CN115662189A - Unmanned vehicle and anti-collision method thereof - Google Patents
Unmanned vehicle and anti-collision method thereof Download PDFInfo
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- CN115662189A CN115662189A CN202211653148.6A CN202211653148A CN115662189A CN 115662189 A CN115662189 A CN 115662189A CN 202211653148 A CN202211653148 A CN 202211653148A CN 115662189 A CN115662189 A CN 115662189A
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Abstract
The invention provides an unmanned vehicle and an anti-collision method thereof. The unmanned vehicle includes: satellite navigation equipment, inertial navigation equipment and a communication module. The inertial navigation device detects a change in the heading of the vehicle, thereby enabling continuous calculation of the real-time position of the vehicle based on the position at the previous time through the detected change in the heading of the vehicle. The communication module is used for communicating with the cloud platform, transmitting the real-time position of the vehicle to the cloud platform, receiving the indication of the cloud platform, and realizing the purposes of advancing, avoiding other vehicles and stopping the vehicle.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to an unmanned vehicle in a mining area and an anti-collision method thereof.
Background
At present, unmanned mine trucks are already in practical application. Among them, in the field of unmanned driving of vehicles in strip mines, the problem of collision between unmanned vehicles is an important factor affecting the safety production of unmanned driving, and also seriously affects the safety production of mines.
However, currently, there are not many effective methods for vehicle collision applied to unmanned vehicles in strip mines, and accidents often occur to affect normal production, and particularly, in mining areas, geographical conditions are very severe, dust, culverts, storms, unstable communication signals and the like will bring great challenges to unmanned vehicles.
Therefore, a vehicle solution that can prevent collision of surface vehicle with good stability, high real-time performance and better adaptability is needed.
Disclosure of Invention
The present invention provides an unmanned vehicle comprising:
a satellite navigation device configured to acquire a real-time position of the unmanned vehicle through satellite positioning;
an inertial navigation device configured to detect a change in a heading of the unmanned vehicle so as to be able to continuously calculate a real-time position of the unmanned vehicle from the detected change in the heading of the unmanned vehicle using a position at a previous time as an initial position; and
the communication module is used for communicating with the cloud platform, transmitting the real-time position of the unmanned vehicle acquired by the satellite navigation equipment or the real-time position of the unmanned vehicle calculated by the inertial navigation equipment to the cloud platform, and receiving the distance between the unmanned vehicle and other vehicles judged by the cloud anti-collision algorithm of the cloud platform and an instruction of the unmanned vehicle for one of advancing, avoiding other vehicles or stopping.
In one embodiment, the inertial navigation device is configured to continuously calculate the position of the unmanned vehicle at the next moment, starting from the real-time position of the unmanned vehicle at the interruption moment or the satellite positioning failure moment, at the interruption moment of the communication between the communication module and the cloud platform or at the satellite positioning failure moment of the satellite navigation device.
In one embodiment, the inertial navigation device is configured to correct the position of the unmanned vehicle at the same time as calculated by the inertial navigation device using the real-time position of the unmanned vehicle obtained by the satellite positioning when the satellite positioning is normal.
In one embodiment, the unmanned vehicle further comprises: and the short radio frequency communication equipment is operable to communicate with the short radio frequency communication equipment of other vehicles so as to send the real-time position information of the unmanned vehicle calculated by the inertial navigation equipment to other vehicles and receive the real-time position information of other vehicles, thereby determining the distance between the unmanned vehicle and other vehicles and avoiding other vehicles.
In one embodiment, the short radio frequency communication device is configured to operate in the event of an interruption or anomaly in communication of the communication module with the cloud platform.
In one embodiment, when the satellite navigation device reacquires the position of the unmanned vehicle through satellite positioning, the inertial navigation device receives the position of the unmanned vehicle acquired by the satellite navigation device, corrects the calculated real-time position of the unmanned vehicle, and calculates the real-time position of the unmanned vehicle at the next time using the corrected position as a start position.
In one embodiment, the cloud anti-collision algorithm calculates the distance between the unmanned vehicle and other vehicles to determine whether to travel, avoid or stop;
the cloud anti-collision algorithm is provided with:
the distance between the unmanned vehicle and other vehicles is greater than a first distance threshold value, and the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, and the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters the deceleration parking distance.
