CN114613140A - Intelligent scheduling method and device for cross area of unmanned vehicle - Google Patents
Intelligent scheduling method and device for cross area of unmanned vehicle Download PDFInfo
- Publication number
- CN114613140A CN114613140A CN202210270526.6A CN202210270526A CN114613140A CN 114613140 A CN114613140 A CN 114613140A CN 202210270526 A CN202210270526 A CN 202210270526A CN 114613140 A CN114613140 A CN 114613140A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- path
- unmanned vehicle
- area
- scheduling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent scheduling method for a cross region of an unmanned vehicle, which comprises the following steps: updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle; and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle. The invention can realize that the unmanned vehicles pass through the multi-path crossing area orderly and efficiently, improve the passing efficiency of the crossing area and ensure the passing safety of the crossing area.
Description
Technical Field
The invention relates to the field of intelligent transportation. More specifically, the present invention relates to an intelligent scheduling method and apparatus for a crossing area of an unmanned vehicle.
Background
In an operation area of an engineering environment, a plurality of vehicles run according to different paths at the same time, and the different running paths are crossed, so that the safe and orderly running of the vehicles in the area is greatly influenced.
In the prior art, when a vehicle driven by a person runs in the area, a driver can pre-judge surrounding factors influencing running safety and pre-running tracks of other vehicles in real time, and adjust a running path of the vehicle in advance, so that the vehicle can run safely and orderly in the area.
The unmanned vehicles run in the area, whether other vehicles conflict with the unmanned vehicles or not can not be identified, and the decision right of whether other vehicles pass or not is not provided, and all vehicles can only control the unmanned vehicles to run by self sensing and perception, so that the efficiency, the safety and the fluency of the vehicles running in the area are extremely low.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide an intelligent scheduling method for the crossing area of the unmanned vehicle, which solves the problems that in the prior art, the unmanned vehicle passes through the multi-path crossing area, the running paths of other vehicles cannot be judged in advance, and whether other vehicles pass or not cannot be decided and controlled, and all vehicles can only control the self running through self sensing and perception, so that the passing efficiency of the unmanned vehicle in the crossing area is extremely low, and the running safety cannot be ensured.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided an intelligent scheduling method of a crossing area of an unmanned vehicle, comprising:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle;
and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle.
Preferably, in the intelligent scheduling method for intersection areas of unmanned vehicles, the path characteristic information of the unmanned vehicles at least includes vehicle numbers, path numbers and vehicle operating attributes.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the scheduling command at least comprises a passing command, a queuing command and an emergency stop command.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicles, the vehicle queue in the intersection area is a set of real-time vehicle state information of all the unmanned vehicles in the intersection area, and the vehicle state information at least includes a vehicle number, a route number, a vehicle scheduling instruction and a vehicle passing priority.
Preferably, the intelligent scheduling method for the intersection area of the unmanned vehicle comprises a request area, a conflict area and a driving-away area;
the path numbers include a first path number for entering the request area, a second path number for entering the conflict area, and a third path number for entering the departure area.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the conflict path text includes all second path numbers in the intersection area and corresponding conflict path arrays, each second path number corresponds to one conflict path array, and each conflict path array is formed by all other second path numbers having an intersection relationship with the corresponding second path number.
Preferably, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the intersection area is an unmanned vehicle driving area where a plurality of routes exist and at least one route intersection point exists; the path intersection point is a position point of which the distance between the two paths is smaller than the set safety distance L.
