CN115148034A - Unmanned driving and manual driving mixed operation control system, method and device - Google Patents
Unmanned driving and manual driving mixed operation control system, method and device Download PDFInfo
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Abstract
The invention provides an unmanned and manual driving mixed operation control system, which comprises: line appointment, namely setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area; the position information acquisition module is used for acquiring the position information of the unmanned vehicle and the manually driven vehicle in real time; the calculation module is used for actually calculating the distance between the unmanned vehicle or the manually-driven vehicle and the boundary of the conflict area and the distance between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area; and according to the calculated distance, the judging module is used for judging the geometric position relation between the unmanned vehicle or the manually-driven vehicle and the conflict area, and orderly controlling the passing or waiting of the unmanned vehicle and the manually-driven vehicle. The invention also provides a method and a device for controlling the mixed operation of unmanned driving and manual driving. The invention can realize vehicle scheduling, shunting and traffic signal control in a conflict area, standardizes and orders mixed operation and achieves the aim of unmanned and manned mixed operation.
Description
Technical Field
The present invention relates to the field of unmanned vehicles. More particularly, the present invention relates to a hybrid operation control system of unmanned driving and manual driving in an open air closed scene, and a method and apparatus thereof.
Background
An open-air closed scene, taking unmanned driving in an open-air mining area as an example, aims to solve a series of problems in the transportation process of materials from a stope to a discharge yard in an unmanned environment. This process relies heavily on a set of rules and systems for unmanned operation.
However, in the prior art, even in a quite long period in the future, a large number of manned scenes still exist in the surface mine operation, such as a watering dust removal vehicle, a road scraper, a bulldozer, a manually-driven operation vehicle and the like, and the manual driving operation mode cannot be separated. The intervention of human factors breaks the rules and the system of unmanned operation. Therefore, how to design a set of rules and a system can meet the requirement of unmanned transportation of the intelligent mine and also can consider the actual situation of the existing manual driving, and the design becomes the key of urgent requirement and success of unmanned and unmanned mixed operation in the open-pit mine area.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
The invention also aims to provide an unmanned and manual hybrid operation control system, a method and a device thereof in an open-air closed scene, which can realize vehicle scheduling, shunting and traffic signal control in a conflict area, so that hybrid operation is standardized and ordered, and the aim of unmanned and manual hybrid operation is fulfilled.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided in a first aspect a hybrid unmanned and manned operation control system including:
line agreement, namely setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area;
the position information acquisition module is used for acquiring the position information of the unmanned vehicle and the manually driven vehicle in real time;
the calculation module is used for calculating the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time;
the judging module is used for judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if so, the fact that vehicles exist in the conflict area is determined, and the control module issues a waiting instruction to unmanned vehicles outside the conflict area and controls traffic signals to send out waiting signals; otherwise, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the artificial vehicle and the border of the conflict area is continuously judged, if so, the control module issues a passing instruction to the unmanned vehicle and controls the traffic signal to send a waiting signal, and if so, the control module issues the waiting instruction to the unmanned vehicle and controls the traffic signal to send a passing signal.
Preferably, the system for controlling the hybrid operation of unmanned driving and manual driving, the position information obtaining module includes:
the wireless communication equipment module is in communication connection with the unmanned vehicle and receives the position information of the unmanned vehicle in real time;
the sensing system module is used for scanning and calculating the position information of the unmanned vehicle and the man-made vehicle in a sensing area, wherein the area of the sensing area sensed by the sensing system module is larger than the area of the conflict area, and the sensing area covers the conflict area;
the vehicle type detection module is used for determining that the vehicle is an unmanned vehicle if the position information of the vehicle is from the communication equipment module and the perception system module; and if the position information of the vehicle comes from the perception system module, determining that the vehicle is a manually driven vehicle.
Preferably, the unmanned driving and manual driving hybrid operation control system comprises:
the command issuing module issues a passing or waiting command to the unmanned vehicle through the wireless communication equipment module;
and the traffic signal control module controls the traffic signals to be waiting or passing signals through the wireless communication equipment module or a wired direct connection mode.
Preferably, in the hybrid operation control system of unmanned driving and manual driving, the collision area is a virtual circular area divided by using a center where the manual driving route and the unmanned driving route meet or coincide as an origin and a predetermined distance as a radius R.
