CN115857502B - Driving control method and electronic device - Google Patents
Driving control method and electronic device Download PDFInfo
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Abstract
The application discloses a driving control method and electronic equipment. The method comprises the following steps: detecting whether a target obstacle in the running direction of target equipment is a concave-convex structural obstacle or not; if the target obstacle is detected to be a concave-convex structural obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle; and determining a driving route of the target equipment at the target obstacle according to the relative position of the target equipment and the convex-concave area in the target obstacle so as to control the target equipment to drive. According to the technical scheme, the target obstacle in the running direction of the target equipment is determined to be the concave-convex structural obstacle, and meanwhile, the accurate running route of the target equipment at the target obstacle is obtained according to the accurately determined relative position of the concave-convex area in the target obstacle, so that the problem that running control cannot be performed in a limited area due to inaccurate representation of the obstacle position is solved, and the accuracy of planning the running route of the target equipment is improved.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a driving control method and electronic equipment.
Background
Obstacle detection is widely used in the fields of autopilot, robot and the like, and particularly plays an important role in autopilot scenes.
In the related art, an obstacle on a road may be identified through obstacle detection, so that a driving route of a vehicle is planned to avoid the obstacle. However, the obstacle detection of the related scheme still has the problems of poor accuracy and poor flexibility in representing the position of the obstacle, for example, the information such as the size and the position of the obstacle is represented by a rectangular frame, and the obstacle position represented by the rectangular frame is inaccurate due to the obstacle specificity of the driving direction area, so that the planning of the subsequent driving path is unreasonable, and the driving efficiency is low.
Disclosure of Invention
The invention provides a running control method and electronic equipment, which are used for solving the problem that running control cannot be performed in a limited area due to inaccurate representation of an obstacle position.
According to an aspect of the present invention, there is provided a running control method including:
detecting whether a target obstacle in the running direction of target equipment is a concave-convex structural obstacle or not;
if the target obstacle is detected to be a concave-convex structural obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle;
and determining a driving route of the target equipment at the target obstacle according to the relative position of the target equipment and the convex-concave area in the target obstacle so as to control the target equipment to drive.
According to another aspect of the present invention, there is provided a travel control apparatus including:
the detection module is used for detecting whether the target obstacle in the running direction of the target equipment is a concave-convex structural obstacle or not;
the position determining module is used for determining the relative position of the target equipment and the convex-concave area in the target obstacle if the target obstacle is detected to be the concave-convex structural obstacle;
and the route determining module is used for determining the driving route of the target equipment at the target obstacle according to the relative position of the convex-concave area in the target obstacle so as to control the target equipment to drive.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the travel control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a travel control method according to any one of the embodiments of the present invention.
According to the technical scheme, whether the target obstacle in the running direction of the target equipment is a concave-convex structure obstacle is detected; if the target obstacle is detected to be a concave-convex structure obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle; and determining the driving route of the target equipment at the target obstacle according to the relative position of the target equipment and the convex-concave area in the target obstacle so as to control the target equipment to drive. According to the technical scheme, the target obstacle in the running direction of the target equipment is determined to be the concave-convex structural obstacle, and meanwhile, the accurate running route of the target equipment at the target obstacle is obtained according to the accurately determined relative position of the concave-convex area in the target obstacle, so that the problem that running control cannot be performed in a limited area due to inaccurate representation of the obstacle position is solved, and the accuracy of planning the running route of the target equipment is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a running control method according to a first embodiment of the present invention;
fig. 2a is a flowchart of a driving control method according to a second embodiment of the present invention;
FIG. 2b is a schematic view of convex side areas and concave side areas of a relief structure barrier suitable for use with embodiments of the present invention;
FIG. 3 is a schematic diagram of a structure for determining the relative position of a target device and a convex-concave region in a target obstacle, to which embodiments of the present invention are applicable;
fig. 4 is a schematic structural view of a travel control device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing a travel control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and "object" in the description of the present invention and the claims and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a driving control method according to a first embodiment of the present invention, where the method may be applied to detecting an obstacle in an autopilot scenario, and the method may be performed by a driving control device, where the driving control device may be implemented in hardware and/or software, and the driving control device may be configured in any electronic device having a network communication function. As shown in fig. 1, the method includes:
S110, detecting whether the target obstacle in the running direction of the target equipment is a concave-convex structural obstacle or not.
Specifically, the target device continuously detects the front road in the driving process, and timely judges whether an obstacle appears in the front road, so as to determine the forward route according to the position of the obstacle in real time, therefore, the structure determination of the target obstacle in the driving direction of the target device is very important, and only if the structure of the target obstacle is accurately determined, the accurate forward route can be provided for the target device.
In a possible embodiment, optionally, detecting whether the target obstacle in the driving direction of the target device is a concave-convex structural obstacle may include the following steps A1-A3:
and A1, when a target obstacle is detected in the driving direction, determining a target circumscribed rectangle matched with the target obstacle described by the target obstacle point cloud.