Preferably, the intelligent scheduling method for the crossing area of the unmanned vehicle includes:
s1, vehicle queues in the crossing area are established;
s2, updating the vehicle queue in the intersection area according to the path characteristic information of the current unmanned vehicle: judging whether the current unmanned vehicle exists in a vehicle queue in the intersection area, if so, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the third path number, removing the current unmanned vehicle from the vehicle queue in the intersection area, and if the path number of the current unmanned vehicle is the first path number or the second path number, updating the vehicle queue in the intersection area according to the real-time path characteristic information and the scheduling instruction of the current unmanned vehicle; if the current unmanned vehicle does not exist, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the first path number, initializing the dispatching instruction of the current unmanned vehicle into an emergency stop instruction, and adding the path characteristic information and the dispatching instruction of the current unmanned vehicle into a vehicle queue in a cross area;
s3, searching a conflict path array corresponding to the second path number of the current unmanned vehicle in the crossing area in the conflict path text;
s4, traversing in a vehicle queue in the intersection area, judging whether a second path number consistent with any second path number in the conflict path array exists or not, and if the second path number exists and a vehicle scheduling instruction corresponding to the conflict second path number is a pass instruction, updating the current scheduling instruction of the unmanned vehicle into a queuing instruction; if the current scheduling command of the unmanned vehicle is not the queuing command, traversing the scheduling commands of all other vehicles in the intersection area, if at least one scheduling command of other vehicles is the queuing command, judging whether the current passing priority of the unmanned vehicle is higher than the passing priority of any other vehicle of which the scheduling command is the queuing command, if so, updating the current scheduling command of the unmanned vehicle into the passing command, otherwise, updating the current scheduling command of the unmanned vehicle into the queuing command;
and S5, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to S2.
The present invention also provides an intelligent scheduling apparatus for a crossing area of an unmanned vehicle, comprising:
the system comprises a vehicle-side communication module, a vehicle-side communication module and a vehicle-side communication module, wherein the vehicle-side communication module is arranged on an unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform is used for storing the conflict path text and acquiring the path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the crossing area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
The invention at least comprises the following beneficial effects: the method is based on the existing conflict path text and the vehicle queue in the intersection area updated in real time, the path characteristic information of the current unmanned vehicle is calculated through a scheduling algorithm, so that an accurate and reliable scheduling instruction corresponding to the current unmanned vehicle is obtained, and the current unmanned vehicle is updated according to the calculated scheduling instruction, so that the intelligent scheduling of the unmanned vehicle in the intersection area is realized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a flowchart of an intelligent scheduling method for a crossing area of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of the present invention for updating vehicle queues in an intersection area in another embodiment;
fig. 3 is a flow chart of a scheduling algorithm in another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified.
In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and 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.
The invention provides an intelligent scheduling method for a cross region of an unmanned vehicle, which comprises the following steps:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle;
and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle.
In the technical scheme, the method is based on the existing conflict path text and the vehicle queue in the intersection area updated in real time, the path characteristic information of the current unmanned vehicle is calculated through a scheduling algorithm, so that an accurate and reliable scheduling instruction corresponding to the current unmanned vehicle is obtained, and the current unmanned vehicle is updated according to the calculated scheduling instruction, so that the intelligent scheduling of the unmanned vehicle in the intersection area is realized.
The invention is preferably suitable for the intelligent scheduling of the engineering vehicles (unmanned vehicles) in the crossing area, the engineering vehicles are provided with routes planned in advance, for a certain crossing area, conflict path texts are established in advance according to the existing planned routes of all the unmanned vehicles, the vehicle queues in the crossing area are updated in real time according to the path characteristic information of the unmanned vehicles, and safe and reliable scheduling information can be rapidly obtained through a simple scheduling algorithm based on the vehicle queues in the crossing area and the conflict path texts.
The vehicle scheduling method related to the prior art generally divides a conflict area into a plurality of small areas, tries to accurately control vehicles, but has smaller safety distance between vehicles, and increases the collision risk between adjacent vehicles because the engineering vehicle brakes suddenly to bring larger inertia; the invention divides the conflict area according to the path to schedule the vehicles to run or queue, thereby avoiding the collision risk between the adjacent vehicles; in addition, in the prior art, the unmanned vehicle dynamically plans the driving path, and the path number which conflicts with the vehicle also dynamically changes, so that the driving safety is greatly influenced; according to the method, the regional driving path is planned in advance on the cloud platform, and the conflict path text is output on the premise of fully considering driving safety, so that the intelligent scheduling process of the road side unit is simpler and more reliable, and the calculation load of the vehicle side is reduced.
