CN114721372A - Control method and device for unmanned equipment - Google Patents
Control method and device for unmanned equipment Download PDFInfo
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Abstract
The specification discloses a control method and a control device of unmanned equipment, and the method is applied to the field of unmanned driving. First, obstacle data of obstacles around the unmanned device is acquired. Secondly, for each obstacle, determining at least one section of track covered by a projection corresponding to the obstacle in the initial planned track of the unmanned device according to the obstacle data corresponding to the obstacle, and taking the track as the projection track corresponding to the obstacle. And finally, adjusting the initial planned track according to the projection track corresponding to each obstacle to obtain the actual planned track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planned track. The method can determine which part of the initial planning track is influenced by each obstacle by considering multiple interactions between the unmanned equipment and the obstacle through multiple tracks covered by the corresponding projection of the obstacle in the initial planning track, so that the safety of the actual planning track of the unmanned equipment is improved.
Description
Technical Field
The specification relates to the technical field of unmanned driving, in particular to a control method and device of unmanned equipment.
Background
With the continuous development of unmanned driving technology, unmanned devices such as unmanned vehicles, unmanned control robots, unmanned aerial vehicles, and the like have been applied to numerous fields, and great convenience is brought to business execution in these fields.
At present, in the process of driving according to a preset planned track, the unmanned equipment can determine a partial track influenced by each obstacle in the preset planned track of the unmanned equipment through collected environmental data. However, when the unmanned aerial vehicle is in a curve, the unmanned aerial vehicle cannot determine which part of the planned trajectory preset by the unmanned aerial vehicle is affected by each obstacle, and the safety of the actual planned trajectory of the unmanned aerial vehicle is lowered.
Therefore, how to improve the safety of the actual planned trajectory of the unmanned device is an urgent problem to be solved.
Disclosure of Invention
The present specification provides a method and an apparatus for controlling an unmanned aerial vehicle, a computer-readable storage medium, and an unmanned aerial vehicle, so as to partially solve the above problems in the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides a control method for an unmanned aerial vehicle, which is applied to the field of unmanned driving, and comprises the following steps:
acquiring obstacle data of obstacles around the unmanned equipment;
for each obstacle, determining at least one section of track covered by a projection corresponding to the obstacle in the initial planning track of the unmanned equipment according to obstacle data corresponding to the obstacle, and taking the track as the projection track corresponding to the obstacle;
and adjusting the initial planning track according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planning track.
Optionally, for each obstacle, determining, according to obstacle data corresponding to the obstacle, at least one section of trajectory covered by a projection of the obstacle in the initial planned trajectory of the unmanned device, as a projection trajectory corresponding to the obstacle, specifically including:
aiming at each obstacle, determining each vertex position corresponding to the external contour of the obstacle according to the obstacle data corresponding to the obstacle;
determining the projection position of each vertex position corresponding to the obstacle on the initial planning track according to the obstacle data corresponding to the obstacle and the initial planning track corresponding to the unmanned equipment;
and determining at least one section of track covered by the projection of the barrier in the initial planning track of the unmanned equipment according to the projection position of each vertex position corresponding to the barrier on the initial planning track, and taking the section of track as the projection track corresponding to the barrier.
Optionally, determining, according to the projection position of each vertex position corresponding to the obstacle on the initial planned trajectory, at least one section of trajectory covered by the projection corresponding to the obstacle in the initial planned trajectory of the unmanned device, as the projection trajectory corresponding to the obstacle, specifically including:
for each vertex position corresponding to the obstacle, determining a distance between the vertex position and at least one projection position corresponding to the vertex position according to at least one projection position of the vertex position on the initial planning track;
determining a projection position to be combined corresponding to the vertex position according to the distance between the vertex position and at least one projection position corresponding to the vertex position;
and determining at least one section of planning track covered by the barrier projected on the initial planning track according to the projection position to be combined corresponding to each vertex position of the barrier, and taking the section of planning track as the projection track corresponding to the barrier.
Optionally, determining at least one section of planning track covered by the projection of the obstacle on the initial planning track according to the projection position to be combined corresponding to each vertex position of the obstacle, and as the projection track corresponding to the obstacle, specifically including:
aiming at each vertex position of the obstacle, determining a projection position to be combined corresponding to other vertex positions which are closest to the projection position to be combined corresponding to the vertex position according to the projection position to be combined corresponding to the vertex position;
and determining at least one section of planning track covered by the barrier projected on the initial planning track as the projection track corresponding to the barrier according to the projection position to be combined corresponding to the other vertex position which is closest to the projection position to be combined corresponding to the vertex position and the projection position to be combined corresponding to the vertex position.
Optionally, the initial planned trajectory comprises a turn trajectory, the presence of at least one obstacle around the drone being located inboard of a turn of the drone;
determining a projection position to be combined corresponding to the vertex position according to the distance between the vertex position and at least one projection position corresponding to the vertex position, specifically comprising:
sorting the distance between the vertex position and at least one projection position corresponding to the vertex position from near to far according to the initial planning track to obtain a distance sorting result;
and according to the distance sorting result, taking the projection position of which the distance between the projection position and the vertex position is smaller than the distance between the projection position of the adjacent serial number and the vertex position as the projection position to be combined corresponding to the vertex position, and taking the projection position of which the distance between the projection position and the vertex position is larger than the distance between the projection position of the adjacent serial number and the vertex position as a dividing point.
Optionally, determining at least one section of planning trajectory covered by the projection of the obstacle on the initial planning trajectory according to the projection positions to be combined corresponding to the vertex positions of the obstacle, as the projection trajectory corresponding to the obstacle, specifically including:
aiming at each vertex position of the barrier, dividing the initial planning track based on the division points to obtain a plurality of sections of planning tracks as sectional tracks;
and determining a planning track covered by the projection of the obstacle on each section of the segmented track as a projection track corresponding to the obstacle according to the projection position to be combined corresponding to each vertex position of the obstacle.
Optionally, the initial planning track is adjusted according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to run according to the actual planning track, which specifically includes:
determining the distance from the barrier corresponding to each projection track to the initial planning track of the unmanned equipment;
aiming at each projection track, according to the projection track corresponding to each obstacle, taking the projection track with the distance from the obstacle corresponding to the projection track to the initial planning track of the unmanned equipment smaller than a set distance threshold as an effective projection track;
and adjusting the initial planning track according to the effective projection track to obtain an actual planning track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planning track.
The present specification provides a control apparatus for an unmanned aerial vehicle, the apparatus being applied to the field of unmanned driving, including:
the acquisition module is used for acquiring obstacle data of obstacles around the unmanned equipment;
the determining module is used for determining at least one section of track covered by the projection of each obstacle in the initial planning track of the unmanned equipment as the projection track corresponding to the obstacle according to the obstacle data corresponding to the obstacle;
and the control module is used for adjusting the initial planning track according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned equipment and controlling the unmanned equipment to run according to the actual planning track.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described control method of an unmanned aerial device.
The present specification provides an unmanned aerial device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements a control method of the unmanned aerial device when executing the program.
The technical scheme adopted by the specification can achieve the following beneficial effects:
in the control method of the unmanned aerial vehicle provided in the present specification, first, obstacle data of obstacles around the unmanned aerial vehicle is acquired. Secondly, for each obstacle, determining at least one section of track covered by a projection corresponding to the obstacle in the initial planned track of the unmanned device according to the obstacle data corresponding to the obstacle, and taking the track as the projection track corresponding to the obstacle. And finally, adjusting the initial planned track according to the projection track corresponding to each obstacle to obtain the actual planned track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planned track.
As can be seen from the above method, according to the obstacle data corresponding to the obstacle, the method may determine at least one section of trajectory covered by the projection corresponding to the obstacle in the initially planned trajectory of the unmanned device. In the prior art, only the track covered by the projection closest to the planned track can be determined, so that the method can determine which part of the initially planned track of the unmanned equipment is influenced by each obstacle by the aid of the multiple sections of tracks covered by the projection corresponding to the obstacle in the initially planned track of the unmanned equipment in consideration of multiple interactions between the unmanned equipment and the obstacle in the initially planned track, and accordingly safety of the actually planned track of the unmanned equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of a control method of an unmanned aerial vehicle in the present specification;
FIG. 2 is a schematic diagram of a projection method provided herein;
FIG. 3 is a schematic diagram of a method of determining a projection location provided herein;
FIG. 4 is a schematic diagram of a method for determining a projection trajectory provided herein;
FIG. 5 is a schematic diagram of a method for determining a projection trajectory provided herein;
FIG. 6 is a schematic diagram of a control device for an unmanned aerial vehicle provided herein;
fig. 7 is a schematic diagram of an unmanned device corresponding to fig. 1 provided herein.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
Fig. 1 is a schematic flow chart of a control method for an unmanned aerial vehicle in this specification, which specifically includes the following steps:
s100: obstacle data of obstacles around the unmanned device is acquired.
The main body of the unmanned aerial vehicle control method according to the present specification may be an unmanned aerial vehicle, or an electronic device such as a server mounted on the unmanned aerial vehicle, and for convenience of description, the unmanned aerial vehicle control method provided in the present specification will be described below with reference to only the unmanned aerial vehicle as the main body of the unmanned aerial vehicle.
In the embodiment of the present specification, the unmanned device may acquire obstacle data of obstacles around the unmanned device, where the obstacle data may be point cloud data or image data. The point cloud data mentioned here may be acquired by a laser radar provided on an unmanned device. The unmanned device can determine the motion data of the obstacle around the unmanned device at each moment through the point cloud data, such as the position data of the obstacle, the shape data corresponding to the obstacle, the speed data of the obstacle, and the like. The image data mentioned here may be acquired by an image pickup device provided on the unmanned equipment. The unmanned device can determine the motion data of the obstacle around the unmanned device at each moment through the image data, such as the position data of the obstacle, the shape data corresponding to the obstacle, the speed data of the obstacle, and the like.
The unmanned device mentioned in the present specification may refer to an unmanned aerial vehicle, an unmanned vehicle, a robot, an automatic distribution device, and the like, which are capable of realizing automatic driving. Based on this, the unmanned device to which the control method of the unmanned device provided by the present specification is applied can be used for executing delivery tasks in the delivery field, such as business scenarios for delivery such as express delivery, logistics, takeaway, and the like using the unmanned device.
S102: and for each obstacle, determining at least one section of track covered by the projection of the obstacle in the initial planning track of the unmanned equipment according to the obstacle data corresponding to the obstacle, and taking the section of track as the projection track corresponding to the obstacle.
In the embodiment of the specification, the Frenet coordinate system is used for planning the planning track of the unmanned device. In the Frenet coordinate system, a coordinate system is established using the center line of the road as a reference line, and using the tangent vector of the reference line and the normal vector. With the unmanned device itself as the origin, the coordinate axes are perpendicular to each other, and are divided into an X direction (i.e., a direction along the reference line) and a Y direction (i.e., a current normal direction of the reference line).
That is, the Frenet coordinate system may translate a road that is curved in practice into a more easily understood straight road to determine the distance traveled by the drone in the road and the distance the drone is offset from the centerline of the road.
As the unmanned device may interact with the same obstacle multiple times during driving. However, the current projection method can only determine the minimum distance between the obstacle and the planned trajectory of the unmanned device, so as to determine the projection trajectory of the obstacle on the planned trajectory of the unmanned device. As shown in particular in fig. 2.
Fig. 2 is a schematic diagram of a projection method provided in this specification.
In fig. 2, the planned trajectory of the drone is a solid black line, and the drone needs to travel around in the direction of the arrow. However, since the projection method can only consider the projection trajectory of the obstacle closest to the planned trajectory of the unmanned aerial vehicle, as can be seen from fig. 2, the projection trajectory of the obstacle projected onto the planned trajectory of the unmanned aerial vehicle cannot affect the next driving process of the unmanned aerial vehicle, and thus the unmanned aerial vehicle cannot plan the planned trajectory that avoids collision with the obstacle.
It should be noted that the coordinate system used in fig. 2 is a cartesian coordinate system, and the distance between the obstacle and the planned trajectory of the host vehicle can be visually seen. However, since the Frenet coordinate system is used when the unmanned device plans its own planned trajectory, only one projected trajectory corresponding to the obstacle can be specified. Therefore, the unmanned device needs to determine a plurality of projection trajectories of the obstacle on the trajectory of the unmanned device, so as to improve the safety of the planned trajectory planned by the unmanned device.
In this specification embodiment, for each obstacle, the unmanned aerial vehicle may determine, according to the obstacle data corresponding to the obstacle, at least one section of trajectory covered by a projection corresponding to the obstacle in the initially planned trajectory of the unmanned aerial vehicle, as a projection trajectory corresponding to the obstacle. The initial planned trajectory referred to herein is used to characterize a planned trajectory for a pre-set unmanned vehicle to travel from a current location to a destination.
In practical applications, the projection trajectories corresponding to the planned trajectories are different due to the different shapes of the obstacles. The unmanned device needs to determine shape data of the external contour of each obstacle, and then determines a projection track of each obstacle on the planned track according to the shape data of the external contour of each obstacle.
In this specification, for each obstacle, the unmanned device may determine, according to the obstacle data corresponding to the obstacle, each vertex position corresponding to the outer contour of the obstacle.
There may be various methods for the drone to determine the shape data of the outer contour of the obstacle, among others. For example, the unmanned device may project obstacle data in the point cloud data to the ground, resulting in a shape of the obstacle in a top view. For another example, the unmanned device may determine a distance from each cloud point in the point cloud data corresponding to the obstacle to the planned track, and a length of projection of each cloud point onto the planned track, and obtain a shape corresponding to the obstacle by using the maximum distance, the minimum distance, and a length formed by each cloud point as a boundary of the obstacle.
Secondly, the unmanned device can determine the projection position of each vertex position corresponding to the obstacle on the initial planning track according to the obstacle data corresponding to the obstacle and the initial planning track corresponding to the unmanned device. Finally, the unmanned device may determine, according to the projection positions of the vertex positions corresponding to the obstacle on the initial planned trajectory, at least one section of trajectory covered by the projection corresponding to the obstacle in the initial planned trajectory of the unmanned device, as the projection trajectory corresponding to the obstacle.
The projected position referred to herein may refer to a position where the unmanned device can predict the vertex position to be perpendicular to the initial planned trajectory based on the vertex position and the initial planned trajectory. As shown in particular in figure 3.
Fig. 3 is a schematic diagram of a method for determining a projection position provided in the present specification.
In fig. 3, a black dot may be used to characterize a vertex position on the obstacle. The unmanned equipment can predict the vertex position of the obstacle which is transversely scanned when the unmanned equipment runs according to the initial planning track, and the position of the unmanned equipment when the vertex position is scanned by the method is the projection position of the vertex position on the initial planning track.
It can be seen that, by the method, a plurality of projection positions included in the initial planning trajectory by a vertex position corresponding to the obstacle can be obtained, and distances between the projection positions and the vertex positions are extreme values in a section of the planning trajectory. Wherein the extremum of the distances from the projection positions to the vertex positions includes a maximum value and a minimum value. The unmanned device can determine the projection track of the obstacle in the initial planning track through the minimum value of the distance between the projection positions and the top point position. Based on this, the unmanned device needs to determine the minimum value of the distance of these projection positions to the vertex position for determining the projection trajectory of the obstacle in the initial planned trajectory.
In this specification embodiment, for each vertex position corresponding to the obstacle, the unmanned device may determine, according to at least one projection position of the vertex position on the initial planned trajectory, a distance between the vertex position and the at least one projection position corresponding to the vertex position.
Secondly, the unmanned device can determine the projection position to be combined corresponding to the vertex position according to the distance between the vertex position and at least one projection position corresponding to the vertex position.
Finally, the unmanned equipment can determine at least one section of planning track covered by the barrier projection on the initial planning track according to the projection position to be combined corresponding to each vertex position of the barrier, and the planning track is used as the projection track corresponding to the barrier.
Specifically, for each vertex position of the obstacle, the unmanned device may determine, according to the projection position to be combined corresponding to the vertex position, a projection position to be combined corresponding to another vertex position closest to the projection position to be combined corresponding to the vertex position;
then, the unmanned device may determine, according to the projection position to be combined corresponding to the other vertex position closest to the projection position to be combined corresponding to the vertex position and the projection position to be combined corresponding to the vertex position, at least one section of planning trajectory covered by the projection of the obstacle on the initial planning trajectory, as the projection trajectory corresponding to the obstacle. As shown in detail in fig. 4.
Fig. 4 is a schematic diagram of a method for determining a projection trajectory provided in the present specification.
In fig. 4, each vertex position of the obstacle corresponds to a plurality of projection positions to be combined. In order to determine the projection trajectory of the obstacle in the initial planned trajectory, the unmanned device may determine, according to a vertex position on the obstacle, the projection positions to be combined of other vertex positions around the vertex position. And selecting projection positions to be combined corresponding to other vertex positions closest to the vertex position from the projection positions to be combined, determining the longest track formed by the projection positions to be combined as a projection track, and taking the determined plurality of projection tracks as the projection tracks corresponding to the obstacle.
In an embodiment of the present description, the initially planned trajectory comprises a turning trajectory, the presence of at least one obstacle around the drone being located inside a turning of the drone. That is, the method may be implemented in a driving scenario with a planned trajectory having a curve and at least one obstacle present inside the curve.
In this embodiment, the unmanned device may sort the distance between the vertex position and the at least one projection position corresponding to the vertex position from near to far according to the initial planning trajectory, so as to obtain a distance sorting result.
Secondly, the unmanned device may use, as the projection position to be combined corresponding to the vertex position, a projection position where a distance between the projection position and the vertex position is smaller than a distance between the projection position of an adjacent serial number and the vertex position according to the distance sorting result, and use, as the division point, a projection position where a distance between the projection position and the vertex position is larger than a distance between the projection position of an adjacent serial number and the vertex position.
Here, the division point mentioned here may refer to a projection position where a maximum value of a distance from the projection position to the vertex position is located. The projection positions to be combined mentioned here may refer to the projection positions at which the minimum value of the distance of the projection positions to the vertex position is located.
Specifically, as can be seen in fig. 3, the initial planning trajectory is sorted from near to far, and in the obtained distance sorting result, the dividing point is adjacent to the projection position to be combined, that is, a dividing point exists between two projection positions to be combined. And the distance between the projection position corresponding to the dividing point and the top point position is greater than the distance between the projection position corresponding to the two adjacent projection positions to be combined and the top point position. Based on the position, the unmanned device can determine the projection position to be combined corresponding to the vertex position.
Further, for each vertex position of the obstacle, the unmanned device may divide the initial planned trajectory based on the division points to obtain a plurality of planned trajectories as the segmented trajectory.
Then, for each segment of the segmented track, the unmanned device may determine, according to the projection position to be combined corresponding to each vertex position of the obstacle, a planned track covered by the projection of the obstacle on the segment of the segmented track as a projection track corresponding to the obstacle. As shown in particular in fig. 5.
Fig. 5 is a schematic diagram of a method for determining a projection trajectory provided in the present specification.
In fig. 5, the unmanned device may select any vertex position of the obstacle, determine a division point a and a division point B corresponding to the vertex position, and divide the initial planned trajectory into a first segmentation trajectory, a second segmentation trajectory, and a third segmentation trajectory according to the division point a and the division point B. And combining the projection positions to be combined on the first segmented track, the second segmented track and the third segmented track respectively, determining a planned track covered by the projection of the obstacle on the first segmented track, the second segmented track and the third segmented track, and taking the planned track as a projection track corresponding to the obstacle.
S104: and adjusting the initial planning track according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planning track.
In the embodiment of the present specification, the unmanned device may adjust the initial planned trajectory according to the projection trajectory corresponding to each obstacle, obtain an actual planned trajectory of the unmanned device, and control the unmanned device to run according to the actual planned trajectory.
In practical application, the number of projection tracks projected by each obstacle onto the planned track of the unmanned aerial vehicle is large, and not all projection tracks influence the actual driving of the unmanned aerial vehicle. Therefore, the unmanned aerial vehicle needs to screen out a part of the projected trajectory which can affect the actual driving process of the unmanned aerial vehicle, and accordingly, the actual planned trajectory of the unmanned aerial vehicle in a future period of time is planned.
In embodiments of the present description, the drone may determine a distance of an obstacle corresponding to each projected trajectory from an initial planned trajectory of the drone. Secondly, for each projection track, the unmanned device may regard the projection track, according to the projection track corresponding to each obstacle, as an effective projection track, where a distance from the obstacle corresponding to the projection track to the initially planned track of the unmanned device is smaller than a set distance threshold. And finally, the unmanned equipment can adjust the initial planned track according to the effective projection track to obtain an actual planned track of the unmanned equipment, and the unmanned equipment is controlled to run according to the actual planned track.
It can be seen from the above method that, according to the obstacle data corresponding to the obstacle, the method can determine at least one section of track covered by the projection corresponding to the obstacle in the initially planned track of the unmanned device. In the prior art, only the track covered by the projection closest to the planned track can be determined, so that the method can determine which part of the initially planned track of the unmanned equipment is influenced by each obstacle by the aid of the multiple sections of tracks covered by the projection corresponding to the obstacle in the initially planned track of the unmanned equipment in consideration of multiple interactions between the unmanned equipment and the obstacle in the initially planned track, and accordingly safety of the actually planned track of the unmanned equipment is improved.
Based on the same idea, the present specification further provides a corresponding control apparatus for an unmanned aerial vehicle, as shown in fig. 6.
Fig. 6 is a schematic diagram of a control device of an unmanned aerial vehicle provided in this specification, where the method is applied to the field of unmanned driving, and specifically includes:
an obtaining module 600, configured to obtain obstacle data of obstacles around the unmanned device;
a determining module 602, configured to determine, for each obstacle, at least one segment of a trajectory covered by a projection corresponding to the obstacle in an initial planned trajectory of the unmanned device according to obstacle data corresponding to the obstacle, as a projection trajectory corresponding to the obstacle;
and the control module 604 is configured to adjust the initial planned trajectory according to the projection trajectory corresponding to each obstacle, obtain an actual planned trajectory of the unmanned aerial vehicle, and control the unmanned aerial vehicle to travel according to the actual planned trajectory.
Optionally, the determining module 602 is specifically configured to determine, for each obstacle, each vertex position corresponding to the outer contour of the obstacle according to obstacle data corresponding to the obstacle, determine, according to the obstacle data corresponding to the obstacle and the initial planning trajectory corresponding to the unmanned aerial vehicle, a projection position of each vertex position corresponding to the obstacle on the initial planning trajectory, and determine, according to the projection position of each vertex position corresponding to the obstacle on the initial planning trajectory, at least one segment of trajectory covered by a projection corresponding to the obstacle in the initial planning trajectory of the unmanned aerial vehicle, as the projection trajectory corresponding to the obstacle.
Optionally, the determining module 602 is specifically configured to determine, for each vertex position corresponding to the obstacle, a distance between the vertex position and at least one projection position corresponding to the vertex position according to at least one projection position of the vertex position on the initial planning trajectory, determine a projection position to be combined corresponding to the vertex position according to the distance between the vertex position and the at least one projection position corresponding to the vertex position, and determine, according to the projection position to be combined corresponding to each vertex position of the obstacle, at least one section of planning trajectory covered by the projection of the obstacle on the initial planning trajectory as the projection trajectory corresponding to the obstacle.
Optionally, the determining module 602 is specifically configured to determine, for each vertex position of the obstacle, a projection position to be combined corresponding to another vertex position that is closest to the projection position to be combined and corresponds to the vertex position according to the projection position to be combined and corresponds to the vertex position, and determine, as the projection trajectory corresponding to the obstacle, at least one section of the planning trajectory that is covered by the projection of the obstacle on the initial planning trajectory according to the projection position to be combined and corresponds to the vertex position.
Optionally, the initial planned trajectory comprises a turn trajectory, the presence of at least one obstacle around the drone being located inboard of a turn of the drone;
the determining module 602 is specifically configured to sort the distance between the vertex position and at least one projection position corresponding to the vertex position from near to far according to the initial planning trajectory to obtain a distance sorting result, and according to the distance sorting result, use the projection position where the distance between the projection position and the vertex position is smaller than the distance between the projection position of an adjacent serial number and the vertex position as the projection position to be combined corresponding to the vertex position, and use the projection position where the distance between the projection position and the vertex position is larger than the distance between the projection position of an adjacent serial number and the vertex position as the dividing point.
Optionally, the determining module 602 is specifically configured to, for each vertex position of the obstacle, divide the initial planning trajectory based on the dividing points to obtain a plurality of planning trajectories as segmentation trajectories, and for each segmentation trajectory, determine, according to the projection position to be combined corresponding to each vertex position of the obstacle, a planning trajectory covered by the projection of the obstacle on the segmentation trajectory as a projection trajectory corresponding to the obstacle.
Optionally, the control module 604 is specifically configured to determine a distance from an obstacle corresponding to each projection track to an initial planned track of the unmanned aerial vehicle, regard, as an effective projection track, the projection track, for which the distance from the obstacle corresponding to the projection track to the initial planned track of the unmanned aerial vehicle is smaller than a set distance threshold, adjust the initial planned track according to the effective projection track, obtain an actual planned track of the unmanned aerial vehicle, and control the unmanned aerial vehicle to run according to the actual planned track.
The present specification also provides a computer-readable storage medium storing a computer program, which is operable to execute the control method of the unmanned aerial device provided in fig. 1 described above.
The present specification also provides a schematic block diagram of the drone shown in figure 7. As shown in fig. 7, the drone includes, at the hardware level, a processor, an internal bus, a network interface, a memory, and a non-volatile memory, although it may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the control method of the unmanned aerial vehicle described in fig. 1. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to the software compiler used in program development, but the original code before compiling is also written in a specific Programming Language, which is called Hardware Description Language (HDL), and the HDL is not only one kind but many kinds, such as abel (advanced boot Expression Language), ahdl (alternate Language Description Language), communication, CUPL (computer universal Programming Language), HDCal (Java Hardware Description Language), langa, Lola, mylar, HDL, PALASM, rhydl (runtime Description Language), vhjhdul (Hardware Description Language), and vhygl-Language, which are currently used commonly. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be conceived to be both a software module implementing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A control method of unmanned equipment is applied to the field of unmanned driving, and comprises the following steps:
acquiring obstacle data of obstacles around the unmanned equipment;
for each obstacle, determining at least one section of track covered by a projection corresponding to the obstacle in the initial planning track of the unmanned equipment according to obstacle data corresponding to the obstacle, and taking the track as the projection track corresponding to the obstacle;
and adjusting the initial planning track according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planning track.
2. The method according to claim 1, wherein for each obstacle, determining, according to the obstacle data corresponding to the obstacle, at least one segment of trajectory covered by a projection corresponding to the obstacle in the initially planned trajectory of the unmanned aerial vehicle, as the projection trajectory corresponding to the obstacle, specifically includes:
aiming at each obstacle, determining each vertex position corresponding to the external contour of the obstacle according to the obstacle data corresponding to the obstacle;
determining the projection position of each vertex position corresponding to the obstacle on the initial planning track according to the obstacle data corresponding to the obstacle and the initial planning track corresponding to the unmanned equipment;
and determining at least one section of track covered by the projection of the barrier in the initial planning track of the unmanned equipment according to the projection position of each vertex position corresponding to the barrier on the initial planning track, and taking the section of track as the projection track corresponding to the barrier.
3. The method according to claim 2, wherein determining, according to the projection positions of the vertex positions corresponding to the obstacle on the initial planned trajectory, at least one segment of trajectory covered by the projection corresponding to the obstacle in the initial planned trajectory of the unmanned aerial vehicle, as the projection trajectory corresponding to the obstacle, specifically includes:
for each vertex position corresponding to the obstacle, determining a distance between the vertex position and at least one projection position corresponding to the vertex position according to at least one projection position of the vertex position on the initial planning track;
determining a projection position to be combined corresponding to the vertex position according to the distance between the vertex position and at least one projection position corresponding to the vertex position;
and determining at least one section of planning track covered by the barrier projected on the initial planning track according to the projection position to be combined corresponding to each vertex position of the barrier, and taking the section of planning track as the projection track corresponding to the barrier.
4. The method according to claim 3, wherein determining at least one section of planning trajectory covered by the projection of the obstacle on the initial planning trajectory according to the projection positions to be combined corresponding to the vertex positions of the obstacle, as the projection trajectory corresponding to the obstacle, specifically includes:
aiming at each vertex position of the obstacle, determining a projection position to be combined corresponding to other vertex positions which are closest to the projection position to be combined corresponding to the vertex position according to the projection position to be combined corresponding to the vertex position;
and determining at least one section of planning track covered by the barrier projected on the initial planning track as the projection track corresponding to the barrier according to the projection position to be combined corresponding to the other vertex position which is closest to the projection position to be combined corresponding to the vertex position and the projection position to be combined corresponding to the vertex position.
5. The method of claim 3, wherein the initial planned trajectory comprises a turn trajectory, wherein the presence of at least one obstacle around the drone is located inboard of a turn of the drone;
determining a projection position to be combined corresponding to the vertex position according to the distance between the vertex position and at least one projection position corresponding to the vertex position, specifically comprising:
sorting the distance between the vertex position and at least one projection position corresponding to the vertex position from near to far according to the initial planning track to obtain a distance sorting result;
and according to the distance sorting result, taking the projection position of which the distance between the projection position and the vertex position is smaller than the distance between the projection position of the adjacent serial number and the vertex position as the projection position to be combined corresponding to the vertex position, and taking the projection position of which the distance between the projection position and the vertex position is larger than the distance between the projection position of the adjacent serial number and the vertex position as a dividing point.
6. The method according to claim 5, wherein determining at least one section of planning trajectory covered by the projection of the obstacle on the initial planning trajectory according to the projection positions to be combined corresponding to the vertex positions of the obstacle, as the projection trajectory corresponding to the obstacle, specifically includes:
aiming at each vertex position of the obstacle, dividing the initial planning track based on the dividing points to obtain a plurality of planning tracks as segmentation tracks;
and determining a planning track covered by the projection of the obstacle on each section of the segmented track as a projection track corresponding to the obstacle according to the projection position to be combined corresponding to each vertex position of the obstacle.
7. The method according to claim 1, wherein the initial planned trajectory is adjusted according to the projection trajectory corresponding to each obstacle to obtain an actual planned trajectory of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to travel according to the actual planned trajectory, specifically including:
determining the distance from the barrier corresponding to each projection track to the initial planning track of the unmanned equipment;
aiming at each projection track, according to the projection track corresponding to each obstacle, taking the projection track with the distance from the obstacle corresponding to the projection track to the initial planning track of the unmanned equipment smaller than a set distance threshold as an effective projection track;
and adjusting the initial planning track according to the effective projection track to obtain an actual planning track of the unmanned equipment, and controlling the unmanned equipment to run according to the actual planning track.
8. A control device for an unmanned aerial vehicle, the device being applied to the field of unmanned driving, comprising:
the acquisition module is used for acquiring obstacle data of obstacles around the unmanned equipment;
the determining module is used for determining at least one section of track covered by a projection corresponding to each obstacle in the initial planning track of the unmanned equipment as a projection track corresponding to the obstacle according to the obstacle data corresponding to the obstacle;
and the control module is used for adjusting the initial planning track according to the projection track corresponding to each obstacle to obtain an actual planning track of the unmanned equipment and controlling the unmanned equipment to run according to the actual planning track.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.
10. An unmanned aerial device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any of claims 1 to 7.
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