Preferably, in the hybrid unmanned and manned operation control system, the traffic signal is a signal provided at a road intersection to control the passage or waiting of the manned vehicle.
Preferably, in the system for controlling hybrid operation of unmanned aerial vehicle and manual drive, in the determining module, if a distance L1 between the unmanned aerial vehicle and a boundary of a conflict area is equal to a distance L2 between the manual drive vehicle and the boundary of the conflict area, the control module issues a passing instruction to the unmanned aerial vehicle and controls a traffic signal to be a waiting signal according to the distance resolving time if the unmanned aerial vehicle comes first, and the control module issues a waiting instruction to the unmanned aerial vehicle and controls a traffic signal to be a passing signal if the manual drive vehicle comes first.
Preferably, the unmanned driving and manual driving hybrid operation control system comprises a sensing system module and a camera.
Preferably, the unmanned driving and manual driving hybrid operation control system further includes a storage module that stores boundary position information and center position information of the conflict area in advance.
In a second aspect, the present invention provides a method for controlling a hybrid operation of unmanned driving and manual driving, which is applied to the hybrid operation control system of unmanned driving and manual driving, and comprises:
setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area;
acquiring position information of the unmanned vehicle and the manually driven vehicle in real time;
calculating the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time;
judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if so, determining that vehicles exist in the conflict area, issuing a waiting instruction to unmanned vehicles outside the conflict area, and controlling traffic signals to send waiting signals; if not, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the manually-driven vehicle and the border of the conflict area is continuously judged, if so, a passing instruction is issued to the unmanned vehicle, a traffic signal is controlled to send a waiting signal, and if not, a waiting instruction is issued to the unmanned vehicle, and the traffic signal is controlled to send a passing signal; if the distance is equal to the preset distance, resolving time according to the distance, issuing a passing instruction to the unmanned vehicle and controlling the traffic signal to be a waiting signal if the unmanned vehicle arrives first, and issuing the waiting instruction to the unmanned vehicle and controlling the traffic signal to be a passing signal if the manually-driven vehicle arrives first.
In a third aspect, the present invention provides a hybrid unmanned and manned operation control device, which is applied to the hybrid unmanned and manned operation control system, and comprises: the system comprises road side equipment and traffic signal equipment, wherein the road side equipment is arranged near a conflict area and comprises a wireless communication equipment module, a sensing system module, a vehicle type detection module, a calculation module, a judgment module, a storage module, a command issuing module and a traffic signal control module; the traffic signal equipment is arranged outside the conflict area and used for providing traffic signals.
The invention at least comprises the following beneficial effects: 1. the method comprises the steps of enabling an unmanned vehicle to walk on an unmanned route through route engagement of a mixed operation scene of a mining area, enabling a manually-driven vehicle to walk on a manually-driven route, and setting a conflict area in an intersection or superposition area of the unmanned route and the manually-driven route so as to schedule the conflict area in the following process. 2. The wireless communication equipment module can be in communication connection with the unmanned vehicle and receives and monitors the position information of the unmanned vehicle in real time; the sensing system module can scan and calculate the position information of unmanned vehicles and manually driven vehicles in the sensing area, the area of the sensing area sensed by the sensing system module is larger than that of the conflict area, and the sensing area covers the conflict area, so that the traffic situation of vehicles in the conflict area and nearby the conflict area can be sensed and monitored in real time. 3. The set calculation module can calculate the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time; according to the calculated distance, the judging module can easily judge the geometric position relation between the unmanned vehicle or the manually-driven vehicle and the conflict area, so that the passing and waiting of the unmanned vehicle and the manually-driven vehicle are controlled in order, the conflict area is dispatched and shunted, the possibility of mutual conflict in the operation of the open mine area and the scene of the unmanned and manually-driven mixed operation is solved, the purpose of the manually-driven and unmanned mixed operation is achieved, and the operation efficiency of the open mine transportation environment is improved to the maximum extent.
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.
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FIG. 1 is a schematic diagram of a hybrid unmanned and manned operation control system according to one embodiment of the present invention.
FIG. 2 is a diagram of a conflict area in one embodiment of the present invention.