In another technical scheme, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the path characteristic information of the unmanned vehicle at least comprises a vehicle number, a path number and a vehicle working attribute. The vehicle operation attribute includes load information of the unmanned vehicle, and traveling speed information of the unmanned vehicle.
In another technical scheme, in the intelligent scheduling method for the crossing region of the unmanned vehicle, the scheduling command at least comprises a passing command, a queuing command and an emergency stop command. When the unmanned vehicle receives the passing command, the unmanned vehicle runs according to the planned route, if the queuing command is received, the unmanned vehicle waits in a queue in the crossing area according to the requirement, if the emergency stop command is received, the unmanned vehicle stops in an emergency, and the scheduling command is waited to be updated.
In another technical scheme, in the intelligent scheduling method for the crossing area of the unmanned vehicles, a vehicle queue in the crossing area is a set of real-time vehicle state information of all the unmanned vehicles in the crossing area, and the vehicle state information at least comprises vehicle numbers, path numbers, vehicle scheduling instructions and vehicle passing priorities. And the vehicle traffic priority determines the traffic priority of the vehicle according to the vehicle working attribute, for example, the higher the load capacity of the vehicle is, the higher the priority is, the lower the load capacity of the vehicle is, the higher the priority is when the running speed of the vehicle is larger, and the lower the priority is when the running speed of the vehicle is smaller. The vehicle state information also comprises vehicle position information (latitude, longitude, altitude and the like), the physical position of the vehicle can be monitored in real time, and the vehicle can be dispatched to stop emergently under the condition that the safe distance of the vehicle is insufficient.
In another technical scheme, the intelligent scheduling method for the crossing area of the unmanned vehicle comprises a request area, a conflict area and a driving-away area;
the path numbers include a first path number to enter the request area, a second path number to enter the conflict area, and a third path number to enter the departure area.
According to different sections of the intersection area where the vehicles are located, different path numbers are given to the vehicles, the intersection area is divided into 3 sections which are a request area, a conflict area and a driving area respectively, and the path numbers of the three areas are numbered, for example, for one unmanned vehicle, the path number passing through one intersection area comprises a first path number R01 entering the request area, a second path number IR01 entering the conflict area and a third path number R02 entering the driving area.
In another technical solution, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the conflict path text includes all second path numbers in the intersection area and corresponding conflict path arrays, each second path number corresponds to one conflict path array, and each conflict path array is formed by all other second path numbers having an intersection relation with the corresponding second path number. And obtaining all possible driving path relations in the intersection area according to the planned route of the unmanned vehicle in the intersection area, and calculating to obtain a conflict path text based on all possible driving path relations in the intersection area. The conflict path text can be stored in the cloud platform and can be downloaded and used at any time when needed.
In another technical scheme, in the intelligent scheduling method for the intersection area of the unmanned vehicle, the intersection area is an unmanned vehicle driving area with a plurality of paths and at least one path intersection point; the path intersection point is a position point of which the distance between the two paths is smaller than the set safety distance L. In practical application, L is preferably 10m, that is, when the distance between two paths is less than 10m, it represents that an intersection exists between the two paths.
As shown in fig. 1 to 3, in another technical solution, the intelligent scheduling method for a crossing area of an unmanned vehicle includes:
step 303, if the scheduling instruction of the vehicle corresponding to the second path number exists and conflicts is a passing instruction, updating the scheduling instruction of the current unmanned vehicle into a queuing instruction;
step 306, if not, updating the scheduling instruction of the current unmanned vehicle into a queuing instruction;
and step 400, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to the step 200.