In one embodiment, the unmanned vehicle determines the distance between the unmanned vehicle and other vehicles through a vehicle-end anti-collision algorithm to determine whether to travel, avoid or stop; wherein, the vehicle end anticollision algorithm is provided with:
the distance between the unmanned vehicle and other vehicles is greater than a first distance threshold value, and the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, and the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters the deceleration parking distance.
In one embodiment, the unmanned vehicle further comprises a collision avoidance processing module configured to instruct the unmanned vehicle to stop when a distance between the unmanned vehicle and the other vehicle is equal to or less than a fourth distance threshold.
In one embodiment, the unmanned vehicle further comprises a warning device configured to provide a warning service, such as an alert, when the distance between the unmanned vehicle and the other vehicle is equal to or less than a first distance threshold.
In one embodiment, the communication module communicates with the cloud platform over a 5G network.
According to an aspect of the present invention, there is provided a collision avoidance method for the above unmanned vehicle, comprising:
satellite positioning is carried out through satellite navigation equipment to obtain the real-time position of the unmanned vehicle;
detecting a change in the heading of the unmanned vehicle using the inertial navigation device, and continuously calculating the real-time position of the unmanned vehicle by using the detected change in the heading of the unmanned vehicle as an initial position from the previous time position; and
the system is communicated with a cloud platform, the real-time position of the unmanned vehicle acquired by the satellite navigation equipment or the real-time position of the unmanned vehicle calculated by the inertial navigation equipment is transmitted to the cloud platform, and the distance between the unmanned vehicle and other vehicles judged by the cloud anti-collision algorithm of the cloud platform and an instruction of the unmanned vehicle for one of advancing, avoiding other vehicles or stopping is received.
In one embodiment, a method comprises:
and at the moment when the satellite navigation equipment cannot acquire the position of the unmanned vehicle or the moment when the communication between the communication module and the cloud platform is interrupted, continuously calculating the position of the unmanned vehicle at the next moment by using the inertial navigation equipment and taking the moment when the position of the unmanned vehicle cannot be acquired or the real-time position of the unmanned vehicle at the interruption moment as a starting point.
In one embodiment, in the case that the communication between the communication module and the cloud platform is abnormal and in the case that the satellite navigation device is abnormal, the short radio frequency communication device is used for communicating with the short radio frequency communication device of the other vehicle, so that the real-time position information of the unmanned vehicle calculated by the inertial navigation device is sent to the other vehicle, and the real-time position information of the other vehicle is received, thereby determining the distance between the unmanned vehicle and the other vehicle, and avoiding the other vehicle is realized.
In one embodiment, a method comprises:
under the condition that the communication module is normally communicated with the cloud platform, the distance between the unmanned vehicle and other vehicles is calculated by using a cloud anti-collision algorithm so as to judge whether the unmanned vehicle travels, avoids or stops;
under the condition that the communication between the communication module and the cloud platform is abnormal, determining and judging the distance between the unmanned vehicle and other vehicles by using a vehicle-end collision algorithm so as to judge whether to advance, avoid or stop;
wherein high in clouds anticollision algorithm and vehicle end anticollision algorithm are provided with:
the distance between the unmanned vehicle and other vehicles is greater than a first distance threshold value, and the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, and the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters the deceleration parking distance.
In one embodiment, a method comprises:
providing an alert service when a distance between the unmanned vehicle and the other vehicle is equal to or less than a first distance threshold; and/or
And when the distance between the unmanned vehicle and the other vehicles is equal to or less than a fourth distance threshold value, indicating that the unmanned vehicle stops.
In one embodiment, a method comprises:
the real-time position of the unmanned vehicle calculated by the inertial navigation device is corrected by the acquired real-time position any time the real-time position of the unmanned vehicle can be acquired by satellite positioning, and the real-time position of the unmanned vehicle at the next time is calculated with the corrected position as a start position.
Drawings
Fig. 1 is a schematic block diagram of the principle of collision avoidance by an unmanned vehicle through a cloud platform according to one embodiment of the present invention.
Fig. 2 shows a schematic block diagram of the principle of collision avoidance of an unmanned vehicle by means of a short radio frequency communication device according to an embodiment of the invention.
Fig. 3 is a schematic diagram illustrating a distance threshold in a vehicle-end or cloud anti-collision algorithm according to an embodiment of the present invention.
Detailed Description
To more clearly illustrate the objects, technical solutions and advantages of the present invention, the following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is intended to illustrate and explain the present general inventive concept and should not be taken as limiting the present invention. In the specification and drawings, the same or similar reference numerals refer to the same or similar parts or components. The figures are not necessarily to scale and certain well-known components and structures may be omitted from the figures for clarity.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "a" or "an" does not exclude a plurality. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
Fig. 1 schematically shows a block diagram of a module configuration of an unmanned vehicle according to an embodiment of the present invention. The unmanned vehicle may include: a satellite navigation device (GUSS device for short) 21 and an inertial navigation device 22. The satellite navigation device 21 is configured to acquire a real-time position of the vehicle by satellite positioning. The inertial navigation device 22 is configured to detect a change in the heading of the vehicle so that the position at the next time of the vehicle can be continuously calculated by detecting the change in the heading of the vehicle with the position at the previous time as an initial position. It should be understood that the previous time may be any time, and the next time may be a time next to any time, and does not refer to the current time or a specific time.
In the present embodiment, the inertial navigation device 22 may, for example, include a gyroscope that is capable of sensing a change in direction when the vehicle carrying the inertial navigation device 22 deviates from the original direction, thereby allowing the inertial navigation device 22 to sense a change in heading of the vehicle. The inertial navigation device 22 continuously senses changes in the heading of the vehicle and calculates therefrom the current time position and heading of the vehicle, thereby enabling recording of the trajectory of the vehicle. For example, the inertial navigation device 22 uses a position that has been measured at any time as a starting position, where the position may be a position sensed and calculated by the inertial navigation device 22 at a previous time, or a position obtained by the satellite navigation device 21 through satellite positioning, and when the vehicle changes its heading at a next time, the inertial navigation device 22 senses a change value of the direction, and further calculates the heading, trajectory and position of the vehicle, so as to obtain the heading and position at the next time; thus, the heading of the vehicle continues to be sensed. In the present embodiment, the satellite navigation device 21 can operate while the inertial navigation device 22 keeps operating, and the position acquired by the satellite navigation device 21 can correct the position sensed and calculated by the inertial navigation device 22, so that the finally determined information of the position and heading of the vehicle is unified.
In this embodiment, the unmanned vehicle further includes a communication module 31, where the communication module 31 is configured to communicate with the cloud platform, transmit the real-time position of the vehicle obtained by the satellite navigation device 21 or the real-time position of the vehicle calculated by the inertial navigation device 22 (note that the real-time position here has been unified or corrected by the satellite positioning position) to the cloud platform, and the cloud platform may receive information of the position, heading, speed, and the like of the corresponding vehicle sent by another vehicle at the same time, so that the cloud platform may determine the position relationship, distance, and the like between the vehicle and another vehicle through a cloud anti-collision algorithm based on the received information, and send the determination result to the unmanned vehicle, instruct the vehicle to travel, avoid another vehicle, and stop, thereby implementing the vehicle to travel, avoid another vehicle, and stop.
In the present embodiment, since the satellite navigation device 21 acquires the position of the vehicle in real time and corrects the inertial navigation device 22 in real time, the accuracy of the position transmitted to the cloud platform is ensured. Also, since the inertial navigation device 22 is able to self-determine heading, independent of external positioning and communication, even if satellite positioning fails for some period of time, such as in or through an underground space (e.g., a parking lot), the inertial navigation device 22 is able to continuously calculate the real-time position of the vehicle and thus is able to maintain a continuous update of the vehicle's position; in the case where 5G communication is available, the communication module 31 can still send the real-time location of the vehicle to the cloud platform, which can then continue to send instructions to the vehicle. Further, since the inertial navigation device 22 is still continuously operated when the satellite navigation device 21 can perform positioning through satellites, when the satellite navigation device 21 cannot normally acquire the real-time position of the vehicle at any time, the inertial navigation device can separately sense and calculate the heading and position of the vehicle, and further determine the position of the vehicle, continuously operate to acquire the motion trajectory of the vehicle, and prevent the motion information of the vehicle from being not updated for a short time or a long time, so that positioning and collision avoidance of the vehicle can be realized even if satellite positioning or communication interruption occurs at any time. In the present invention, the communication module 31 may also implement communication with the cloud platform through a communication method such as 4G or 3G.
In one embodiment, at the time of interruption of communication between communication module 31 and the cloud platform or at the time of failure of satellite positioning by satellite navigation device 21, inertial navigation device 22 is used to continuously calculate the position of the vehicle at the next time, starting from the real-time position of the vehicle at the time of interruption or at the time of failure of satellite positioning. However, it should be understood that it is not necessary to use the vehicle position at the time of communication interruption or the time of satellite positioning failure as the starting point of the inertial navigation device 22, and in fact, the sensing accuracy of the inertial navigation device 22 can be satisfied that the position of the vehicle calculated by sensing the vehicle heading change value for a certain period of time is accurate, and thus the inertial navigation device 22 can continuously sense and calculate the position of the vehicle with any position before a certain time as the starting calculation position.
Fig. 2 schematically shows in block diagram the modular arrangement of an unmanned vehicle according to an embodiment of the invention. According to the embodiment of the present invention, when the satellite positioning is normal, for example, when the vehicle has exited the underground space or culvert, the satellite navigation device 21 resumes normal acquisition of the position of the vehicle, and the position of the vehicle acquired by the satellite navigation device 21 can be corrected in real time by correcting the position calculated by the inertial navigation device 22 as in the case of the aforementioned normal operation by satellite positioning. Thus, the inertial navigation device 22 remains operational throughout operation of the vehicle and is able to maintain accurate sensing and calculation results.
In an embodiment of the invention, the unmanned vehicle further comprises a short radio frequency communication device 32 (abbreviated V2V). The short radio frequency communication device 32 is operable to communicate with the short radio frequency communication devices 32 of other vehicles to transmit real-time location information of the vehicle to the other vehicles and to receive real-time location information of the other vehicles so that distances between the vehicle and the other vehicles can be determined by calculation and avoidance of the other vehicles is achieved. The short radio frequency communication is different from the 5G communication, and does not depend on a base station, so that the restriction of base station construction can be eliminated. According to the embodiment, in some cases, for example, some locations in some mining areas may be affected by environmental conditions (dust, steel structures, etc.) or the distribution of communication base stations is not uniform, in these locations, except for satellite navigation, 5G communication interruption may occur, or 5G communication interruption may occur, and in such cases, the vehicle cannot continuously receive an instruction of traveling, deceleration or stop sent by the cloud platform through the communication module 31, which is very dangerous for the unmanned vehicle traveling, and at this time, the short radio frequency communication device 32 of the vehicle can realize communication with other vehicles, so that the vehicle and other vehicles mutually communicate to exchange the positions of the vehicle, and further, avoidance of the vehicle is realized through calculation.
In some embodiments, the short radio frequency communication device 32 is configured to operate in case of a communication interruption or anomaly of the communication module 31 with the cloud platform. However, in other embodiments, the short rf communication device 32 may also communicate with other vehicles in case the communication module 31 is able to operate normally, so that the vehicle still maintains communication with other vehicles at any time of the interruption of the burst 5G communication.
In some embodiments, in the case of a 5G communication interruption or interruption, the satellite navigation device 21 can normally acquire the position of the vehicle, at which time the vehicle can acquire the real-time position of the vehicle through the satellite navigation device 21, at which time the vehicle modifies the heading and position sensed and calculated by the inertial navigation device 22 with the satellite navigation device 21, and transmits the modified position and heading (which may also be the position and heading acquired by the satellite navigation device 21) to other vehicles via the short rf communication device 32, and receives the position and heading of other vehicles, thereby achieving the purpose of avoiding collision between the vehicle and other vehicles.
At any time, inertial navigation device 22 may receive the position of the vehicle acquired by satellite navigation device 21, correct the calculated real-time position of the vehicle, and calculate the real-time position of the vehicle at the next time using the corrected position as the start position.
In the embodiment of the invention, under the condition that the 5G communication is normal, the unmanned vehicle sends the information such as the position and the heading of the vehicle to the cloud platform in real time, and the cloud platform calculates the distance between the vehicle and other vehicles by using a cloud anti-collision algorithm so as to judge whether to advance, avoid or stop. That is to say, under the normal condition of 5G communication, can avoid the collision of vehicle through the operation of cloud platform control all vehicles.
In one embodiment, as shown in fig. 3, a cloud anti-collision algorithm included in the cloud platform is provided with:
if the distance between the vehicle and other vehicles is greater than the first distance threshold value D1, judging the safety of the vehicle;
a second distance threshold D2, if the distance between the vehicle and other vehicles is smaller than the first distance threshold D1 and larger than the second distance threshold D2, judging that the vehicle enters the early warning distance;
a third distance threshold D3, if the distance between the vehicle and other vehicles is less than the second distance threshold D2 and greater than the third distance threshold D3, judging that the vehicle enters the alarm distance; and
and a fourth distance threshold D4, wherein the distance between the vehicle and other vehicles is smaller than the third distance threshold D3 and larger than the fourth distance threshold D4, and the vehicle is judged to enter the deceleration parking distance.
In one embodiment, the unmanned vehicle includes an end-of-vehicle collision avoidance algorithm. Under the condition that the satellite navigation equipment 21 cannot work normally and the communication module 31 cannot work due to no 5G signal, the unmanned vehicle senses and calculates the position and the heading of the vehicle through the inertial navigation equipment, communicates with other vehicles through the short radio frequency communication equipment 32, transmits the position and the heading information of the vehicle, and determines and judges the distance between the vehicle and other vehicles through a vehicle-end anti-collision algorithm after receiving the position and the heading information of other vehicles so as to judge whether to advance, avoid or stop; as shown in fig. 3, the vehicle-end anti-collision algorithm specifies:
if the distance between the vehicle and other vehicles is greater than the first distance threshold value D1, judging the safety of the vehicle;
a second distance threshold D2, wherein if the distance between the vehicle and other vehicles is smaller than the first distance threshold D1 and larger than the second distance threshold D2, the vehicle is judged to enter the early warning distance;
a third distance threshold D3, if the distance between the vehicle and other vehicles is less than the second distance threshold D2 and greater than the third distance threshold D3, judging that the vehicle enters the alarm distance; and
and a fourth distance threshold D4, wherein if the distance between the vehicle and other vehicles is less than the third distance threshold D3 and greater than the fourth distance threshold D4, the vehicle is judged to enter the deceleration parking distance.
In one embodiment, the unmanned vehicle further comprises a collision avoidance processing module 50 configured to indicate that the vehicle is stopped when the distance between the vehicle and the other vehicle is equal to or less than a fourth distance threshold D4.
In one embodiment, the unmanned vehicle further comprises an alert device configured to provide an alert service when the distance between the vehicle and the other vehicle is equal to or less than a first distance threshold D1. The alarm device can send out voice, alarm, music, distance broadcast and the like. For example, the warning device can prompt that the distance between the vehicle and other vehicles reaches within the safe distance, and can prompt that the distance between the vehicle and other vehicles reaches the warning distance and needs to be decelerated or stopped.
According to the embodiment of the invention, the unmanned vehicle can not only avoid collision through cloud platform control, but also realize communication between the vehicle and other vehicles through the inertial navigation device 22 and the short radio frequency communication device 32, and realize distance judgment and collision avoidance between the vehicle and other vehicles, and it can be seen that the collision avoidance of the vehicle is not influenced by external environment factors and basic construction of communication base stations, and the restriction of base station construction can be avoided for mining areas, which is very beneficial.
Another aspect of the present invention provides a collision avoidance method of an unmanned vehicle. In the present embodiment, the unmanned vehicle may be the above-described unmanned vehicle, which includes the satellite navigation device 21, the inertial navigation device 22, and the communication module 31.
The anti-collision method of the unmanned vehicle comprises the steps of carrying out satellite positioning through a satellite navigation device 21 to obtain the real-time position of the vehicle, communicating with a cloud platform, transmitting the real-time position of the vehicle obtained by the satellite navigation device 21 to the cloud platform, receiving an instruction sent by the cloud platform through the distance between the vehicle and other vehicles judged by a cloud anti-collision algorithm, and realizing the purposes of advancing, avoiding other vehicles and stopping the vehicle.
The collision avoidance method of the unmanned vehicle further includes detecting a change in the heading of the vehicle using the inertial navigation device 22, and continuously calculating the real-time position of the vehicle by detecting the change in the heading of the vehicle with the position at each time as an initial position; the vehicle anti-collision method based on the cloud platform comprises the steps of communicating with the cloud platform, transmitting the real-time position of the vehicle calculated by the inertial navigation device 22 to the cloud platform, receiving an instruction sent by the cloud platform through the distance between the vehicle and other vehicles judged by the cloud anti-collision algorithm, and realizing the purposes of advancing, avoiding other vehicles and stopping the vehicle.
In one embodiment, the method further includes correcting the position of the vehicle at the last time that the inertial navigation device 22 senses and calculates from the real-time position of the vehicle acquired by the satellite navigation device 21, and calculating the real-time position of the vehicle using the inertial navigation device 22 to detect a change in heading of the vehicle based on the corrected position at the last time. And, the real-time position sensed and calculated by the inertial navigation device 22 is transmitted to the cloud platform, the distance between the vehicle and other vehicles is judged through the cloud platform, and an instruction is given to the vehicle to indicate whether the vehicle is to travel, avoid other vehicles or stop.
In one embodiment, satellite navigation device 21 uses the acquired position of the vehicle at each time instant to correct the position of the vehicle sensed and calculated by inertial navigation device 22. This is advantageous because the moment of failure of satellite navigation device 21 or failure of 5G communications is unknown and random, while the position sensed and calculated by inertial navigation device 22 can be corrected in real time, enabling maximization of the accuracy of the position measurement of the vehicle in the event that satellite navigation device 21 is unable to acquire a satellite fix.
In one embodiment, the method includes continuously calculating the position of the vehicle at the time when the satellite navigation device 21 cannot acquire the position of the vehicle or at the time when the communication between the communication module 31 and the cloud platform is interrupted, using the inertial navigation device 22, starting from the time when the position of the vehicle cannot be acquired or the real-time position of the vehicle at the time of interruption. In the present embodiment, the satellite navigation device 21 cannot acquire the vehicle position, for example, the vehicle enters a culvert or cannot receive satellite signals due to other shelters, even the vehicle cannot acquire satellite positioning information due to temporary and accidental failure of the satellite navigation device 21, and the inertial navigation device 22 cannot be affected by these external factors, continuously senses the heading of the vehicle, calculates the heading and the position of the vehicle at the next time, and continuously acquires the position of the vehicle. Continuously calculating or acquiring the position of the vehicle means that the inertial navigation device 22 senses the heading change of the vehicle based on the current position at each time, and calculates the heading and the position of the vehicle at the next time, so that the information such as the running track and the speed of the vehicle after losing satellite navigation can be measured and calculated.
In one embodiment, the method includes in case of communication abnormality between the communication module 31 and the cloud platform and in case of abnormality of the satellite navigation device 21, communicating with short radio frequency communication devices of other vehicles through the short radio frequency communication device 32 to transmit the real-time position information of the vehicle calculated by the inertial navigation device 22 to the other vehicles and receive the real-time position information of the other vehicles, thereby determining the distance between the vehicle and the other vehicles and realizing avoidance of the other vehicles. According to the embodiment, even under the condition that the satellite navigation or the satellite positioning fails or the vehicle position cannot be normally obtained, even when the 5G communication cannot be communicated due to bad environment or insufficient coverage of the base station, the short radio frequency communication device 32 is used for communicating with the short radio frequency communication devices of other vehicles, so that the vehicles can obtain the positions of other vehicles, and avoidance or parking can be realized.
In an embodiment of the method of the present invention, in a case that the communication module 31 is in normal communication with the cloud platform, a cloud anti-collision algorithm is used to calculate a distance between the vehicle and another vehicle to determine whether to advance, avoid or stop;
under the condition that the communication module 31 is abnormal in communication with the cloud platform, the distance between the vehicle and other vehicles is determined and judged by using a vehicle-end collision algorithm so as to judge whether to advance, avoid or stop.
The cloud platform comprises a cloud anti-collision algorithm, can calculate the distance between the vehicle and other vehicles, and provides an indication for judging whether the vehicle travels, avoids or stops for the vehicle.
In one embodiment of the invention, the vehicle comprises a vehicle-end anti-collision algorithm, and the vehicle can self judge whether the vehicle travels, avoids or stops through the vehicle-end anti-collision algorithm.
The cloud anti-collision algorithm and the vehicle-end anti-collision algorithm may be similarly set as shown in fig. 3:
a first distance threshold D1, wherein if the distance between the vehicle and other vehicles is greater than the first distance threshold D1, the safety of the vehicle is judged;
a second distance threshold D2, wherein if the distance between the vehicle and other vehicles is smaller than the first distance threshold D1 and larger than the second distance threshold D2, the vehicle is judged to enter the early warning distance;
a third distance threshold D3, wherein if the distance between the vehicle and other vehicles is smaller than the second distance threshold D2 and larger than the third distance threshold D3, the vehicle is judged to enter the alarm distance; and
and a fourth distance threshold D4, wherein the distance between the vehicle and other vehicles is smaller than the third distance threshold D3 and larger than the fourth distance threshold D4, and the vehicle is judged to enter the deceleration parking distance.
According to an embodiment of the invention, the method comprises providing an alert service, such as an alarm, when the distance between the vehicle and the other vehicle is equal to or less than a first distance threshold D1; in another embodiment, the vehicle is indicated to be parked when the distance between the vehicle and the other vehicle is equal to or less than the fourth distance threshold D4.
The use of the terms first, second, third, fourth, etc. in the description of the invention is intended to distinguish one element from another, not to distinguish one element from another, but to distinguish one element from another, or from another, which may be significant or non-significant; the various embodiments of the present invention can be combined arbitrarily by those skilled in the art, and those skilled in the art can also derive embodiments not included in the present invention by reading the content and principle of the present invention.
The present disclosure describes various embodiments, however, the present disclosure also includes embodiments of the present disclosure that are not inventive, and the described embodiments are not intended to limit the present disclosure, but to help those skilled in the art understand the principle and implementation manner of the present disclosure. The embodiments of the present invention are not intended to limit the principle or structure of the present invention, but to help understanding the principle and technical solution of the present invention, and those skilled in the art can think of other embodiments not described in the present invention after reading the embodiments of the present invention, and these embodiments not described in the present invention should be considered as included in the present invention, and the embodiments of the present invention and the embodiments not described in the present invention can be combined to get other embodiments of the present invention. The scope of the invention should be determined from the following claims.
Claims (17)
1. An unmanned vehicle, comprising:
a satellite navigation device configured to acquire a real-time position of the unmanned vehicle through satellite positioning;
an inertial navigation device configured to detect a change in heading of the unmanned vehicle, thereby enabling continuous calculation of a real-time position of the unmanned vehicle from the detected change in heading of the unmanned vehicle using a previous-time position as an initial position; and
the communication module is used for communicating with a cloud platform, transmitting the real-time position of the unmanned vehicle acquired by the satellite navigation equipment or the real-time position of the unmanned vehicle calculated by the inertial navigation equipment to the cloud platform, and receiving the distance between the unmanned vehicle and other vehicles judged by the cloud platform through a cloud anti-collision algorithm and an instruction of the unmanned vehicle to perform one of traveling, avoiding other vehicles and stopping.
2. The unmanned vehicle of claim 1, wherein the inertial navigation device is configured to continuously calculate the position of the unmanned vehicle at a next time at a moment when the communication module interrupts communication with the cloud platform or at a moment when satellite positioning of the satellite navigation device fails, starting from a real-time position of the unmanned vehicle at the moment when communication interrupts or at the moment when satellite positioning fails.
3. The unmanned vehicle of claim 2, wherein the inertial navigation device is configured to correct the position of the unmanned vehicle at the same time as calculated by the inertial navigation device using a real-time position of the unmanned vehicle obtained by satellite positioning when satellite positioning is normal.
4. The unmanned vehicle of claim 1, further comprising: short radio frequency communication equipment operable to communicate with short radio frequency communication equipment of other vehicles so as to transmit real-time location information of the unmanned vehicle to the other vehicles and receive real-time location information of the other vehicles so that the unmanned vehicle can determine a distance between the unmanned vehicle and the other vehicles and effect avoidance of the other vehicles.
5. The unmanned vehicle of claim 4, wherein the short radio frequency communication device is configured to operate in the event of an interruption or anomaly in communication of the communication module with the cloud platform.
6. The unmanned vehicle according to claim 2, wherein when the satellite navigation device reacquires the position of the unmanned vehicle through satellite positioning, the inertial navigation device receives the position of the unmanned vehicle acquired by the satellite navigation device, corrects the calculated real-time position of the unmanned vehicle, and calculates the real-time position of the unmanned vehicle at the next time with the corrected position as a start position.
7. The unmanned vehicle of claim 1, wherein the cloud collision avoidance algorithm calculates a distance between the unmanned vehicle and other vehicles to determine whether to travel, avoid, or stop;
the cloud anti-collision algorithm is provided with:
the distance between the unmanned vehicle and other vehicles is greater than the first distance threshold, and then the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters the deceleration parking distance.
8. The unmanned vehicle of claim 4, wherein the unmanned vehicle determines a distance between the unmanned vehicle and another vehicle to determine whether to travel, avoid, or stop by an end of vehicle collision avoidance algorithm; wherein, the vehicle end anti-collision algorithm is provided with:
the distance between the unmanned vehicle and other vehicles is greater than the first distance threshold, and then the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters a deceleration parking distance.
9. The unmanned vehicle of claim 7 or 8, further comprising a collision avoidance processing module configured to instruct the unmanned vehicle to stop when a distance between the unmanned vehicle and another vehicle is equal to or less than a fourth distance threshold.
10. The unmanned vehicle of claim 7 or 8, further comprising an alert device configured to provide an alert service when a distance between the unmanned vehicle and another vehicle is equal to or less than a first distance threshold.
11. The unmanned vehicle of claim 1, wherein the communication module communicates with the cloud platform over a 5G network.
12. A collision avoidance method for an unmanned vehicle according to any of claims 1-11, comprising:
satellite positioning by the satellite navigation device to obtain a real-time position of the unmanned vehicle;
detecting a change in the heading of the unmanned vehicle using the inertial navigation device, and continuously calculating the real-time position of the unmanned vehicle from the detected change in the heading of the unmanned vehicle using the position at the previous time as an initial position; and
communicating with a cloud platform, transmitting the real-time position of the unmanned vehicle acquired by the satellite navigation equipment or the real-time position of the unmanned vehicle calculated by the inertial navigation equipment to the cloud platform, and receiving the distance between the unmanned vehicle and other vehicles judged by the cloud platform through a cloud anti-collision algorithm and an instruction of the unmanned vehicle to perform one of traveling, avoiding other vehicles or stopping.
13. The method of claim 12, comprising:
and at the moment when the satellite navigation equipment cannot acquire the position of the unmanned vehicle, or at the moment when the communication between the communication module and the cloud platform is interrupted, continuously calculating the position of the unmanned vehicle at the next moment by using the inertial navigation equipment and taking the moment when the position of the unmanned vehicle cannot be acquired or the real-time position of the unmanned vehicle at the interruption moment as a starting point.
14. The method according to claim 13, wherein in the case that the communication module is abnormal in communication with the cloud platform and in the case that the satellite navigation device is abnormal, the short radio frequency communication device is used for communicating with the short radio frequency communication device of another vehicle so as to send the real-time position information of the unmanned vehicle calculated by the inertial navigation device to the other vehicle and receive the real-time position information of the other vehicle, thereby determining the distance between the unmanned vehicle and the other vehicle and realizing avoidance of the other vehicle.
15. The method of claim 14, comprising:
under the condition that the communication module is normally communicated with the cloud platform, calculating the distance between the unmanned vehicle and other vehicles by using a cloud anti-collision algorithm to judge whether to advance, avoid or stop;
under the condition that the communication between the communication module and the cloud platform is abnormal, determining and judging the distance between the unmanned vehicle and other vehicles by using a vehicle-end collision algorithm so as to judge whether to advance, avoid or stop;
wherein high in the clouds anticollision algorithm and car end anticollision algorithm are provided with:
the distance between the unmanned vehicle and other vehicles is greater than the first distance threshold, and then the safety of the unmanned vehicle is judged;
a second distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the first distance threshold value and larger than the second distance threshold value, the unmanned vehicle is judged to enter the early warning distance;
a third distance threshold value, wherein if the distance between the unmanned vehicle and other vehicles is smaller than the second distance threshold value and larger than the third distance threshold value, the unmanned vehicle is judged to enter the alarm distance; and
and if the distance between the unmanned vehicle and other vehicles is smaller than the third distance threshold and larger than the fourth distance threshold, judging that the unmanned vehicle enters a deceleration parking distance.
16. The method of claim 15, comprising:
providing an alert service when a distance between the unmanned vehicle and another vehicle is equal to or less than a first distance threshold; and/or
Indicating the unmanned vehicle to park when the distance between the unmanned vehicle and the other vehicle is equal to or less than a fourth distance threshold.
17. The method of claim 12, comprising:
at any time when the real-time position of the unmanned vehicle can be acquired through satellite positioning, correcting the real-time position of the unmanned vehicle calculated by the inertial navigation device through the acquired real-time position, and calculating the real-time position of the unmanned vehicle at the next time with the corrected position as a start position.
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