FIG. 3 is a schematic diagram of the presence of vehicles in a conflict area in accordance with one embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1 to 3, an embodiment of the present invention provides a system for controlling a hybrid operation of unmanned driving and manual driving, including: line appointment, namely setting an unmanned driving route 1 and a manual driving route 2 according to a mixed operation scene, and setting a conflict area 3; the position information acquisition module is used for acquiring the position information of the unmanned vehicle and the manually driven vehicle in real time; a calculation module for calculating in real time a distance L1 between the unmanned vehicle and the collision zone boundary 4, a distance L2 between the manually driven vehicle and the collision zone boundary 4, and a distance L3 between the unmanned vehicle or the manually driven vehicle and the center of the collision zone; the judging module is used for judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if so, the fact that vehicles exist in the conflict area is determined, and the control module issues a waiting instruction to unmanned vehicles outside the conflict area and controls traffic signals to send out waiting signals; otherwise, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the artificial vehicle and the border of the conflict area is continuously judged, if so, the control module issues a passing instruction to the unmanned vehicle and controls the traffic signal to send a waiting signal, and if so, the control module issues the waiting instruction to the unmanned vehicle and controls the traffic signal to send a passing signal.
The collision area is a virtual circular area which is divided by taking the center of intersection or superposition of the manual driving route and the unmanned driving route as an origin and a preset distance as a radius R, the boundary of the collision area is a square containing the circular area, and the side length of the square is the diameter of the circular area. The traffic signal is a signal which is arranged at a road intersection and used for controlling the manual driving vehicle to pass or wait.
It should be noted that, in fig. 2, the set unmanned driving route and the manual driving route are perpendicular to each other, and in this case, the square including the conflict area, that is, the boundary of the conflict area, is perpendicular to both the unmanned driving route and the manual driving route. However, in an actual scene, the lines are not perpendicular to each other in many cases, and at this time, for each line, a square boundary is drawn according to the circular area of the collision area, so that the boundary line of the collision area is ensured to be perpendicular to the line, and the distance from the vehicle on the line to the boundary line is calculated conveniently.
In the above embodiment, by making a route appointment for a mixed operation scene in a mining area, the unmanned vehicle runs the unmanned route, the manually driven vehicle runs the manually driven route, and a conflict area is set in an area where the unmanned route and the manually driven route meet or coincide, so that the conflict area can be scheduled later. The set calculation module can calculate the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time; according to the calculated distance, the judging module can easily judge the geometric position relation between the unmanned vehicle or the manually driven vehicle and the conflict area, so that the passing and waiting of the unmanned vehicle and the manually driven vehicle are orderly controlled, the conflict area is dispatched and shunted, the possibility of mutual conflict in the operation of the open mine area and the scene of the mixed operation of the unmanned vehicle and the manually driven vehicle is solved, the purpose of the mixed operation of the manually driven vehicle and the unmanned vehicle is achieved, and the operation efficiency of the open mine transportation environment is maximally improved.
In one embodiment, the system for controlling the hybrid operation of unmanned driving and manual driving comprises: the wireless communication equipment module is in communication connection with the unmanned vehicle and receives the position information of the unmanned vehicle in real time; the sensing system module is used for scanning and calculating the position information of unmanned vehicles and manually driven vehicles in a sensing area 6, wherein the area of the sensing area sensed by the sensing system module is larger than that of the conflict area, and the sensing area covers the conflict area; the vehicle type detection module is used for determining that the vehicle is an unmanned vehicle if the position information of the vehicle is from the communication equipment module and the perception system module; and if the position information of the vehicle comes from the perception system module, determining that the vehicle is a manually driven vehicle.
The sensing system module comprises a laser radar and a camera.
It should be noted that, since the vehicle position information obtained by the sensing system module in the sensing area cannot automatically distinguish between the position information of the unmanned vehicle and the position information of the manually driven vehicle, the vehicle type detection module is provided to distinguish between the unmanned vehicle and the manually driven vehicle.
In the above embodiment, the wireless communication device module is arranged, can be in communication connection with the unmanned vehicle, and receives and monitors the position information of the unmanned vehicle in real time; the sensing system module can scan and calculate the position information of the unmanned vehicles and the manual vehicles in the sensing area in real time, so that the traffic situation of the vehicles in the conflict area and the vicinity of the conflict area can be sensed and monitored in real time.