In the technical scheme, the invention can pre-judge the conflict path existing in the unmanned vehicle in the intersection area through the conflict path text, and through the vehicle queue in the intersection area updated in real time, find the path number with the cross conflict existing with the continuous running of the current unmanned vehicle in the intersection area from the conflict path, then find the vehicle number with the cross conflict existing according to the path characteristic information of the unmanned vehicle, further accurately and quickly find the unmanned vehicle with the cross conflict existing with the current unmanned vehicle, then form the scheduling instruction of the current unmanned vehicle according to the scheduling instruction and the traffic priority of the unmanned vehicles (with the cross conflict existing with the current unmanned vehicle), update the scheduling instruction of the current unmanned vehicle, make the corresponding running action of the current unmanned vehicle, judge the next unmanned vehicle in the intersection area in the same way, and realize the safety, safety and safety in the intersection area, And (4) orderly and intelligently scheduling the unmanned vehicles. According to the invention, the dispatching of the unmanned vehicles is not only based on the driving states of the unmanned vehicles, but also comprehensively considers the possible cross conflicts in the crossing area and the driving states of other unmanned vehicles in the crossing area, and greatly improves the passing efficiency and the passing safety of the unmanned vehicles in the crossing area.
The invention provides an intelligent scheduling device for a cross region of an unmanned vehicle, which comprises:
the system comprises a vehicle-side communication module, a vehicle-side communication module and a vehicle-side communication module, wherein the vehicle-side communication module is arranged on an unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform stores a conflict path text and acquires path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the crossing area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
In the technical scheme, the invention provides the intelligent scheduling device for the crossing region of the unmanned vehicle, which realizes that the unmanned vehicle orderly and efficiently passes through the crossing region through the interaction between the vehicle side communication module and the route unit.
Each unmanned vehicle is provided with a vehicle side passing module which is used for broadcasting the path characteristic information of the unmanned vehicle in real time and receiving a scheduling instruction from a road side unit; each road side unit is correspondingly arranged in each path intersection area with a plurality of paths and comprises a road side communication module, a computing platform and other accessories required for ensuring the normal work of the road side unit, wherein the other accessories generally refer to a power supply, an electric cable, a communication cable and the like;
the roadside communication module is used for receiving the path characteristic information of the unmanned vehicle from the vehicle side passing module and transmitting the path characteristic information to the computing platform;
the calculation platform is used for acquiring the path characteristic information of the unmanned vehicle from the roadside communication module; the system is used for downloading or directly storing the conflict path text from the cloud platform; thirdly, the vehicle queue in the crossing area is established and updated in real time; fourthly, calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to form a new scheduling instruction; the fifth step is used for transmitting the formed new scheduling instruction to the roadside communication module; the roadside communication module transmits the new scheduling instruction to the vehicle-side communication module, and the current vehicle executes the new scheduling instruction;
the method for establishing and updating the vehicle queue in the intersection area by the computing platform specifically comprises the following steps:
a. when the computing platform is started, vehicle queues in a crossing area are established (at the moment, the vehicle queues in the crossing area are dynamic arrays with the length of 0), when the computing platform receives path characteristic information of a first unmanned vehicle, the computing platform judges the path number of the unmanned vehicle in the current state, if the path number in the current state is the first path number, the computing platform initializes a dispatching instruction of the unmanned vehicle into an emergency stop instruction, and adds the unmanned vehicle into the vehicle queues in the crossing area (the path characteristic information and the dispatching instruction of the unmanned vehicle are added into the vehicle queues in the crossing area); the computing platform carries out subsequent scheduling algorithm on the unmanned vehicle based on the updated vehicle queue and conflict path text in the intersection area, and sends a new scheduling instruction to the unmanned vehicle; if the path number in the current state is the second path number or the third path number, the computing platform does not update the vehicle queue in the intersection area;
b. after the previous unmanned vehicle is dispatched, the computing platform waits for receiving the path characteristic information of the next unmanned vehicle, judges whether the next unmanned vehicle exists in a vehicle queue in the crossing area or not, moves the next unmanned vehicle out of the vehicle queue in the crossing area if the next unmanned vehicle exists and the path number of the next unmanned vehicle is the third path number, and updates the real-time path characteristic information and the dispatching instruction of the next unmanned vehicle into the vehicle queue in the crossing area if the next unmanned vehicle exists and the path number of the next unmanned vehicle is the first path number or the second path number; if the path number of the next unmanned vehicle does not exist and is the first path number, initializing a dispatching instruction of the next unmanned vehicle into an emergency stop instruction and adding path characteristic information and the dispatching instruction of the next unmanned vehicle into a vehicle queue in the crossing area, and if the path number of the next unmanned vehicle does not exist and is the second path number or the third path number, not updating the vehicle queue in the crossing area by the computing platform;
and b, updating the vehicle queue in the intersection area while repeating the intelligent scheduling of other unmanned vehicles.
