CN114489075A - Method and device for controlling unmanned clearance vehicle and electronic equipment - Google Patents
Method and device for controlling unmanned clearance vehicle and electronic equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a method, a device and electronic equipment for controlling an unmanned vehicle, wherein the method is applied to a controller on the unmanned vehicle, the unmanned vehicle also comprises a single-line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single-line laser radar, ground point cloud information of the ground transmitted by the single-line laser radar in real time is received, the relative position between the single-line laser radar and the ground is determined based on the ground point cloud information, the single-line laser radar is adjusted in real time by utilizing the longitudinal adjusting motor and the transverse adjusting motor according to the relative position, so that the single-line laser radar can always acquire obstacle point cloud information of an obstacle within a preset target angle range, and an obstacle acquisition blind area appearing during the driving process of the unmanned vehicle is effectively eliminated, thereby reducing the incidence of traffic accidents.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method and a device for controlling an unmanned clearance vehicle and electronic equipment.
Background
The existing unmanned vehicle technology is mature day by day, and it is necessary to utilize unmanned vehicles to circulate goods at the customs port and abroad in the large environment of epidemic situation.
Generally, a sensor is installed on an unmanned vehicle to collect obstacle information so as to analyze road conditions and avoid accidents of the vehicle caused by collision, however, the sensor installed on the vehicle often cannot adjust the posture of the sensor according to the posture change of the vehicle, so that the sensor has a certain blind area in collection, cannot completely collect the obstacle information, and is easy to cause traffic accidents.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, and an electronic device for controlling an unmanned clearance vehicle, in which a longitudinal adjustment motor and a transverse adjustment motor are used to adjust a single line laser radar in real time, so that the single line laser radar can always acquire obstacle point cloud information of an obstacle within a preset target angle range, and an obstacle acquisition blind area is effectively avoided, thereby reducing the occurrence rate of traffic accidents.
In a first aspect, an embodiment of the present invention provides a method for controlling an unmanned clearance vehicle, where the method is applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further includes a single-line laser radar, a longitudinal adjustment motor and a transverse adjustment motor, which are in communication connection with the controller, and both the longitudinal adjustment motor and the transverse adjustment motor are in driving connection with the single-line laser radar; the method comprises the following steps: receiving ground point cloud information of the ground, which is transmitted by a single-line laser radar in real time; determining a first relative longitudinal angle and a first relative transverse angle between the single line laser radar and the ground based on the ground point cloud information; adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle; acquiring obstacle point cloud information of an obstacle acquired by a single-line laser radar within a preset target angle range; and controlling the unmanned vehicle to park or avoid to run based on the obstacle point cloud information.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the preset target angle range includes a preset longitudinal target angle range and a preset transverse target angle range; the method comprises the following steps of adjusting a longitudinal adjusting motor and/or a transverse adjusting motor to a preset target angle range in real time based on a first relative longitudinal angle and a first relative transverse angle, wherein the steps comprise: judging whether the first relative longitudinal angle is within a preset longitudinal target angle range or not and whether the first relative transverse angle is within a preset transverse target angle range or not; if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range; if the first relative longitudinal angle is within the preset longitudinal target angle range and the first relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range; if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein an inertial attitude sensor in communication connection with the controller is further installed on the unmanned vehicle; the step of adjusting the longitudinal adjustment motor to a preset longitudinal target angle range in real time and/or adjusting the transverse adjustment motor to a preset transverse target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle includes: acquiring attitude information of the unmanned clearance vehicle acquired by an inertial attitude sensor; the attitude information comprises longitudinal angle information and transverse angle information under a world coordinate system; determining a second relative longitudinal angle between the unmanned vehicle and the ground based on the first relative longitudinal angle and the longitudinal angle information; determining a second relative lateral angle between the unmanned vehicle and the ground based on the first relative lateral angle and the lateral angle information; and adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the second relative longitudinal angle and the second relative transverse angle.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of determining a second relative longitudinal angle between the unmanned vehicle and the ground based on the first relative longitudinal angle and the longitudinal angle information includes: searching a second relative longitudinal angle corresponding to the first relative longitudinal angle and the longitudinal angle information in the longitudinal angle lookup table; the longitudinal angle lookup table stores the corresponding relationship between the second relative longitudinal angle and the first relative longitudinal angle and the longitudinal angle information.