and the control module is used for determining the minimum escape distance of any two vehicles when the conflict state is generated in the conflict area, determining the vehicle corresponding to the minimum escape distance as a target vehicle and controlling the target vehicle to pass preferentially.
9. A storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the method for avoiding work area multiple vehicles according to any one of claims 1-7.
10. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the avoidance method of the multi-vehicle in the operation area according to any one of claims 1-7.
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