The calculation platform calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, and the method specifically comprises the following steps:
the method comprises the steps that a computation platform searches a conflict path array corresponding to a second path number of a current vehicle in an intersection area in a conflict path text, the computation platform traverses in a vehicle queue in the intersection area, whether a second path number (subsequently called a conflict second path number) consistent with any second path number in the conflict path array exists in the vehicle queue in the intersection area is judged, if the conflict second path number exists in the vehicle queue in the intersection area, and as long as a scheduling instruction of a vehicle corresponding to the conflict second path number is a pass instruction, the computation platform updates the scheduling instruction of the current unmanned vehicle into a queuing instruction; otherwise, the computing platform traverses the dispatching instructions of all other vehicles in the intersection area, if at least one dispatching instruction of other vehicles is a queuing instruction, the computing platform judges whether the current passing priority of the unmanned vehicle is higher than the passing priority of any other vehicle of which the dispatching instruction is the queuing instruction, if so, the computing platform updates the current dispatching instruction of the unmanned vehicle into the passing instruction, and if not, the computing platform updates the current dispatching instruction of the unmanned vehicle into the queuing instruction.
The computing platform transmits the updated dispatching instruction of the current vehicle to the roadside communication module, the roadside communication module feeds the updated dispatching instruction which is checked currently back to the vehicle side passing module, and the current vehicle executes the updated dispatching instruction.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (9)
1. The intelligent scheduling method of the crossing region of the unmanned vehicle is characterized by comprising the following steps:
updating a vehicle queue in the intersection area according to the path characteristic information of the unmanned vehicle;
and calculating the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the cross area to obtain a scheduling instruction and update the scheduling instruction of the current unmanned vehicle.
2. The intelligent scheduling method of intersection areas of unmanned vehicles according to claim 1, wherein the path characteristic information of unmanned vehicles includes at least a vehicle number, a path number and vehicle operation attributes.
3. The intelligent scheduling method of intersection areas of unmanned vehicles of claim 2 wherein the scheduling instructions comprise at least a pass instruction, a queue instruction and an emergency stop instruction.
4. The intelligent scheduling method of intersection area of unmanned vehicles of claim 3 wherein the vehicle queue in the intersection area is a set of real-time vehicle status information of all unmanned vehicles in the intersection area, the vehicle status information including at least vehicle number, route number, vehicle scheduling instructions and vehicle transit priority.
5. The intelligent scheduling method of intersection area of unmanned vehicles according to claim 4, wherein the intersection area includes a request area, a conflict area and a driving-away area;
the path numbers include a first path number for entering the request area, a second path number for entering the conflict area, and a third path number for entering the departure area.
6. The intelligent scheduling method for an intersection area of an unmanned vehicle as claimed in claim 5, wherein the collision path text comprises all second path numbers in the intersection area and their corresponding collision path arrays, each second path number corresponding to one collision path array, each collision path array being composed of all other second path numbers having an intersection relationship with its corresponding second path number.
7. The intelligent scheduling method of an intersection area of an unmanned vehicle according to claim 1, wherein the intersection area is an unmanned vehicle travel area where a plurality of routes exist and at least one route intersection point exists; the path intersection point is a position point of which the distance between the two paths is smaller than the set safety distance L.