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the step of determining a second relative lateral angle between the unmanned vehicle and the ground based on the first relative lateral angle and the lateral angle information includes: searching a second relative transverse angle corresponding to the first relative transverse angle and the transverse angle information in a transverse angle lookup table; the transverse angle lookup table stores the corresponding relationship between the second relative transverse angle and the first relative transverse angle and the transverse angle information.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of adjusting the longitudinal adjustment motor and/or the transverse adjustment motor to the preset target angle range in real time based on the second relative longitudinal angle and the second relative transverse angle includes: judging whether the second relative longitudinal angle is within a preset longitudinal target angle range or not and whether the second relative transverse angle is within a preset transverse target angle range or not; if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range; if the second relative longitudinal angle is within the preset longitudinal target angle range and the second relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range; if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the step of controlling the unmanned vehicle to stop or avoid the vehicle to run based on the obstacle point cloud information includes: determining physical information of the obstacle and relative information between the obstacle and the unmanned vehicle based on the obstacle point cloud information; the physical information comprises height information and width information of the obstacles, and the relative information comprises relative position information, relative speed information and relative distance information; judging whether the obstacle and the unmanned vehicle are on the same lane or not based on the relative position information; if so, if the height information exceeds the preset height range and/or the width information exceeds the preset width range, calculating the collision duration based on the relative speed information and the relative distance information; if the collision duration is smaller than a preset first collision duration threshold value, controlling the unmanned clearance vehicle to stop; if the collision duration is smaller than a preset second collision duration threshold value, controlling the unmanned vehicle to avoid running; and the preset first collision duration threshold is smaller than the preset second collision duration threshold.
In a second aspect, an embodiment of the present invention provides a device for controlling an unmanned clearance vehicle, where the device is applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further includes a single-line laser radar, a longitudinal adjustment motor and a transverse adjustment motor, which are in communication connection with the controller, and both the longitudinal adjustment motor and the transverse adjustment motor are in driving connection with the single-line laser radar; the device comprises: the receiving module is used for receiving ground point cloud information of the ground, which is transmitted by the single-line laser radar in real time; the determining module is used for determining a first relative longitudinal angle and a first relative transverse angle between the single-line laser radar and the ground based on the ground point cloud information; the adjusting module is used for adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle; the acquisition module is used for acquiring the obstacle point cloud information of the obstacle acquired by the single-line laser radar within the preset target angle range; and the control module is used for controlling the unmanned vehicle to stop or avoid running based on the obstacle point cloud information.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the foregoing method.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the above-mentioned method.
The embodiment of the invention has the following beneficial effects:
the embodiment of the application provides a method, a device and electronic equipment for controlling an unmanned clearance vehicle, wherein the method is applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle also comprises a single line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single line laser radar, ground point cloud information of the ground, which is sent by the single line laser radar in real time, is received, the relative position between the single line laser radar and the ground is determined based on the ground point cloud information, the single line laser radar is adjusted in real time by the longitudinal adjusting motor and the transverse adjusting motor through the relative position, so that the single line laser radar can always acquire obstacle point cloud information of an obstacle within a preset target angle range, and an obstacle acquisition blind area appearing during the driving process of the unmanned clearance vehicle is effectively eliminated, thereby reducing the incidence of traffic accidents.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method of communicating control of an unmanned vehicle provided by an embodiment of the present invention;
FIG. 4 is a flow chart of another method for providing clearance for unmanned vehicle control, in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another unmanned clearance vehicle provided by an embodiment of the invention;
FIG. 6 is a flow chart of another method for providing clearance for unmanned vehicle control, in accordance with an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an apparatus for unmanned vehicle control according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon:
100-a controller; 102-single line lidar; 104-longitudinal adjustment motor; 106-lateral adjustment motor; 20-unmanned vehicle; 401-inertial attitude sensor.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Based on the consideration that the posture of the sensor installed on the unmanned vehicle can not be adjusted according to the posture change of the vehicle, so that the sensor is prone to collecting certain blind areas, barrier information can not be completely collected, and traffic accidents are easily caused, the method, the device and the electronic equipment for controlling the unmanned vehicle can adjust the single-line laser radar in real time by using the longitudinal adjusting motor and the transverse adjusting motor, so that the single-line laser radar can always collect barrier point cloud information of barriers in a preset target angle range, the barrier collecting blind areas are effectively avoided, and the traffic accident occurrence rate is reduced.