In one embodiment, the unmanned and manual hybrid operation control system comprises:
the command issuing module issues a passing or waiting command to the unmanned vehicle through the wireless communication equipment module;
and the traffic signal control module controls the traffic signals to be waiting or passing signals through the wireless communication equipment module or a wired direct connection mode.
In the above embodiment, the traffic signal is preferably a traffic light, and if the traffic signal control module is located far away from the traffic signal, a wireless communication mode may be adopted; if the traffic signal control module who sets up is more close apart from the position of traffic signal setting, can adopt wired mode directly that links, during specific setting, can adopt a line control red light, and the green light of a line control then can be bright or the green light is bright through the switching on or breaking control red light of circuit.
In one embodiment, in the determining module, if a distance L1 between the unmanned vehicle and the boundary of the conflict area is equal to a distance L2 between the manually driven vehicle and the boundary of the conflict area, the control module issues a passing instruction to the unmanned vehicle and controls the traffic signal to be a waiting signal if the unmanned vehicle arrives first according to the distance calculation time, and if the manually driven vehicle arrives first, the control module issues the waiting instruction to the unmanned vehicle and controls the traffic signal to be a passing signal.
In one specific embodiment, the hybrid unmanned driving and manual driving operation control system further comprises a storage module, which stores boundary position information and center position information of the conflict area in advance.
Another embodiment of the present invention provides a method for controlling a hybrid operation of unmanned driving and manual driving, which is applied to the system for controlling a hybrid operation of unmanned driving and manual driving, and includes:
s10, setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area;
s20, acquiring position information of the unmanned vehicle and the manually driven vehicle in real time;
s30, calculating a distance L1 between the unmanned vehicle and the boundary of the conflict area, a distance L2 between the manually-driven vehicle and the boundary of the conflict area and a distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time;
s40, judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if so, determining that vehicles exist in the conflict area, issuing a waiting instruction to unmanned vehicles outside the conflict area, and controlling a traffic signal to send a waiting signal; if not, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the manually-driven vehicle and the border of the conflict area is continuously judged, if so, a passing instruction is issued to the unmanned vehicle, a traffic signal is controlled to send a waiting signal, and if not, a waiting instruction is issued to the unmanned vehicle, and the traffic signal is controlled to send a passing signal; if the distance is equal to the preset distance, resolving time according to the distance, issuing a passing instruction to the unmanned vehicle and controlling the traffic signal to be a waiting signal if the unmanned vehicle arrives first, and issuing the waiting instruction to the unmanned vehicle and controlling the traffic signal to be a passing signal if the manually-driven vehicle arrives first.
Another embodiment of the present invention provides an unmanned and manual hybrid operation control apparatus, which is applied to the unmanned and manual hybrid operation control system, and includes: the system comprises road side equipment 7 and traffic signal equipment 5, wherein the road side equipment is arranged near a conflict area and comprises a wireless communication equipment module, a sensing system module, a vehicle type detection module, a calculation module, a judgment module, a storage module, a command issuing module and a traffic signal control module; the traffic signal equipment is arranged outside the conflict area and used for providing traffic signals.
While embodiments of the invention have been disclosed above, it is not intended that they be limited to the applications set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. Unmanned driving and artificial driving hybrid operation control system, its characterized in that includes:
line agreement, namely setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area;
the position information acquisition module is used for acquiring the position information of the unmanned vehicle and the manually driven vehicle in real time;
the calculation module is used for calculating the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time;
the judging module is used for judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if the distance L is smaller than or equal to the radius R of the conflict area, the fact that vehicles exist in the conflict area is determined, the control module issues a waiting instruction to unmanned vehicles outside the conflict area, and controls traffic signals to send waiting signals; if not, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the manually-driven vehicle and the border of the conflict area is continuously judged, if so, the control module issues a passing instruction to the unmanned vehicle and controls the traffic signal to send a waiting signal, and if not, the control module issues a waiting instruction to the unmanned vehicle and controls the traffic signal to send a passing signal.
2. The unmanned-manual hybrid operation control system of claim 1, wherein the position information obtaining module comprises:
the wireless communication equipment module is in communication connection with the unmanned vehicle and receives the position information of the unmanned vehicle in real time;
the sensing system module is used for scanning and calculating the position information of the unmanned vehicle and the man-made vehicle in a sensing area, wherein the area of the sensing area sensed by the sensing system module is larger than the area of the conflict area, and the sensing area covers the conflict area;
the vehicle type detection module is used for determining that the vehicle is an unmanned vehicle if the position information of the vehicle comes from the communication equipment module and the perception system module; and if the position information of the vehicle comes from the perception system module, determining that the vehicle is a manually driven vehicle.
3. The unmanned-manned and manned hybrid operation control system of claim 2, wherein the control module comprises:
the command issuing module issues a passing or waiting command to the unmanned vehicle through the wireless communication equipment module;
and the traffic signal control module controls the traffic signals to be waiting or passing signals through the wireless communication equipment module or a wired direct connection mode.
4. The unmanned-manual hybrid operation control system of claim 1, wherein the collision area is defined as a virtual circular area with an origin at a center where the manual driving route and the unmanned driving route meet or coincide with each other and a radius R at a predetermined distance.
5. The unmanned-manual hybrid operation control system of claim 3, wherein the traffic signal is a signal provided at a road intersection to control a passage or waiting of a manually driven vehicle.
6. The system according to claim 1, wherein in the judging module, if a distance L1 between the unmanned vehicle and the boundary of the collision zone is equal to a distance L2 between the manned vehicle and the boundary of the collision zone, the control module issues a passing instruction to the unmanned vehicle and controls the traffic signal to be the waiting signal if the unmanned vehicle comes first, and the control module issues a waiting instruction to the unmanned vehicle and controls the traffic signal to be the passing signal if the manned vehicle comes first, according to the distance calculation time.
7. The unmanned-human driven and manned hybrid operation control system of claim 2, wherein the perception system module includes a lidar and a camera.
8. The unmanned-manual hybrid operation control system of claim 2, further comprising a storage module that stores boundary position information and center position information of the collision area in advance.
9. A method for controlling a hybrid operation of unmanned driving and manual driving, which is applied to the system for controlling a hybrid operation of unmanned driving and manual driving according to any one of claims 1 to 8, comprising:
setting an unmanned driving route and a manual driving route according to a mixed operation scene, and setting a conflict area;
acquiring position information of the unmanned vehicle and the manually driven vehicle in real time;
calculating the distance L1 between the unmanned vehicle and the boundary of the conflict area, the distance L2 between the manually-driven vehicle and the boundary of the conflict area and the distance L3 between the unmanned vehicle or the manually-driven vehicle and the center of the conflict area in real time;
judging whether the distance L3 is smaller than or equal to the radius R of the conflict area, if so, determining that vehicles exist in the conflict area, issuing a waiting instruction to unmanned vehicles outside the conflict area, and controlling traffic signals to send waiting signals; if not, no vehicle exists in the conflict area, whether the distance L1 between the unmanned vehicle and the border of the conflict area is smaller than the distance L2 between the manually-driven vehicle and the border of the conflict area is continuously judged, if so, a passing instruction is issued to the unmanned vehicle, a traffic signal is controlled to send a waiting signal, and if not, a waiting instruction is issued to the unmanned vehicle, and the traffic signal is controlled to send a passing signal; if the distance is equal to the preset distance, resolving time according to the distance, issuing a passing instruction to the unmanned vehicle and controlling the traffic signal to be a waiting signal if the unmanned vehicle arrives first, and issuing the waiting instruction to the unmanned vehicle and controlling the traffic signal to be a passing signal if the manually-driven vehicle arrives first.
10. A mixed operation control device of unmanned driving and manual driving, which is applied to the mixed operation control system of unmanned driving and manual driving according to any one of claims 1 to 8, characterized by comprising: the system comprises road side equipment and traffic signal equipment, wherein the road side equipment is arranged near a conflict area and comprises a wireless communication equipment module, a sensing system module, a vehicle type detection module, a calculation module, a judgment module, a storage module, a command issuing module and a traffic signal control module; the traffic signal equipment is arranged outside the conflict area and used for providing traffic signals.
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| CN114023094A (en) * | 2022-01-07 | 2022-02-08 | 上海国际港务（集团）股份有限公司 | Wharf vehicle scheduling system, method, equipment and medium |
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