8. The intelligent scheduling method of intersection areas of unmanned vehicles according to claim 6, comprising:
s1, vehicle queues in the crossing area are established;
s2, updating the vehicle queue in the intersection area according to the path characteristic information of the current unmanned vehicle: judging whether the current unmanned vehicle exists in a vehicle queue in the intersection area, if so, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the third path number, removing the current unmanned vehicle from the vehicle queue in the intersection area, and if the path number of the current unmanned vehicle is the first path number or the second path number, updating the vehicle queue in the intersection area according to the real-time path characteristic information and the scheduling instruction of the current unmanned vehicle; if the current unmanned vehicle does not exist, judging the path number of the current unmanned vehicle, if the path number of the current unmanned vehicle is the first path number, initializing the dispatching instruction of the current unmanned vehicle into an emergency stop instruction, and adding the path characteristic information and the dispatching instruction of the current unmanned vehicle into a vehicle queue in a cross area;
s3, searching a conflict path array corresponding to the second path number of the current unmanned vehicle in the crossing area in the conflict path text;
s4, traversing in a vehicle queue in the intersection area, judging whether a second path number consistent with any second path number in the conflict path array exists or not, and if the second path number exists and a vehicle scheduling instruction corresponding to the conflict second path number is a pass instruction, updating the current scheduling instruction of the unmanned vehicle into a queuing instruction; if the current unmanned vehicle scheduling command is not the queuing command, traversing the scheduling command of the first vehicle in each queue in the intersection area, if at least one scheduling command of other vehicles is the queuing command, judging whether the current unmanned vehicle passing priority is higher than the passing priority of any other vehicle of which the scheduling command is the queuing command, if so, updating the current unmanned vehicle scheduling command into the passing command, otherwise, updating the current unmanned vehicle scheduling command into the queuing command;
and S5, acquiring the path characteristic information of the next unmanned vehicle as the path characteristic information of the current unmanned vehicle, and returning to S2.
9. Intelligent scheduling device in unmanned vehicles's cross region, its characterized in that includes:
the system comprises a vehicle-side communication module, a vehicle-side communication module and a vehicle-side communication module, wherein the vehicle-side communication module is arranged on an unmanned vehicle and is used for broadcasting the path characteristic information of the vehicle;
a roadside unit provided in the intersection region; the roadside unit includes:
the roadside communication module is used for receiving the path characteristic information of all unmanned vehicles in the crossing area;
the computing platform is used for storing the conflict path text and acquiring the path characteristic information of the unmanned vehicle in real time from the roadside communication module; the calculation platform establishes and updates a vehicle queue in the crossing area, calculates the path characteristic information of the current unmanned vehicle through a scheduling algorithm based on the conflict path text and the vehicle queue in the crossing area to form a new scheduling instruction, feeds the new scheduling instruction back to the roadside communication module, the roadside communication module sends the new scheduling instruction to the vehicle side communication module, and the vehicle side communication module updates the scheduling instruction of the current unmanned vehicle based on the new scheduling instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210270526.6A CN114613140B (en) | 2022-03-18 | 2022-03-18 | Intelligent scheduling method and device for cross area of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210270526.6A CN114613140B (en) | 2022-03-18 | 2022-03-18 | Intelligent scheduling method and device for cross area of unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114613140A true CN114613140A (en) | 2022-06-10 |