The embodiment provides a method for controlling an unmanned vehicle, wherein the method is applied to a controller on the unmanned vehicle, referring to a schematic structural diagram of the unmanned vehicle shown in fig. 1, as shown in fig. 1, the unmanned vehicle further comprises a single-line laser radar 102, a longitudinal adjusting motor 104 and a transverse adjusting motor 106 which are in communication connection with the controller 100, and the longitudinal adjusting motor 104 and the transverse adjusting motor 106 are in driving connection with the single-line laser radar 102.
The controller 100, the single-line laser radar 102, the longitudinal adjustment motor 104, and the transverse adjustment motor 106 are all installed on the unmanned vehicle, and for convenience of understanding, fig. 2 shows a schematic partial structure diagram of the unmanned vehicle, because the road tooth height is generally high in the cross-border port environment, and considering that it is necessary to collect obstacles in an area of 3m in front of the vehicle, 0.5m in height, and 3m in length, the single-line laser radar 102 may be installed in front of the unmanned vehicle 20 and has a certain installation angle, as shown in fig. 2, a lower small circle represents the longitudinal adjustment motor 104, an upper small circle represents the transverse adjustment motor 106, and the controller 100 may be installed at any position of the unmanned vehicle 20, which is not limited herein.
Referring to fig. 3, a flow chart of a method for controlling an unmanned vehicle is shown, the method specifically includes the following steps:
step S302, receiving ground point cloud information of the ground transmitted by a single-line laser radar in real time;
because of crossing the influence of factors such as the harsh (especially Xinjiang, inner Mongolia, etc.) high temperature of border-crossing port environment, high and cold sand and dust storm, it is higher to obstacle acquisition sensor requirement, select lidar to be industrial in this embodiment, can satisfy adverse circumstances demand completely, and install a radar additional and have the function that reduces redundancy, therefore, install a single line lidar on unmanned customs vehicle, can carry out the acquireing of space point cloud to the environment of unmanned customs vehicle place port through single line lidar, and can regard ground as a plane, thereby confirm the ground point cloud information on ground and can confirm this ground point cloud information as the reference plane, the above-mentioned process of obtaining ground point cloud through single line lidar acquires the process of ground point cloud with current single line lidar, do not repeated here.
Step S304, determining a first relative longitudinal angle and a first relative transverse angle between the single-line laser radar and the ground based on the ground point cloud information;
specifically, the position relationship between the single line laser radar and the ground is determined according to the ground point cloud information determined as the reference plane, specifically, an angle formed by the single line laser radar and the vertical direction of the reference plane is a first relative longitudinal angle, and an angle formed by the single line laser radar and the parallel direction of the reference plane is a first relative transverse angle.
Step S306, adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle;
in the process of driving of the unmanned clearance vehicle, the blind area can be eliminated by adjusting the direction of the single line laser radar, namely, the first relative longitudinal angle and/or the first relative transverse angle can be adjusted; because the blind area ranges of the unmanned clearance vehicles may be different in different environments, different preset target angle ranges may be set to meet the possibility of different blind areas, when the current position of the single line laser radar in the above steps does not accord with the preset target angle range, the acquisition angle of the single line laser radar may be adjusted by the longitudinal adjustment motor and/or the transverse adjustment motor, during the adjustment process, one of the longitudinal adjustment motor and the transverse adjustment motor may independently adjust the position of the single line laser radar, or both the longitudinal adjustment motor and the transverse adjustment motor may adjust the position of the single line laser radar; if the current position of the single-line laser radar accords with the preset target angle range, no adjustment is needed.
Because the unmanned vehicle may have a plurality of blind areas or a large area of blind areas, the single line laser radar can move back and forth within a preset target angle range, and the longitudinal adjusting motor and the transverse adjusting motor are required to perform continuous angle adjustment within a certain angle range.
Step S308, acquiring obstacle point cloud information of the obstacle acquired by the single-line laser radar within a preset target angle range;
when the unmanned vehicle runs, the single line laser radar acquires point cloud information which is not consistent with the ground point cloud information, then the obstacle can be judged to exist at the position, the obstacle point cloud information of the obstacle is acquired, and the process of acquiring the obstacle point cloud information through the single line laser radar is the same as the process of acquiring the shop front point cloud information, and the process is not repeated here.
And S310, controlling the unmanned vehicle to stop or avoid to run based on the obstacle point cloud information.
Whether the obstacle influences the driving of the unmanned vehicle or not can be determined through the obstacle point cloud information, if so, the unmanned vehicle can be controlled to stop or avoid driving, and if not, the unmanned vehicle can be controlled to normally drive.
The method for controlling the clearance unmanned vehicle is applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further comprises a single line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single line laser radar, ground point cloud information of the ground, which is sent by the single line laser radar in real time, is received, the relative position between the single line laser radar and the ground is determined based on the ground point cloud information, the single-line laser radar is adjusted in real time by utilizing the longitudinal adjusting motor and the transverse adjusting motor through the relative position, the single-line laser radar can always acquire the obstacle point cloud information of the obstacles within the preset target angle range, and the obstacle acquisition blind area of the unmanned clearance vehicle in the driving process is effectively eliminated, so that the traffic accident rate is reduced.
The embodiment provides another method for controlling the unmanned vehicle, which is realized on the basis of the embodiment; the present embodiment mainly describes a specific implementation of the method for presetting the target angle range. As shown in fig. 4, another flowchart of the method of clearance unmanned vehicle control in the present embodiment includes the following steps:
step S402, receiving ground point cloud information of the ground transmitted by a single-line laser radar in real time;
step S404, determining a first relative longitudinal angle and a first relative transverse angle between the single-line laser radar and the ground based on the ground point cloud information;
step S406, judging whether the first relative longitudinal angle is within a preset longitudinal target angle range and whether the first relative transverse angle is within a preset transverse target angle range;
specifically, when the unmanned clearance vehicle is started or a driving scene needs to be converted, whether the single-line laser radar meets the requirement of the next time interval or road section at the moment needs to be judged, whether the single-line laser radar meets the preset position requirement needs to be judged, namely whether the first relative longitudinal angle is within the preset longitudinal target angle range or not and whether the first relative transverse angle is within the preset transverse target angle range or not are judged.
Step S408, if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range;
if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned clearance vehicle is in driving, the actual longitudinal target angle between the single line laser radar and the ground is 20 degrees and the actual transverse target angle is 40 degrees, the longitudinal adjusting motor rotates to adjust the longitudinal target angle of the single line laser radar to be within the range of 30-35 degrees, and the transverse adjusting motor does not need to work.
Step S410, if the first relative longitudinal angle is within a preset longitudinal target angle range and the first relative transverse angle is not within a preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range;
in practical application, if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned clearance vehicle is running, and the actual longitudinal target angle between the single-line laser radar and the ground is 30 degrees and the actual transverse target angle is 30 degrees, the transverse adjusting motor rotates to adjust the longitudinal target angle of the single-line laser radar to be within the range of 40-45 degrees, and the longitudinal adjusting motor does not need to work.