The target obstacle point cloud is obtained by performing round inspection on a plurality of angles through single-line laser sensing, for example, the transmitter rotates at a constant speed in the laser radar, laser is emitted once when the transmitter rotates for a small angle, and a frame of complete data is generated after round inspection for a certain angle.
And A2, determining the relative positions of the obstacle points in the target obstacle point cloud and the obstacle points between the sides of each rectangle in the target circumscribed rectangle.
And A3, determining whether the target obstacle is a concave-convex structural obstacle according to the relative positions of the obstacle points.
Specifically, in the driving process, the target device may acquire the point cloud in different manners, for example, may acquire the point cloud by transmitting and receiving single-line laser; then clustering the acquired point clouds, aggregating the point clouds belonging to the same target obstacle, determining the target obstacle point clouds, and analyzing the target obstacle point clouds to determine a proper target circumscribed rectangle; and finally, analyzing and processing the relative positions of the barrier points between the barrier points in the determined target barrier point cloud and each rectangular side of the target circumscribed rectangle so as to accurately determine the barrier points associated with each rectangular side in the target circumscribed rectangle, and further accurately determine whether the target barrier is a concave-convex structure barrier.
According to the technical scheme, when the target obstacle is detected in the driving direction, the target obstacle point cloud is accurately acquired, the target obstacle detected in the driving direction is described through the target obstacle point cloud, the target circumscribed rectangle matched with the target obstacle described by the target obstacle point cloud is determined, meanwhile, the relative positions of the obstacle points between the obstacle points in the determined target obstacle point cloud and the sides of each rectangle in the target circumscribed rectangle are analyzed, so that whether the target obstacle is the concave-convex structural obstacle or not is accurately determined, and the accurate judgment of the concave-convex structural obstacle is realized.
In a possible embodiment, optionally, determining the target bounding rectangle for the target obstacle described by the target obstacle point cloud may include the following steps B1-B4:
and B1, determining a convex hull of the target obstacle point cloud.
And B2, if the length of the convex hull edge of the convex hull is larger than a preset length value, constructing an external rectangle by taking the straight line along the convex hull edge as one side of the external rectangle.
And B3, counting the distance value from each obstacle point in the target obstacle point cloud to the nearest side in the circumscribed rectangle, calculating an average value, and recording the average value as the distance average value associated with the convex hull side.
And B4, determining a distance average value minimum value from the distance average value associated with each convex hull edge with the length of the convex hull edge being larger than a preset length value, and determining an circumscribed rectangle constructed by taking the convex hull edge associated with the distance average value minimum value as one side of the circumscribed rectangle as a target circumscribed rectangle matched with the target obstacle.
The preset length value is used for determining that the convex hull edge can be used as one side of the external rectangle to construct the critical value of the external rectangle, when the length of the convex hull edge is larger than the critical value, the convex hull edge can be used as one side of the external rectangle to construct the external rectangle, otherwise, the convex hull edge cannot be used as one side of the external rectangle to construct the external rectangle.
Specifically, in order to accurately determine a target circumscribed rectangle matched with a target obstacle, firstly determining a convex hull structure corresponding to the target obstacle point cloud according to the target obstacle point cloud, and determining the length of each convex hull edge of the convex hull so as to construct the circumscribed rectangle by taking the convex hull edge larger than a preset length value as one edge of the circumscribed rectangle; then determining the distance value from each obstacle point in the target obstacle point cloud to the nearest side of the constructed circumscribed rectangle, and summing and averaging the distance values to accurately determine the distance average value of the circumscribed rectangle constructed by taking the straight line of the convex hull edge as one side of the circumscribed rectangle; the distance average value of the circumscribed rectangle constructed by taking the straight line of the convex hull edge which is larger than the preset length value as one side of the circumscribed rectangle is determined in the same mode, and the circumscribed rectangle corresponding to the minimum value of the distance average value is taken as the target circumscribed rectangle matched with the target obstacle, so that the accurate determination of the target circumscribed rectangle is realized, and the error in driving route planning caused by the overlarge or undersize of the circumscribed rectangle is avoided.
Optionally, before the convex hull edge is used as one side of the circumscribed rectangle to construct the circumscribed rectangle, the convex hull edge which can be used for constructing the circumscribed rectangle can be determined in a more accurate manner, and the specific process can be as follows: sequencing all the convex hull edges from big to small according to the length of the convex hull edges of the convex hull; retaining convex hull edges meeting preset screening conditions in all convex hull edges of the convex hull; the preset screening conditions comprise a preset number of convex hull edges which are sequenced in front, and the ratio of the lengths of the convex hull edges to the sum of the lengths of the convex hull edges is larger than a preset value; or the length value of the convex hull edge is larger than a preset length value, and the ratio of the length of the convex hull edge to the sum of the lengths of the convex hull edges is larger than the preset value. Therefore, the selected convex hull edge is more accurate, an effective external rectangle can be constructed, the calculation process is reduced, and the determination efficiency and accuracy of the external rectangle are improved.