| CN114613140B CN114613140B (en) | 2023-03-14 |
Family
ID=81864409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210270526.6A Active CN114613140B (en) | 2022-03-18 | 2022-03-18 | Intelligent scheduling method and device for cross area of unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114613140B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116013062A (en) * | 2023-03-27 | 2023-04-25 | 江苏天一航空工业股份有限公司 | Intelligent formation method and system for unmanned heavy-load mobile platform in harbor district |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5283739A (en) * | 1985-08-30 | 1994-02-01 | Texas Instruments Incorporated | Static collision avoidance method for multiple automatically guided vehicles |
| CN102865877A (en) * | 2012-10-08 | 2013-01-09 | 无锡普智联科高新技术有限公司 | Solution for multiple mobile robot path conflict based on dense storage regions |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106774305A (en) * | 2016-11-30 | 2017-05-31 | 上海振华重工电气有限公司 | The many automated guided vehicle path conflict digestion procedures of automated container terminal |
| CN108898825A (en) * | 2018-08-17 | 2018-11-27 | 珠海格力智能装备有限公司 | Traffic processing method and device |
| CN110119861A (en) * | 2018-02-07 | 2019-08-13 | 北京京东尚科信息技术有限公司 | Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle |
| CN110597261A (en) * | 2019-09-24 | 2019-12-20 | 浙江大华技术股份有限公司 | Method and device for preventing collision conflict |
| CN111273669A (en) * | 2020-02-26 | 2020-06-12 | 广东博智林机器人有限公司 | Traffic scheduling method, device, equipment and storage medium |
| CN111487983A (en) * | 2020-06-11 | 2020-08-04 | 上海振华重工(集团)股份有限公司 | Multiple AGV scheduling method for closed type automatic logistics park |
| CN111601276A (en) * | 2020-06-03 | 2020-08-28 | 北京踏歌智行科技有限公司 | Mining area unmanned transportation system based on 5G and unloading cooperative control method thereof |
| CN111784249A (en) * | 2020-07-03 | 2020-10-16 | 上海木木聚枞机器人科技有限公司 | Method for locking and unlocking scheduling driving state, server and storage medium |
| CN111950818A (en) * | 2019-05-14 | 2020-11-17 | 北京京东尚科信息技术有限公司 | Unmanned vehicle dispatching method and device |
| CN112148009A (en) * | 2020-09-23 | 2020-12-29 | 北京智远弘业机器人科技有限公司 | AGV cluster scheduling method and device, electronic equipment and computer readable storage medium |
| CN113628437A (en) * | 2021-07-06 | 2021-11-09 | 安徽海博智能科技有限责任公司 | Unmanned mine car intersection safe passing method based on cloud control platform |
| CN113627792A (en) * | 2021-08-11 | 2021-11-09 | 阿波罗智能技术(北京)有限公司 | Unmanned vehicle scheduling management method, device, equipment, storage medium and program |
| CN113627775A (en) * | 2021-08-04 | 2021-11-09 | 昆山塔米机器人有限公司 | Robot scheduling method, device, equipment and storage medium |
| WO2021254415A1 (en) * | 2020-06-18 | 2021-12-23 | 北京卫星制造厂有限公司 | Time window-based agv intelligent scheduling method |
-
2022
- 2022-03-18 CN CN202210270526.6A patent/CN114613140B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5283739A (en) * | 1985-08-30 | 1994-02-01 | Texas Instruments Incorporated | Static collision avoidance method for multiple automatically guided vehicles |
| CN102865877A (en) * | 2012-10-08 | 2013-01-09 | 无锡普智联科高新技术有限公司 | Solution for multiple mobile robot path conflict based on dense storage regions |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106774305A (en) * | 2016-11-30 | 2017-05-31 | 上海振华重工电气有限公司 | The many automated guided vehicle path conflict digestion procedures of automated container terminal |
| CN110119861A (en) * | 2018-02-07 | 2019-08-13 | 北京京东尚科信息技术有限公司 | Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle |
| CN108898825A (en) * | 2018-08-17 | 2018-11-27 | 珠海格力智能装备有限公司 | Traffic processing method and device |
| CN111950818A (en) * | 2019-05-14 | 2020-11-17 | 北京京东尚科信息技术有限公司 | Unmanned vehicle dispatching method and device |
| CN110597261A (en) * | 2019-09-24 | 2019-12-20 | 浙江大华技术股份有限公司 | Method and device for preventing collision conflict |