Step S412, if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range;
if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned clearance vehicle is running, the actual longitudinal target angle between the single line laser radar and the ground is 20 degrees and the actual transverse target angle is 30 degrees, the longitudinal adjusting motor rotates to adjust the longitudinal target angle of the single line laser radar to be within the range of 30-35 degrees, and the transverse adjusting motor rotates to adjust the longitudinal target angle of the single line laser radar to be within the range of 40-45 degrees.
Step S414, acquiring obstacle point cloud information of the obstacle acquired by the single-line laser radar within a preset target angle range;
and step S416, controlling the unmanned vehicle to stop or avoid to run based on the obstacle point cloud information.
The process of controlling the unmanned vehicle to park or avoid the vehicle based on the obstacle point cloud information can be realized through steps a1 to a 5:
step A1, determining physical information of the obstacle and relative information between the obstacle and the unmanned vehicle based on the obstacle point cloud information;
the physical information comprises height information and width information, and the relative information comprises relative position information, relative speed information and relative distance information;
step A2, judging whether the obstacle and the unmanned vehicle are on the same lane based on the relative position information;
if the obstacle and the unmanned vehicle are not in the same lane according to the relative position information, the obstacle has no influence on the driving of the unmanned vehicle, the vehicle can normally drive, and if the obstacle and the unmanned vehicle are in the same lane, the step A3 is executed.
Step A3, if the height information exceeds the preset height range and/or the width information exceeds the preset width range, calculating the collision duration based on the relative speed information and the relative distance information;
if the height information of the obstacle does not exceed the preset height range and the width information does not exceed the preset width range, the obstacle is small and does not influence the running of the vehicle, if the height information exceeds the preset height range and/or the width information exceeds the preset width range, the obstacle is large and has certain influence on the running of the vehicle, and the preset height range and the preset width range can be set according to actual needs and are not limited.
In the present embodiment, the above-described collision time period is obtained by dividing the relative distance information by the relative speed information.
Step A4, if the collision duration is smaller than a preset first collision duration threshold, controlling the unmanned clearance vehicle to stop;
step A5, if the collision duration is smaller than a preset second collision duration threshold, controlling the unmanned vehicle to avoid running; and the preset first collision duration threshold is smaller than the preset second collision duration threshold.
If the collision duration is less than the preset first collision duration threshold, it indicates that the unmanned clearance vehicle and the barrier are about to collide, accidents can be carried out through parking, if the collision duration is less than the preset second collision duration threshold, it indicates that a certain duration is required for the collision of the unmanned clearance vehicle and the barrier, the vehicle can be controlled to carry out avoidance running, namely the vehicle is controlled to run to other lanes.
The embodiment provides another method for controlling an unmanned vehicle, which is implemented on the basis of the embodiment; the present embodiment focuses on the detailed description of the method for determining the relative angle between the vehicle and the ground. Referring to fig. 5, another schematic structural diagram of the unmanned vehicle is shown, as shown in fig. 5, an inertial attitude sensor 401 is further mounted on the unmanned vehicle, and is in communication with the controller 100; referring to another method flow diagram for clearance unmanned vehicle control shown in fig. 6, the method for clearance unmanned vehicle control in the present embodiment includes the steps of:
step S602, receiving ground point cloud information of the ground transmitted by a single-line laser radar in real time;
step S604, determining a first relative longitudinal angle and a first relative transverse angle between the single-line laser radar and the ground based on the ground point cloud information;
step S606, acquiring attitude information of the unmanned clearance vehicle acquired by the inertial attitude sensor; the attitude information comprises longitudinal angle information and transverse angle information under a world coordinate system;
in practical application, the positions required by the single-line laser radar are different due to the condition that the road surface is inclined or uneven or hollow in the running process of the unmanned vehicle, so that the unmanned vehicle in the embodiment of the application can be provided with an inertial attitude sensor for acquiring the attitude information of the unmanned vehicle, the inertial attitude sensor can adopt a level meter or a gyroscope and the like, and the specific type is not limited here.
Step S608, determining a second relative longitudinal angle between the unmanned general vehicle and the ground based on the first relative longitudinal angle and the longitudinal angle information;
the process of specifically determining the second relative longitudinal angle is: searching a second relative longitudinal angle corresponding to the first relative longitudinal angle and the longitudinal angle information in the longitudinal angle lookup table; the longitudinal angle lookup table stores the corresponding relationship between the second relative longitudinal angle and the first relative longitudinal angle and the longitudinal angle information.
Step S610, determining a second relative transverse angle between the unmanned vehicle and the ground based on the first relative transverse angle and the transverse angle information;
wherein the process of determining the second relative longitudinal angle is: searching a second relative transverse angle corresponding to the first relative transverse angle and the transverse angle information in a transverse angle lookup table; the transverse angle lookup table stores the corresponding relationship between the second relative transverse angle and the first relative transverse angle and the transverse angle information.
In practical application, in order to accurately and comprehensively eliminate the blind acquisition zone of the unmanned vehicle, the corresponding relationship between the first relative longitudinal angle and the second relative longitudinal angle corresponding to the longitudinal angle information, which are stored in advance, and the corresponding relationship between the first relative transverse angle and the second relative transverse angle corresponding to the transverse angle information can be correspondingly specified, and the specified principle can be derived from the existing data or vehicle data statistics during operation, so that the influence of the relative angle between the vehicle and the ground on the position of the single-line laser radar by the vehicles in different running states can be eliminated.
Step S612, adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the second relative longitudinal angle and the second relative transverse angle;
the above process of adjusting the longitudinal adjustment motor and/or the lateral adjustment motor to the preset target angle range in real time based on the second relative longitudinal angle and the second relative lateral angle may be implemented by steps B1 to B4:
step B1, judging whether the second relative longitudinal angle is within a preset longitudinal target angle range or not and whether the second relative transverse angle is within a preset transverse target angle range or not;
specifically, when the inertial attitude sensor of the unmanned vehicle acquires current vehicle attitude information, and after a second relative longitudinal angle and a second relative transverse angle are determined, it is necessary to determine whether the current single-line laser radar meets a preset position requirement, that is, whether the second relative longitudinal angle is within a preset longitudinal target angle range and whether the second relative transverse angle is within a preset transverse target angle range.
Step B2, if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range;
in practical application, if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned vehicle is running, and the second relative longitudinal angle is 20 degrees and the second relative longitudinal angle is 40 degrees, the longitudinal adjusting motor rotates to adjust the longitudinal target angle of the single-line laser radar to be within the range of 30-35 degrees, and the transverse adjusting motor does not need to work.
Step B3, if the second relative longitudinal angle is within the preset longitudinal target angle range and the second relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range;
in practical application, if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned vehicle is running, and the second relative longitudinal angle is 30 degrees and the second relative transverse angle is 30 degrees, the transverse adjusting motor rotates to adjust the transverse target angle of the single-line laser radar to be within the range of 30-35 degrees, and the longitudinal adjusting motor does not need to work.
And step B4, if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range.
In practical application, if the preset longitudinal target angle is 30-35 degrees and the preset transverse target angle is 40-45 degrees when the unmanned vehicle is running, and the second relative longitudinal angle is 20 degrees and the second relative transverse angle is 30 degrees, the longitudinal adjusting motor rotates to adjust the longitudinal target angle of the single-line laser radar to be within the range of 30-35 degrees, and the transverse adjusting motor rotates to adjust the longitudinal target angle of the single-line laser radar to be within the range of 40-45 degrees.
Step S614, acquiring obstacle point cloud information of the obstacles acquired by the single-line laser radar within a preset target angle range;
and step S616, controlling the unmanned vehicle to stop or avoid to run based on the obstacle point cloud information.
Corresponding to the above method embodiment, an embodiment of the present invention provides an apparatus for controlling an unmanned vehicle, and referring to a schematic structural diagram of an apparatus for controlling an unmanned vehicle shown in fig. 7, where the apparatus is applied to a controller on an unmanned vehicle, the unmanned vehicle further includes a single-line laser radar, a longitudinal adjustment motor and a transverse adjustment motor, which are in communication connection with the controller, and both the longitudinal adjustment motor and the transverse adjustment motor are in driving connection with the single-line laser radar; the device includes:
the receiving module 701 is used for receiving ground point cloud information of the ground, which is sent by a single-line laser radar in real time;
a determining module 702, configured to determine a first relative longitudinal angle and a first relative transverse angle between the single line laser radar and the ground based on the ground point cloud information;
the adjusting module 703 is configured to adjust the longitudinal adjustment motor and/or the transverse adjustment motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle;
an obtaining module 704, configured to obtain obstacle point cloud information of an obstacle acquired by a single line laser radar within a preset target angle range;
and the control module 705 is used for controlling the unmanned vehicle to stop or avoid running based on the obstacle point cloud information.
The device for controlling the clearance unmanned vehicle is applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further comprises a single line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single line laser radar, ground point cloud information of the ground, which is sent by the single line laser radar in real time, is received, the relative position between the single line laser radar and the ground is determined based on the ground point cloud information, the single-line laser radar is adjusted in real time by utilizing the longitudinal adjusting motor and the transverse adjusting motor through the relative position, the single-line laser radar can always acquire the obstacle point cloud information of the obstacles within the preset target angle range, and the obstacle acquisition blind area of the unmanned clearance vehicle in the driving process is effectively eliminated, so that the traffic accident rate is reduced.
An electronic device is further provided, as shown in fig. 8, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 121 and a memory 120, the memory 120 stores computer-executable instructions that can be executed by the processor 121, and the processor 121 executes the computer-executable instructions to implement the above-mentioned method for controlling an unmanned vehicle.
In the embodiment shown in fig. 7, the electronic device further comprises a bus 122 and a communication interface 123, wherein the processor 121, the communication interface 123 and the memory 120 are connected by the bus 122.
The Memory 120 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 123 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like may be used. The bus 122 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 122 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
The processor 121 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 121. The Processor 121 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and the processor 121 reads information in the memory and completes the steps of the method for unmanned vehicle control of the foregoing embodiment in combination with hardware thereof.
Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above method for controlling an unmanned vehicle, and specific implementation may refer to the foregoing method embodiments, and is not described herein again.
The method, the apparatus, and the computer program product of the system for unmanned vehicle control according to the embodiments of the present invention include a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the methods described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The method for controlling the unmanned clearance vehicle is characterized by being applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further comprises a single-line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, and the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single-line laser radar; the method comprises the following steps:
receiving ground point cloud information of the ground sent by the single-line laser radar in real time;
determining a first relative longitudinal angle and a first relative transverse angle between the single line laser radar and the ground based on the ground point cloud information;
adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle;
acquiring obstacle point cloud information of an obstacle acquired by the single-line laser radar within a preset target angle range;
and controlling the unmanned vehicle to park or avoid to run based on the obstacle point cloud information.
2. The method of claim 1, wherein the preset target angle ranges comprise a preset longitudinal target angle range and a preset transverse target angle range;
adjusting the longitudinal adjustment motor and/or the transverse adjustment motor in real time to a preset target angle range based on the first relative longitudinal angle and the first relative transverse angle, comprising:
judging whether the first relative longitudinal angle is within a preset longitudinal target angle range or not and whether the first relative transverse angle is within a preset transverse target angle range or not;
if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range;
if the first relative longitudinal angle is within a preset longitudinal target angle range and the first relative transverse angle is not within a preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range;
if the first relative longitudinal angle is not within the preset longitudinal target angle range and the first relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range.
3. The method of claim 2, wherein the unmanned clearance vehicle is further equipped with an inertial attitude sensor communicatively coupled to the controller;
the step of adjusting the longitudinal adjustment motor to a preset longitudinal target angle range in real time and/or adjusting the lateral adjustment motor to a preset lateral target angle range in real time based on the first relative longitudinal angle and the first relative lateral angle includes:
acquiring attitude information of the unmanned clearance vehicle acquired by the inertial attitude sensor; wherein the attitude information comprises longitudinal angle information and transverse angle information under a world coordinate system;
determining a second relative longitudinal angle between the unmanned vehicle and the ground based on the first relative longitudinal angle and the longitudinal angle information;
determining a second relative lateral angle between the unmanned vehicle and the ground based on the first relative lateral angle and the lateral angle information;
adjusting the longitudinal adjustment motor and/or the transverse adjustment motor to a preset target angle range in real time based on the second relative longitudinal angle and the second relative transverse angle.
4. The method of claim 3, wherein the step of determining a second relative longitudinal angle between the unmanned vehicle and the ground based on the first relative longitudinal angle and the longitudinal angle information comprises:
looking up a second relative longitudinal angle corresponding to the first relative longitudinal angle and the longitudinal angle information in a longitudinal angle look-up table; the longitudinal angle lookup table stores the corresponding relation between the second relative longitudinal angle and the first relative longitudinal angle and longitudinal angle information.
5. The method of claim 3, wherein the step of determining a second relative lateral angle between the unmanned vehicle and the ground based on the first relative lateral angle and the lateral angle information comprises:
searching a second relative transverse angle corresponding to the first relative transverse angle and the transverse angle information in a transverse angle lookup table; the transverse angle lookup table stores the corresponding relationship between the second relative transverse angle and the first relative transverse angle and the transverse angle information.
6. The method of claim 3, wherein the step of adjusting the longitudinal adjustment motor and/or the lateral adjustment motor in real time to a preset target angle range based on the second relative longitudinal angle and the second relative lateral angle comprises:
judging whether the second relative longitudinal angle is within a preset longitudinal target angle range or not and whether the second relative transverse angle is within a preset transverse target angle range or not;
if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range;
if the second relative longitudinal angle is within a preset longitudinal target angle range and the second relative transverse angle is not within a preset transverse target angle range, adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range;
if the second relative longitudinal angle is not within the preset longitudinal target angle range and the second relative transverse angle is not within the preset transverse target angle range, adjusting the angle of the longitudinal adjusting motor to be within the preset longitudinal target angle range, and adjusting the angle of the transverse adjusting motor to be within the preset transverse target angle range.
7. The method of claim 1, wherein the step of controlling the unmanned vehicle to park or drive for avoidance based on the obstacle point cloud information comprises:
determining physical information of the obstacle and relative information between the obstacle and the unmanned vehicle based on the obstacle point cloud information; wherein the physical information includes height information and width information, and the relative information includes relative position information, relative velocity information, and relative distance information;
judging whether the obstacle and the unmanned vehicle are on the same lane or not based on the relative position information;
if so, if the height information exceeds a preset height range and/or the width information exceeds a preset width range, calculating the collision duration based on the relative speed information and the relative distance information;
if the collision duration is smaller than a preset first collision duration threshold value, controlling the unmanned clearance vehicle to stop;
if the collision duration is smaller than a preset second collision duration threshold value, controlling the unmanned vehicle to avoid running; and the preset first collision time length threshold is smaller than a preset second collision time length threshold.
8. The device for controlling the unmanned clearance vehicle is characterized by being applied to a controller on the unmanned clearance vehicle, the unmanned clearance vehicle further comprises a single-line laser radar, a longitudinal adjusting motor and a transverse adjusting motor which are in communication connection with the controller, and the longitudinal adjusting motor and the transverse adjusting motor are in driving connection with the single-line laser radar; the device comprises:
the receiving module is used for receiving ground point cloud information of the ground, which is sent by the single-line laser radar in real time;
a determining module for determining a first relative longitudinal angle and a first relative transverse angle between the single line laser radar and the ground based on the ground point cloud information;
the adjusting module is used for adjusting the longitudinal adjusting motor and/or the transverse adjusting motor to a preset target angle range in real time based on the first relative longitudinal angle and the first relative transverse angle;
the acquisition module is used for acquiring the obstacle point cloud information of the obstacle acquired by the single-line laser radar within a preset target angle range;
and the control module is used for controlling the unmanned vehicle to park or avoid to run based on the obstacle point cloud information.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 7.
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