In a possible embodiment, determining the relative positions of the obstacle points in the target obstacle point cloud and the obstacle points between the sides of each rectangle in the target bounding rectangle may include the following steps C1-C2:
and C1, determining the positions of the obstacle points and the positions of the sides of each rectangle in the target circumscribed rectangle for each obstacle point in the target obstacle point cloud.
And C2, determining the shortest distance from the obstacle point to each rectangular side according to the position of the obstacle point and the position of each rectangular side.
Specifically, in order to accurately determine the structure of the target obstacle, it is necessary to analyze and process each obstacle point in the target obstacle point cloud to accurately determine the position of each obstacle point and the position of each rectangular side of the circumscribed rectangle, so that the distance from each obstacle point to each rectangular side can be accurately determined.
According to the technical scheme, the analysis processing of the positions of the obstacle points in the target obstacle point cloud and the accurate determination of the distances from the obstacle points to the rectangular sides are beneficial to accurately determining the structure of the target obstacle through the subsequent analysis of the distances.
In a possible embodiment, determining whether the target obstacle is a relief structure obstacle according to the relative positions of the obstacle points may include the following steps D1-D2:
Step D1, dividing each obstacle point in the target obstacle point cloud according to the relative positions of the obstacle points to obtain obstacle points associated with each rectangular edge in the target circumscribed rectangle; the shortest distance from the obstacle point to the rectangle side associated with the obstacle point is smaller than the shortest distance from the obstacle point to other rectangle sides in the circumscribed rectangle of the target.
And D2, determining whether the target obstacle is a concave-convex structure obstacle according to the number of obstacle points associated with each rectangular edge in the target circumscribed rectangle.
Specifically, in order to accurately determine whether the target obstacle is a concave-convex structural obstacle, it is necessary to accurately determine the obstacle points on each rectangular side of the circumscribed rectangle of the target to which the target obstacle is matched. Then the obstacle points belonging to each rectangular edge in the target obstacle point cloud are divided according to the determined relative positions of the obstacle points, so that the determination of the number of obstacle points on each rectangular edge of the target circumscribed rectangle is realized, and further, the accurate judgment of whether the target obstacle is an obstacle with a concave-convex structure can be realized by analyzing the number of obstacle points on each rectangular edge.
In an alternative scheme, if the number of the barrier points associated with two adjacent rectangular sides is larger than a preset threshold value, the associated barrier points are indicated to form a concave-convex structure, and the target barrier is marked as a concave-convex structure barrier; if the number of the barrier points associated with the two adjacent rectangular sides is not greater than a preset threshold value, the fact that the associated barrier points do not form a concave-convex structure is indicated, and the target barrier is marked as a non-concave structure barrier. The method and the device realize accurate determination of the concave-convex structural obstacle, avoid misjudgment of the target obstacle and influence the travel route of the target equipment.
According to the technical scheme, the obstacle points belonging to each rectangular edge in the target obstacle point cloud are divided, so that the accurate determination of the obstacle points on each rectangular edge of the circumscribed rectangle of the target is realized, and meanwhile, the number of the obstacle points belonging to each rectangular edge can be accurately determined, so that whether the target obstacle is a concave-convex structure obstacle or not can be accurately determined according to the positions and the number of the obstacle points on each rectangular edge, and the accurate judgment of the target obstacle structure is realized.
And S120, if the target obstacle is detected to be a concave-convex structural obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle.
Specifically, in the traveling process of the target device, after the obtained target obstacle point cloud is analyzed and processed, after the target obstacle is determined to be the concave-convex structural obstacle, accurate analysis is needed to be performed on the concave-convex structural obstacle so as to accurately determine the position of the target device relative to the concave-convex structural obstacle, namely, determine which side of a concave-convex area of the target obstacle is positioned by the target device, so that the subsequent determination of the traveling route of the target device is facilitated, and deviation in the determination of the traveling route due to inaccurate position determination of the target device relative to the concave-convex structural obstacle is avoided.
S130, determining a driving route of the target equipment at the target obstacle according to the relative position of the convex-concave area in the target obstacle so as to control the target equipment to drive.
Specifically, the relative position of the target device and the convex-concave area in the target obstacle is determined, and the relative position is analyzed to accurately determine whether the target device travels according to the original travel route or to redistribute a new travel route for the target device according to the relative position, so that the accuracy of the travel route of the target device is ensured, and the stable and safe travel of the target device is ensured.
According to the technical scheme, whether the target obstacle in the running direction of the target equipment is a concave-convex structure obstacle is detected; if the target obstacle is detected to be a concave-convex structure obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle; and determining the driving route of the target equipment at the target obstacle according to the relative position of the target equipment and the convex-concave area in the target obstacle so as to control the target equipment to drive. According to the technical scheme, the target obstacle in the running direction of the target equipment is determined to be the concave-convex structural obstacle, and meanwhile, the accurate running route of the target equipment at the target obstacle is obtained according to the accurately determined relative position of the concave-convex area in the target obstacle, so that the problem that running control cannot be performed in a limited area due to inaccurate representation of the obstacle position is solved, and the accuracy of planning the running route of the target equipment is improved.
Example two
Fig. 2a is a flowchart of a driving control method according to a second embodiment of the present invention, and the embodiment is described in detail with reference to S120 and S130 in the foregoing embodiments. As shown in fig. 2a, the method comprises:
and S210, determining the relative position of the target equipment and a convex-concave area in the target obstacle when the target obstacle in the running direction of the target equipment is detected to be the concave-convex structural obstacle.
Wherein, referring to fig. 2b, the protruding side region and the recessed side region of the concave-convex structural obstacle are arranged away from each other in position, the protruding side region of the concave-convex structural obstacle is located at the protruding side of the concave-convex structural obstacle, the recessed side region of the concave-convex structural obstacle is located at the recessed side of the concave-convex structural obstacle, and the concave-convex structural obstacle can be a corner or an obstacle with the recessed side region and the protruding side region respectively on two sides which are away from each other like a corner. When the target obstacle is a concave-convex structural obstacle, taking the target obstacle as a corner as an example, the concave side of the target obstacle corresponds to the inner corner side of the corner, and the convex side of the target obstacle corresponds to the outer corner side of the corner.
Optionally, in order to accurately determine the relative positions of the target device and the convex-concave area in the target obstacle, it is necessary to extract, from the target obstacle point cloud, a first obstacle point position at the concave-convex point of the concave-convex structure and a second obstacle point position at the two side end points of the concave-convex structure; determining the relative positions of the convex-concave areas of the target equipment and the target obstacle according to the positions of the target equipment, the first obstacle point position and the second obstacle point position; wherein the relative position to the convex-concave region in the target obstacle is used to describe the positional proximity of the target device to the convex side and concave side of the target obstacle.
For example, referring to the convex-concave area in the target obstacle in fig. 3, the required points a, b and c may be extracted from the target obstacle point cloud in fig. 3, that is, the point a in the figure is the first obstacle point position at the concave-convex point of the concave-convex structure, and the points b and c in the figure are the second obstacle point positions at the two side end points of the concave-convex structure. Determining the position of the target equipment, namely d or e in the graph; and the relative positions of the convex-concave areas of the target equipment and the target obstacle can be accurately determined according to the points a, b and c and in combination with d or e, so that the driving route of the target equipment can be reasonably planned later.
In one possible embodiment, determining the relative positions of the convex-concave regions of the target device and the target obstacle according to the position of the target device, the first obstacle point position and the second obstacle point position may include the following steps E1-E3:
e1, constructing a first straight line segment from the target equipment to the first obstacle point according to the position of the target equipment and the position of the first obstacle point.
And E2, constructing a second straight line segment between the second obstacle points according to the positions of the second obstacle points.
And E3, determining the relative positions of the target equipment and the convex-concave area in the target obstacle according to the first straight line segment and the second straight line segment.
Specifically, after the position of the target device, the position of the first obstacle point and the position of the second obstacle point are determined, the position of the target device and the position of the first obstacle point are connected to determine a first straight line segment, and meanwhile, the position of the second obstacle point is connected to construct a second straight line segment; for example, referring to fig. 3, if the position of the target device is d, a straight line L1 formed by connecting points a and d is a first straight line segment, and if the position of the target device is e, a straight line L1' formed by connecting points a and e is a first straight line segment, and at the same time, a second obstacle point b and c is connected to form a second straight line segment L2. And finally, the relative positions of the target equipment and the convex-concave area in the target obstacle can be accurately determined by analyzing the position relation between the first straight line segment and the second straight line segment.
Optionally, one possible way to determine the relative position of the target device and the convex-concave region of the target obstacle is: if the intersection point is detected to be generated between the first straight line segment and the second straight line segment, determining that the target equipment is positioned on the concave side of the target obstacle and far away from the convex side of the target obstacle; if no intersection point is detected between the first straight line segment and the second straight line segment, the target device is determined to be located on the convex side of the target obstacle and away from the concave side of the target obstacle. For example, referring to fig. 3, the first straight line segment L1 and the second straight line segment L2 do not intersect, illustrating that the device d at this time is on the convex side of the target obstacle and away from the concave side of the target obstacle; in the figure, the intersection point exists between the first straight line segment L1' and the second straight line segment L2, which indicates that the target equipment e is positioned on the concave side of the target obstacle and far away from the convex side of the target obstacle, so that the determination of the relative position between the target equipment and the target obstacle is realized accurately, and the follow-up planning of the driving route of the target equipment can be performed accurately.
According to the technical scheme, the position of the target device, the position of the first obstacle point and the position of the second obstacle point are accurately determined, a first straight line segment between the position of the target device and the position of the first obstacle point and a second straight line segment determined by the position of the second obstacle point are simultaneously constructed, the relative positions of the target device and the convex-concave area in the target obstacle are accurately determined by utilizing the position relation between the first straight line segment and the second straight line segment, the accuracy of obstacle position representation is improved, and further the follow-up accurate planning of the driving route of the target device is facilitated.
S220, determining a driving route of the target equipment at the target obstacle according to the relative position of the convex-concave area in the target obstacle so as to control the target equipment to drive.
Specifically, the relative position of the target device and the convex-concave area in the target obstacle can be accurately determined by utilizing the position relation between the first straight line segment and the second straight line segment, and then a proper travel route can be planned for the target device; if the target device is located on the convex side of the target obstacle, the target device continues to travel according to the original route, and if the target device is located on the concave side of the target obstacle, a new route needs to be planned for the target device. For example, referring to fig. 3, the target device d is located on the convex side of the target obstacle, and thus can continue to travel along the original route; the target device e is located on the concave side of the target obstacle, and then an appropriate travel route needs to be planned for the target device in matching with the existing scene.
Alternatively, one possible solution if it is detected that the target device is located on the concave side of the target obstacle is: and continuing to carry out path planning in the area on the concave side of the target obstacle continuously towards the driving direction with the current position of the target equipment, and generating a driving route for the target equipment to continue driving from the target obstacle according to the path planning result towards the driving direction.
In a possible embodiment, optionally, determining the driving route of the target device at the target obstacle according to the relative position of the convex-concave area in the target obstacle may include the following steps F1-F3:
f1, if the target equipment is detected to be positioned at the concave side of the target obstacle, carrying out external connection position frame fine re-matching on the target obstacle point cloud to obtain a plurality of re-matching position frames of the target obstacle; the difference value between the dent degree formed by combining the multiple re-matching position frames and the dent degree of the target obstacle is smaller than the preset difference value. And F2, continuing to carry out path planning in the direction of travel in the area on the concave side of the target obstacle according to the positions of the multiple re-matched position frames of the target obstacle and starting with the current position of the target equipment.
And F3, generating a running route for the target equipment to continue running from the target obstacle according to the path planning result facing the running direction.
The re-matching position frame can be a finer boundary position frame obtained by carrying out fine division processing on obstacle points on each rectangular edge of the target circumscribed rectangle matched with the target obstacle; the re-matching position frames are combined together according to the positions of the target obstacle points, a recess can be formed, the recess degree can be expressed according to the angle of the re-matching position frame combination, but the difference value between the recess degree and the recess degree of the target obstacle is smaller than a preset difference value, so that the recess formed by the formed multiple re-matching position frame combinations is not consistent with the recess of the target obstacle, and the path planning is affected.
The degree of the depression of the target obstacle can be expressed according to an included angle formed between connecting line segments formed after the first obstacle point position and the second obstacle point position are respectively connected, for example, the included angle formed between the connecting line segments of the point a and the point b and the connecting line segments of the point a and the point c in fig. 3 can express the degree of the depression of the target obstacle in fig. 3.
Specifically, by using the positional relationship between the first straight line segment and the second straight line segment, it is determined that the target device is located on the concave side of the target obstacle, and a new travel route needs to be planned for the target device. Firstly, carrying out external connection position frame fine re-matching on a target obstacle point cloud to obtain a plurality of re-matching position frames of the target obstacle; after the multiple re-matching position frames are determined, a proper traveling route can be planned for the target equipment according to the multiple re-matching position frame positions of the target obstacle, so that the available area in the target obstacle is fully utilized, and meanwhile, the inaccuracy of the traveling route of the target equipment due to the error of route planning is avoided, and the advancing efficiency of the target equipment is influenced.
In an alternative example, when the target obstacle is a right-angled concave-convex structural obstacle, a third obstacle point and a fourth obstacle point are extracted from the target obstacle point cloud, the position difference of the vertical axes between the third obstacle points is smaller than the preset position difference, and the position difference of the horizontal axes between the extracted fourth obstacle points is smaller than the preset position difference. For example, for each obstacle point in the target obstacle point cloud, each obstacle point is represented by a horizontal axis position, a vertical axis position and a vertical axis position, taking a first obstacle surface of a corner as a first surface wall and a second obstacle surface as a second surface wall as examples, the vertical axis positions of the obstacle points for representing the first surface wall are basically the same, and slight differences may exist, but the differences between the vertical axis positions of the obstacle points for representing the first surface wall are smaller than a preset position difference, and the differences between the horizontal axis positions of the obstacle points for representing the first surface wall are also smaller than a preset position difference, so that the obstacle points for representing different surface walls can be separated. Further, after determining the third obstacle point for representing the first obstacle surface and the fourth obstacle point for representing the second obstacle surface, which are right-angled concave-convex structural obstacles, the circumscribed rectangle matched by the third obstacle point set can be further determined and used as a re-matching position frame, and the circumscribed rectangle matched by the fourth obstacle point set is determined and used as another re-matching position frame, so that accurate determination of a plurality of re-matching position frames is realized.
According to the technical scheme, after the fact that the target equipment is located on the concave side of the target obstacle is determined, a route is directly planned for the target equipment according to the position condition of the concave side of the target obstacle, or a route suitable for the target equipment is determined according to the fact that a plurality of matching position frames are determined for the target obstacle, and accurate planning of a traveling route for the target equipment is achieved.
According to the technical scheme, after the target obstacle is detected to be the concave-convex structural obstacle, the relative positions of the target equipment and the convex-concave area in the target obstacle are timely determined, namely, the relative positions of the target equipment and the convex-concave area in the target obstacle are accurately obtained through the relation among the positions of the target equipment, the positions of the first obstacle point and the positions of the second obstacle point, and further, the convex side and the concave side of the target equipment on the target obstacle can be accurately determined; and determining the driving route of the target equipment at the target obstacle according to the relative position of the convex-concave area in the target obstacle, namely, when the target equipment is positioned at the concave side of the target obstacle, the driving route can be accurately provided for the target equipment, the position of the concave side in the target obstacle is efficiently utilized, the problem that driving control cannot be performed in a limited area due to inaccurate representation of the obstacle position is solved, and the accuracy of driving route planning of the target equipment is improved.
Example III
Fig. 4 is a schematic structural diagram of a driving control device according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes:
a detection module 310, configured to detect whether the target obstacle in the driving direction of the target device is a concave-convex structural obstacle.
And the position determining module 320 is configured to determine a relative position of the target device and the convex-concave area in the target obstacle if the target obstacle is detected to be a concave-convex structural obstacle.
And the route determining module 330 is configured to determine a driving route of the target device at the target obstacle according to the relative position of the convex-concave area in the target obstacle, so as to control the target device to drive.
Optionally, the detection module is specifically configured to:
when a target obstacle is detected in the driving direction, determining a target circumscribed rectangle matched with the target obstacle described by the target obstacle point cloud;
determining the relative positions of barrier points between barrier points in a target barrier point cloud and each rectangular side in the target circumscribed rectangle;
and determining whether the target obstacle is a concave-convex structural obstacle according to the relative positions of the obstacle points.
Optionally, the detection module includes an external rectangle determining unit, which is specifically configured to:
determining a convex hull of the target obstacle point cloud;
If the length of the convex hull edge of the convex hull is larger than a preset length value, constructing an external rectangle by taking the straight line where the convex hull edge is located as one side of the external rectangle;
counting the distance value from each obstacle point in the target obstacle point cloud to the nearest edge in the circumscribed rectangle, calculating the average value, and recording the average value as the distance average value associated with the convex hull edge;
determining a distance average value minimum value from the distance average value associated with each convex hull edge with the length of the convex hull edge being larger than a preset length value, and determining an circumscribed rectangle constructed by taking the convex hull edge associated with the distance average value minimum value as one side of the circumscribed rectangle as a target circumscribed rectangle matched with the target obstacle.
Optionally, the circumscribed rectangle determining unit includes a convex hull edge screening unit, and is specifically configured to:
sequencing all the convex hull edges from big to small according to the length of the convex hull edge of the convex hull;
retaining convex hull edges meeting preset screening conditions in all the convex hull edges of the convex hull;
the preset screening conditions comprise a preset number of convex hull edges which are sequenced in front, and the ratio of the lengths of the convex hull edges to the sum of the lengths of the convex hull edges is larger than a preset value; or the length value of the convex hull edge is larger than a preset length value, and the ratio of the length of the convex hull edge to the sum of the lengths of the convex hull edges is larger than the preset value.
Optionally, the detection module includes a distance determining unit, specifically configured to:
for each obstacle point in the target obstacle point cloud, determining the position of the obstacle point and the position of each rectangular side in the target circumscribed rectangle;
and determining the shortest distance from the obstacle point to each rectangular side according to the position of the obstacle point and the position of each rectangular side.
Optionally, the detection module includes a judging unit, specifically configured to:
dividing each obstacle point in the target obstacle point cloud according to the relative positions of the obstacle points to obtain obstacle points associated with each rectangular edge in the target circumscribed rectangle; the shortest distance from the obstacle point to the associated rectangular side is smaller than the shortest distance from the obstacle point to other rectangular sides in the target circumscribed rectangle;
and determining whether the target obstacle is a concave-convex structure obstacle or not according to the number of obstacle points associated with each rectangular edge in the target circumscribed rectangle.
Optionally, the judging unit includes a concave-convex structural obstacle determining unit, specifically configured to:
if the number of the barrier points associated with the two adjacent rectangular sides is greater than a preset threshold, marking the target barrier as a concave-convex structure barrier;
if the number of the barrier points associated with the two adjacent rectangular sides is not greater than a preset threshold, marking the target barrier as a non-concave-convex structure barrier.
Optionally, the location determining module is specifically configured to:
extracting a first barrier point position at a concave-convex point of the concave-convex structure and a second barrier point position at two side end points of the concave-convex structure from the target barrier point cloud;
determining the relative positions of the target equipment and the convex-concave area of the target obstacle according to the positions of the target equipment, the first obstacle point position and the second obstacle point position;
wherein the relative position to the convex-concave region in the target obstacle is used to describe the degree of positional proximity of the target device to the convex side and concave side of the target obstacle.
Optionally, the position determining module includes a relative position determining unit, specifically configured to:
constructing a first straight line segment from the target equipment to the first obstacle point according to the position of the target equipment and the position of the first obstacle point;
constructing a second straight line segment between the second obstacle points according to the positions of the second obstacle points;
and determining the relative positions of the target equipment and the convex-concave area in the target obstacle according to the first straight line segment and the second straight line segment.
Optionally, the relative position determining unit includes an area determining unit, specifically configured to:
If the intersection point is detected to be generated between the first straight line segment and the second straight line segment, determining that the target device is positioned on the concave side of the target obstacle and far away from the convex side of the target obstacle;
if no intersection point is detected between the first straight line segment and the second straight line segment, the target device is determined to be located on the convex side of the target obstacle and away from the concave side of the target obstacle.
Optionally, the route determining module includes a first route determining unit, specifically configured to:
if the target equipment is detected to be positioned at the concave side of the target obstacle, continuing to carry out path planning in the area of the concave side of the target obstacle continuously towards the driving direction according to the current position of the target equipment;
and generating a running route for the target equipment to continue running from the target obstacle according to a path planning result facing the running direction.
Optionally, the route determination module includes a second route determination unit, specifically configured to:
if the target equipment is detected to be positioned at the concave side of the target obstacle, carrying out external connection position frame fine re-matching on the target obstacle point cloud to obtain a plurality of re-matching position frames of the target obstacle; the difference value between the sinking degree formed by combining the multiple re-matching position frames and the sinking degree of the target obstacle is smaller than a preset difference value;
Continuing to carry out path planning in the concave side area of the target obstacle continuously towards the driving direction according to the multiple re-matching position frame positions of the target obstacle and starting with the current position of the target equipment;
and generating a running route for the target equipment to continue running from the target obstacle according to a path planning result facing the running direction.
Optionally, the second route determining unit includes a location frame determining unit, specifically configured to:
when the target obstacle is a right-angled concave-convex structure obstacle, extracting a third obstacle point with the same vertical axis position and a fourth obstacle point with the same horizontal axis from the target obstacle point cloud; the vertical axis position difference between the extracted third obstacle points is smaller than the preset position difference, and the horizontal axis position difference between the extracted fourth obstacle points is smaller than the preset position difference;
determining the circumscribed rectangle matched with the third obstacle point set as a heavy matching position frame;
and determining the circumscribed rectangle matched with the fourth obstacle point set as a heavy matching position frame.
Optionally, when the target obstacle is a concave-convex structural obstacle, the target obstacle is a corner, the concave side of the target obstacle corresponds to an inner corner side of the corner, and the convex side of the target obstacle corresponds to an outer corner side of the corner.
The running control device provided in the embodiment of the invention can execute the running control method provided in any embodiment of the invention, has the corresponding functions and beneficial effects of executing the running control method, and the detailed process refers to the relevant operation of the running control method in the embodiment.
Example IV
Fig. 5 shows a schematic structural diagram of an electronic device that may be used to implement the travel control method of the embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as a running control method.
In some embodiments, the travel control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the travel control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the travel control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. A running control method, characterized by comprising:
detecting whether a target obstacle in the running direction of target equipment is a concave-convex structural obstacle or not; the concave-convex structure obstacle is an obstacle with a concave side area and a convex side area, the convex side area and the concave side area of the concave-convex structure obstacle are arranged in a position deviating from each other, the convex side area of the concave-convex structure obstacle is positioned on the convex side of the concave-convex structure obstacle, and the concave side area of the concave-convex structure obstacle is positioned on the concave side of the concave-convex structure obstacle;
If the target obstacle is detected to be a concave-convex structural obstacle, determining the relative position of the target equipment and a concave-convex area in the target obstacle; wherein the relative position to the convex-concave region in the target obstacle is used to describe the degree of positional proximity of the target device to the convex side and concave side of the target obstacle;
determining a driving route of the target equipment at the target obstacle according to the relative position of the target equipment and the convex-concave area in the target obstacle so as to control the target equipment to drive;
wherein detecting whether the target obstacle in the traveling direction of the target device is a concave-convex structural obstacle, comprises:
when a target obstacle is detected in the driving direction, determining a target circumscribed rectangle matched with the target obstacle described by the target obstacle point cloud;
determining the relative positions of barrier points between barrier points in a target barrier point cloud and each rectangular side in the target circumscribed rectangle; the relative positions of the obstacle points are the shortest distance between the obstacle points and each rectangular side in the target circumscribed rectangle;
determining whether the target obstacle is a concave-convex structural obstacle according to the relative positions of the obstacle points;
wherein determining the relative position of the target device and the convex-concave region in the target obstacle comprises:
Extracting a first barrier point position at a concave-convex point of the concave-convex structure and a second barrier point position at two side end points of the concave-convex structure from the target barrier point cloud;
and determining the relative positions of the target equipment and the convex-concave area of the target obstacle according to the positions of the target equipment, the first obstacle point position and the second obstacle point position.
2. The method of claim 1, wherein determining a target bounding rectangle for a target obstacle match of a target obstacle point cloud description comprises:
determining a convex hull of the target obstacle point cloud;
if the length of the convex hull edge of the convex hull is larger than a preset length value, constructing an external rectangle by taking the straight line along the convex hull edge as one side of the external rectangle;
counting the distance value from each obstacle point in the target obstacle point cloud to the nearest edge in the circumscribed rectangle, calculating the average value, and recording the average value as the distance average value associated with the convex hull edge;
determining a distance average value minimum value from the distance average value associated with each convex hull edge with the length of the convex hull edge being larger than a preset length value, and determining an circumscribed rectangle constructed by taking the convex hull edge associated with the distance average value minimum value as one side of the circumscribed rectangle as a target circumscribed rectangle matched with the target obstacle.
3. The method of claim 2, further comprising, prior to constructing the bounding rectangle along the line along which the convex hull edge lies as one side of the bounding rectangle:
sequencing all the convex hull edges from big to small according to the length of the convex hull edge of the convex hull;
retaining convex hull edges meeting preset screening conditions in all the convex hull edges of the convex hull;
the preset screening conditions comprise a preset number of convex hull edges which are sequenced in front, and the ratio of the lengths of the convex hull edges to the sum of the lengths of the convex hull edges is larger than a preset value; or the length value of the convex hull edge is larger than a preset length value, and the ratio of the length of the convex hull edge to the sum of the lengths of the convex hull edges is larger than the preset value.
4. The method of claim 1, wherein determining the relative positions of the obstacle points in the target obstacle point cloud and the obstacle points between the sides of the rectangles in the target bounding rectangle comprises:
for each obstacle point in the target obstacle point cloud, determining the position of the obstacle point and the position of each rectangular side in the target circumscribed rectangle;
and determining the shortest distance from the obstacle point to each rectangular side according to the position of the obstacle point and the position of each rectangular side.
5. The method of claim 1, wherein determining whether the target obstacle is a relief structure obstacle based on the obstacle point relative locations comprises:
Dividing each obstacle point in the target obstacle point cloud according to the relative positions of the obstacle points to obtain obstacle points associated with each rectangular edge in the target circumscribed rectangle; the shortest distance from the obstacle point to the associated rectangular side is smaller than the shortest distance from the obstacle point to other rectangular sides in the target circumscribed rectangle;
if the number of the barrier points associated with each rectangular edge in the target circumscribed rectangle is determined to be greater than a preset threshold value according to the number of the barrier points associated with each rectangular edge in the target circumscribed rectangle, marking the target barrier as a concave-convex structure barrier;
if the number of the barrier points associated with each rectangular edge in the target circumscribed rectangle is determined to be not larger than a preset threshold value according to the number of the barrier points associated with each rectangular edge in the target circumscribed rectangle, marking the target barrier as a non-concave-convex structure barrier.
6. The method of claim 1, wherein determining the relative position of the target device and the convex-concave region of the target obstacle based on the position of the target device, the first obstacle point position, and the second obstacle point position comprises:
constructing a first straight line segment from the target equipment to the first obstacle point according to the position of the target equipment and the position of the first obstacle point;
Constructing a second straight line segment between the second obstacle points according to the positions of the second obstacle points;
determining the relative positions of the target equipment and the convex-concave area in the target obstacle according to the first straight line segment and the second straight line segment;
wherein determining the relative position of the target device and the convex-concave region of the target obstacle according to the first straight line segment and the second straight line segment comprises:
if the intersection point is detected to be generated between the first straight line segment and the second straight line segment, determining that the target device is positioned on the concave side of the target obstacle and far away from the convex side of the target obstacle;
if no intersection point is detected between the first straight line segment and the second straight line segment, the target device is determined to be located on the convex side of the target obstacle and away from the concave side of the target obstacle.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the travel control method according to any one of claims 1-6 when executing the program.
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