| CN111273669A (en) * | 2020-02-26 | 2020-06-12 | 广东博智林机器人有限公司 | Traffic scheduling method, device, equipment and storage medium |
| CN111601276A (en) * | 2020-06-03 | 2020-08-28 | 北京踏歌智行科技有限公司 | Mining area unmanned transportation system based on 5G and unloading cooperative control method thereof |
| CN111487983A (en) * | 2020-06-11 | 2020-08-04 | 上海振华重工(集团)股份有限公司 | Multiple AGV scheduling method for closed type automatic logistics park |
| WO2021254415A1 (en) * | 2020-06-18 | 2021-12-23 | 北京卫星制造厂有限公司 | Time window-based agv intelligent scheduling method |
| CN111784249A (en) * | 2020-07-03 | 2020-10-16 | 上海木木聚枞机器人科技有限公司 | Method for locking and unlocking scheduling driving state, server and storage medium |
| CN112148009A (en) * | 2020-09-23 | 2020-12-29 | 北京智远弘业机器人科技有限公司 | AGV cluster scheduling method and device, electronic equipment and computer readable storage medium |
| CN113628437A (en) * | 2021-07-06 | 2021-11-09 | 安徽海博智能科技有限责任公司 | Unmanned mine car intersection safe passing method based on cloud control platform |
| CN113627775A (en) * | 2021-08-04 | 2021-11-09 | 昆山塔米机器人有限公司 | Robot scheduling method, device, equipment and storage medium |
| CN113627792A (en) * | 2021-08-11 | 2021-11-09 | 阿波罗智能技术(北京)有限公司 | Unmanned vehicle scheduling management method, device, equipment, storage medium and program |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116013062A (en) * | 2023-03-27 | 2023-04-25 | 江苏天一航空工业股份有限公司 | Intelligent formation method and system for unmanned heavy-load mobile platform in harbor district |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114613140B (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114326705B (en) | Object interaction prediction system and method for autonomous vehicles | |
| CN108074010B (en) | Maneuver prediction for surrounding traffic | |
| CN106601002B (en) | Entrance ramp vehicle passing guiding system and method under Internet of vehicles environment | |
| JP6726363B2 (en) | Autonomous vehicle monitoring using the generated interface | |
| CN110069060A (en) | System and method for path planning in automatic driving vehicle | |
| US11328589B2 (en) | Adaptive control of vehicular traffic | |
| CN111311959B (en) | Multi-interface cooperative control method and device, electronic equipment and storage medium | |
| BR112019010737A2 (en) | standalone vehicle remote support mapping interface | |
| CN109300325A (en) | A kind of lane prediction technique and system based on V2X | |
| CN112466115A (en) | Bus intersection priority passing control system and method based on edge calculation | |
| US11584248B2 (en) | Method of parking an autonomous driving vehicle for autonomous charging | |
| WO2022088761A1 (en) | Method and apparatus for planning vehicle driving path, intelligent vehicle, and storage medium | |
| US11358606B2 (en) | Method for operating a motor vehicle for improving working conditions of evaluation units in the motor vehicle, control system for performing a method of this kind, and motor vehicle having a control system of this kind | |
| US10836405B2 (en) | Continual planning and metareasoning for controlling an autonomous vehicle | |
| WO2022016901A1 (en) | Method for planning driving route of vehicle, and intelligent vehicle | |
| CN113511203B (en) | Vehicle formation following driving control method, system, equipment and storage medium | |
| CN114644016A (en) | Vehicle automatic driving decision-making method and device, vehicle-mounted terminal and storage medium | |
| CN113971883A (en) | Vehicle-road cooperative automatic driving method and efficient transportation system | |
| CN114613140B (en) | Intelligent scheduling method and device for cross area of unmanned vehicle | |
| US12033514B2 (en) | Waypoint information transmission method, apparatus and system for platooning | |
| CN112099492A (en) | AGV dynamic traffic control method and system in control area containing avoidance points | |
| CN115892034A (en) | Bus arrival control method and server | |
| CN114019987A (en) | Automatic driving vehicle team traveling method and system | |
| CN109017783A (en) | Automatic driving method and automatic driving system | |
| US11673576B2 (en) | Nested scenarios in planning for autonomous driving vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |