CN116543583A - Route switching system and method - Google Patents
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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Abstract
The application discloses a route switching system and a route switching method. The system comprises: the system comprises a target vehicle, a scheduling module and a route switching module, wherein the target vehicle is used for sending a first state of the target vehicle to the scheduling module, the scheduling module is used for determining whether the first state of the target vehicle is a first preset state under the condition that the target vehicle needs to be switched from a current route to a target route, and sending a route switching instruction to the target vehicle under the condition that the first state is the first preset state, the first preset state represents that the target vehicle is in a driving process, and the target vehicle is also used for switching the driving route of the target vehicle from the current route to the target route in response to the route switching instruction. In this way, the efficiency of route switching can be improved, thereby improving the work efficiency of the vehicle.
Description
Technical Field
The application belongs to the technical field of automatic driving, and particularly relates to a route switching system and method.
Background
With the development of autopilot technology, a large number of work tasks have been performed by autopilot vehicles.
At present, if a vehicle wants to change a driving route of the vehicle in the process of executing a task, the vehicle needs to be controlled to stop, then the current route of the vehicle is canceled, and then the vehicle is restarted after receiving the new route.
In this way, when switching the travel route of the vehicle, it is necessary to stop and restart, and wait for the current route to be canceled and the new route to be received, and therefore the efficiency of route switching is relatively low, and the work efficiency of the vehicle is lowered.
Disclosure of Invention
The embodiment of the application provides a route switching system and a route switching method, which can improve the efficiency of route switching, thereby improving the operation efficiency of a vehicle.
In a first aspect, an embodiment of the present application provides a route switching system, including:
a target vehicle for transmitting its own first status to the dispatch module,
a scheduling module, configured to determine whether a first state of the target vehicle is a first preset state if it is determined that the target vehicle needs to be switched from a current route to the target route, and send a route switching instruction to the target vehicle if the first state is the first preset state, where the first preset state indicates that the target vehicle is in a driving process,
the target vehicle is also configured to switch its own travel route from the current route to the target route in response to the route switching instruction.
In some embodiments, the scheduling module is specifically configured to:
determining a bifurcation point of the current route and the target route,
and sending a route switching instruction to the target vehicle when the distance between the target vehicle and the bifurcation point exceeds a preset distance.
In some embodiments, the scheduling module is further configured to determine path information corresponding to the target route, and send the path information to the target vehicle,
the target vehicle is also used to travel according to the path information.
In some embodiments, the target vehicle is further configured to send, to the scheduling module, first feedback information indicating that the target vehicle successfully receives the path information if the path information is received.
In some embodiments, the target vehicle is specifically configured to:
the dynamic parameters of the self-body are obtained,
based on the kinetic parameters, the current route and the target route, a switching path is planned,
and under the condition that the contact ratio of the switching path and the current route is larger than the contact ratio threshold value, switching the driving route from the current route to the target route.
In some embodiments, the target vehicle is further configured to send second feedback information to the scheduling module, where the contact ratio of the switched path to the current route is greater than a contact ratio threshold, the second feedback information characterizing the target route verification pass.
In some embodiments, the route switching system further comprises:
a plurality of vehicles for transmitting status information of the vehicles to the dispatch module, the plurality of vehicles including a target vehicle and at least one other vehicle,
the scheduling module is further used for determining whether other vehicles obstructing the running of the target vehicle exist or not according to the plurality of state information, and determining that the target vehicle needs to be switched from the current route to the target route when the other vehicles obstructing the running of the target vehicle exist.
In some embodiments, the route switching system further comprises:
a management module for sending task switching instructions carrying task switching information to the scheduling module, the task switching information comprising the identification of the target vehicle and the target task position,
the scheduling module is also used for responding to the task switching instruction, planning a target route from the target vehicle to the target task position according to the task switching information, and determining that the target vehicle needs to be switched from the current route to the target route.
In some embodiments, the target vehicle is further configured to update the first state to a second preset state under a condition that the driving route of the target vehicle is switched from the current route to the target route, and send the updated first state to the scheduling module, where the second preset state characterizes that the target vehicle completes task switching.
In some embodiments, the target vehicle is further configured to send third feedback information to the dispatch module, the third feedback information characterizing a route switch anomaly,
the dispatch module is also configured to send a cancel handover command to the target vehicle,
the target vehicle is also used for responding to the canceling switching instruction, continuing to run according to the current route, updating the first state to a first preset state and sending the updated first state to the scheduling module.
An embodiment of the present application provides a route switching method, which is applied to a scheduling module in a route switching system as shown in any embodiment of the first aspect, where the method includes:
a first state transmitted by the target vehicle is received,
determining whether a first state of the target vehicle is a first preset state under the condition that the target vehicle needs to be switched from a current route to a target route;
and under the condition that the first state is a first preset state, sending a route switching instruction to the target vehicle so that the target vehicle responds to the route switching instruction and switches the driving route of the target vehicle from the current route to the target route, wherein the first preset state represents that the target vehicle is in the driving process.
The route switching system of the embodiment of the application comprises a target vehicle and a scheduling module. The method comprises the steps that a target vehicle can send a first state of the target vehicle to a scheduling module, the scheduling module can judge whether the first state of the target vehicle is a first preset state representing that the target vehicle is in a driving process under the condition that the target vehicle needs to be switched from a current route to a target route, and send a route switching instruction to the target vehicle under the condition that the first state is the first preset state, and then the target vehicle can respond to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route. Therefore, the vehicle can start again after waiting for canceling the current route and receiving the new route without stopping, so that the efficiency of route switching can be improved, and the working efficiency of the vehicle can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
Figure 1 is a scene graph of a target vehicle performing a task provided in one embodiment of the present application,
figure 2 is a block diagram of a route switching system according to one embodiment of the present application,
figure 3 is a schematic diagram of a route switch scenario provided by one embodiment of the present application,
figure 4 is a schematic diagram of another route switch scenario provided by one embodiment of the present application,
FIG. 5 is a schematic diagram of interactions of a target vehicle and a dispatch module provided in one embodiment of the present application;
fig. 6 is a flowchart of a route switching method according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
As background art, with the development of automatic driving technology, a large number of work tasks have been performed by an automatic driving vehicle.
For example, in a port park, a fleet cloud control dispatch management system (Fleet Manage System, FMS) may assign production job instructions (e.g., container transportation from point a to point B) to an autopilot vehicle from a dock management system (Terminal Operating System, TOS) and break the production job instructions into a number of vehicle task queues that need to be completed sequentially according to a container transportation workflow. And the FMS performs global path planning on each task from the starting point to the destination, and the vehicle executes a single-point task according to the global path. For example, a single point mission may be to receive a mission travel path, a mission start, a vehicle travel, a vehicle arriving at a terminal stop, a vehicle parking operation (e.g., a container handling process in a mission), a mission completion, etc.
However, if it is desired to change the driving route of the vehicle during the task execution of the vehicle, it is necessary to control the vehicle to stop, cancel the current route of the vehicle, and restart the vehicle after receiving the new route.
In this way, the efficiency of the route switching may be relatively low, and thus the operation efficiency of the vehicle may be reduced.
The embodiment of the application provides a route switching system, which comprises a target vehicle and a scheduling module. The method comprises the steps that a target vehicle can send a first state of the target vehicle to a scheduling module, the scheduling module can judge whether the first state of the target vehicle is a first preset state representing that the target vehicle is in a driving process under the condition that the target vehicle needs to be switched from a current route to a target route, and send a route switching instruction to the target vehicle under the condition that the first state is the first preset state, and then the target vehicle can respond to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route. Therefore, the vehicle can start again after waiting for canceling the current route and receiving the new route without stopping, so that the efficiency of route switching can be improved, and the working efficiency of the vehicle can be improved.
In order to facilitate understanding of the route switching system provided in the embodiments of the present application, a general procedure for performing a task for an automated driving vehicle will be described below.
As shown in fig. 1, taking the process of "transporting containers on board ships to a yard" as an example, the process is disassembled into three tasks: t1, T2 and T3 are as follows:
t1: the TOS may send a boxing job instruction to the FMS that carries boxing task information (which may include a task number, a boxing location, and a container number). After receiving the boxing operation instruction, the FMS can distribute the boxing task to the automatic driving vehicle, conduct real-time route planning according to the boxing task information, send an instruction for accurately stopping the automatic driving vehicle to the shore bridge, and load the container onto the automatic driving vehicle from the ship after the automatic driving vehicle arrives at a specified place.
T2: after the port machine matched with the operation finishes boxing, a port machine management system (ECS) sends a message notification of boxing completion to an FMS, the FMS confirms that the automatic driving vehicle finishes boxing, and if the FMS does not receive a boxing unloading instruction sent by the TOS, the FMS issues a pre-driving task so as not to block the operation of the subsequent vehicle, the automatic driving vehicle leaves a port bridge, real-time path planning is carried out by the FMS, and the automatic driving vehicle runs to a vehicle cache parking point planned in advance in a place. In addition, the figure shows a one-way lane, and if a vehicle is blocked in front of the pre-drive-away task, the vehicle needs to be stopped and queued up in the task.
T3: after receiving the bin unloading operation instruction carrying bin unloading task information (which can comprise a task number, a bin unloading place and a bin loading number) sent by the TOS, the FMS performs path planning according to the bin unloading task information, sends an instruction for parking in a storage yard to an automatic driving vehicle, and after the automatic driving vehicle arrives at the storage yard, the TOS sends a bin unloading task (comprising a container matched with the vehicle and the operation, a bin unloading position and the like) of a port machine to the ECS, the ECS distributes the bin unloading task of the port machine to a port machine in the storage yard, and sends port machine equipment number information matched with the bin unloading to the FMS, the FMS sends the port machine equipment number information to the automatic driving vehicle, the automatic driving vehicle performs alignment according to a tray guiding system (Chassis Physical Systems, CPS) of the port machine, and when CPS guiding is 0, the FMS and the two parties are handshaking to confirm, and then the port machine completes the bin unloading task.
The route switching system provided in the embodiment of the present application is described below with reference to the accompanying drawings.
Fig. 2 shows an architecture diagram of a route switching system according to an embodiment of the present application.
As shown in fig. 2, the route switching system may include: a target vehicle 211 and a dispatch module 220.
Wherein the target vehicle 211, may be configured to send its first status to the dispatch module 220,
the scheduling module 220 may be configured to, in a case where it is determined that the target vehicle 211 needs to be switched from the current route to the target route, determine whether the first state of the target vehicle 211 is a first preset state, and in a case where the first state is the first preset state, send a route switching instruction to the target vehicle 211,
the target vehicle 211 may also be configured to switch its own travel route from the current route to the target route in response to the route switching instruction.
Here, the target vehicle 211 may be an autonomous vehicle. The scheduling module 220 may be an FMS.
The first state may be any one of a first preset state, a second preset state, a third preset state, a fourth preset state, a fifth preset state, and a sixth preset state, and of course, may also include other states, which are not limited herein.
Illustratively, the third preset state may be: state=0, and the vehicle is not performing a task. The first preset state may be: state=1, the vehicle is executing a task, and no task dynamic switching is performed. The fourth preset task may be: state=2, the vehicle receiving task dynamically switches, and new task information of the vehicle is received. The fifth preset task may be: state=3, and the vehicle verifies that the new mission information passes. The second preset state may be: state=4, the vehicle completes the task dynamic switch, and a new task is being executed. The sixth preset state may be: state >5, vehicle task dynamic switching anomalies.
Specifically, the target vehicle 211 may periodically send its own status information, which may include the first status, to the dispatch module 220. The scheduling module 220 may periodically detect whether the target vehicle 211 needs to switch the route, if it is determined that the target vehicle 211 needs to be switched from the current route to the target route, it may determine whether the first state of the current target vehicle 211 is a first preset state, where the first preset state may represent that the target vehicle 211 is in a driving process, and if so, the scheduling module 220 may send a route switching instruction to the target vehicle 211. Then, the target vehicle 211 may switch its own travel route from the current route to the target route in response to the route switching instruction.
Therefore, the target vehicle can send the first state of the target vehicle to the scheduling module, the scheduling module can judge whether the first state of the target vehicle is a first preset state representing that the target vehicle is in a driving process under the condition that the target vehicle needs to be switched from a current route to a target route, and send a route switching instruction to the target vehicle under the condition that the first state is the first preset state, and then the target vehicle can respond to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route. Therefore, the vehicle can start again after waiting for canceling the current route and receiving the new route without stopping, so that the efficiency of route switching can be improved, and the working efficiency of the vehicle can be improved.
In some embodiments, the scheduling module 220 may be specifically configured to:
determining a bifurcation point of the current route and the target route,
and sending a route switching instruction to the target vehicle when the distance between the target vehicle and the bifurcation point exceeds a preset distance.
Here, the scheduling module 220 may plan a target route for the target vehicle 211 before transmitting the route switching instruction to the target vehicle 211, then determine a bifurcation point of the current route and the target route, and transmit the route switching instruction to the target vehicle 211 in case that the target vehicle 211 is more than a preset distance from the bifurcation point.
In addition, if the target vehicle 211 does not exceed the preset distance from the bifurcation point, the dispatch module 220 does not send a route switch instruction to the target vehicle 211.
In this way, the scheduling module 220 may preliminarily determine the feasibility of the route switching, and send the route switching instruction to the target vehicle 211 if the feasibility is determined, so that the success rate of route switching may be improved, and the danger may be avoided.
In some implementations, the scheduling module 220 may also be configured to determine path information corresponding to the target route, and send the path information to the target vehicle 211,
the target vehicle 211 is also used to travel according to the path information.
Here, the scheduling module 220 may plan path information corresponding to the target route based on the target route and transmit the path information to the target vehicle 211, and then the target vehicle 211 may travel based on the path information.
In this manner, the target vehicle 211 may be caused to travel according to the path planned by the dispatch module 220 based on the target route, thereby achieving the route switch.
In some embodiments, the target vehicle 211 may also be configured to send the first feedback information to the scheduling module 220 if the path information is received.
Here, the first feedback information may characterize that the target vehicle 211 successfully receives the path information. The target vehicle 211, after receiving the path information, transmits the first feedback information to the scheduling module 220, and may notify the scheduling module 220 of: the target vehicle 211 successfully receives the path information (i.e., state=2), so that the scheduling module 220 can timely detect the first State of the target vehicle 211.
In some embodiments, the target vehicle 211 may be specifically configured to:
the dynamic parameters of the self-body are obtained,
based on the kinetic parameters, the current route and the target route, a switching path is planned,
and under the condition that the contact ratio of the switching path and the current route is larger than the contact ratio threshold value, switching the driving route from the current route to the target route.
Here, the kinetic parameters may include the current position, attitude, speed, acceleration, lateral acceleration, load, and the like, and may include other parameters, which are not limited herein.
Specifically, the target vehicle 211 (specifically, may be an on-board autopilot module of the target vehicle) may plan a switching path according to the dynamics parameter, the current route and the target route, determine a contact ratio of the switching path and the current route, and then determine whether the contact ratio is greater than a contact ratio threshold.
The switching path may be a transition path of the target vehicle from the current route to the target route, if the switching path does not coincide with the current route, it may indicate that the switching path is disconnected from the current route, and the target vehicle cannot travel onto the switching path, that is, cannot travel onto the target route, so that the target vehicle cannot be switched from the current route to the target route, and if the contact ratio of the switching path and the current route is smaller, the traveling state of the target vehicle may be suddenly changed when the target vehicle travels from the current route to the switching path, and safety cannot be ensured.
Therefore, by determining whether the overlap ratio of the switching path and the current route is greater than the overlap ratio threshold, it can be determined whether the target vehicle 211 can safely and smoothly travel from the current route onto the target route. If the current route is larger than the target route, the target vehicle 211 can safely and smoothly run from the current route to the target route, the route switching feasibility is higher, the target vehicle 211 can switch the running route from the current route to the target route, if the current route is not larger than the target route, the target vehicle 211 cannot safely and smoothly run from the current route to the target route, the route switching feasibility is lower, and the target vehicle 211 does not switch the route.
In this way, by judging the feasibility of the route switching by the target vehicle 211, the safety and smoothness of the target vehicle 211 in the route switching process can be further improved.
In some embodiments, the target vehicle 211 may also be configured to send second feedback information to the scheduling module 220 if the contact ratio of the switched path to the current route is greater than the contact ratio threshold.
Here, the second feedback information may characterize the target route verification pass. If the contact ratio of the switched path and the current route is greater than the contact ratio threshold, that is, the path switching is feasible, the target vehicle 211 may send first feedback information to the scheduling module 220, notifying the scheduling module 220: the target route checks through (i.e., state=3), thereby enabling the dispatch module 220 to timely detect the first State of the target vehicle 211.
In some embodiments, as shown in fig. 2, the route switching system may further include:
a plurality of vehicles 210 for transmitting their own status information to the dispatch module,
the scheduling module 220 is further configured to determine, according to the plurality of status information, whether there is another vehicle 212 that blocks the driving of the target vehicle 211, and determine that the target vehicle 211 needs to be switched from the current route to the target route if there is another vehicle 212 that blocks the driving of the target vehicle 211.
Here, the plurality of vehicles 210 may include a target vehicle 211 and at least one other vehicle 212. The state information may include, but is not limited to, a position, a speed, a heading, etc. of the vehicle, and may also include the first state described above, and may also include other state information.
Specifically, each of the plurality of vehicles 210 may periodically transmit its own status information to the scheduling module 220. The dispatch module 220 may determine, based on the status information of the plurality of vehicles 210, whether there are other vehicles 212 that obstruct the travel of the target vehicle 211, and if so, may determine that the target vehicle 211 needs to switch from the current route to the target route.
For example, as shown in fig. 3, since the current route of the target vehicle 211 is 310, there are other vehicles 212 obstructing the travel thereof in front, it can be determined that the target vehicle 211 needs the current route 310 to be switched to the target route 320.
In the prior art, if other vehicles obstructing the running of the vehicle exist in front of the vehicle during the running process of the vehicle, the vehicle can only stop and wait behind the other vehicles, and the route switching system provided by the embodiment of the application can switch the route to bypass when other vehicles obstructing the running of the vehicle exist, so that the inefficiency caused by the stopping and waiting is avoided.
In some embodiments, as shown in fig. 2, the route switching system may further include:
a management module 230 for sending task switch instruction carrying task switch information to the scheduling module 220,
the scheduling module 220 is further configured to plan a target route for the target vehicle 211 to travel to the target task location according to the task switching information in response to the task switching instruction, and determine that the target vehicle 211 needs to be switched from the current route to the target route.
Here, the management module 230 may be TOS. The management module 230 may send a task switch instruction to the scheduling module 220 carrying task switch information, which may include an identification of the target vehicle 211 and a target task location. The target task location may be a new bin location or a new bin removal location. The task switch instruction may be an instruction to change a task location.
Then, in response to the task switch instruction, the scheduling module 220 may plan a target route for the target vehicle 211 to travel to the target task location according to the task switch information, and determine that the target vehicle 211 needs to be switched from the current route to the target route.
Illustratively, as shown in fig. 4, the target vehicle 211 is traveling along the current route 410, the scheduling module 220 receives a task switch instruction sent by the management module 230, the task switch instruction instructs to switch the task position of the target vehicle 211 to the target task position, and in response to the task switch instruction, the scheduling module 220 may plan a target route 420 for the target vehicle 211 to travel to the target task position, and determine that the target vehicle 211 needs to be switched from the current route 410 to the target route 420.
In this way, the scheduling module 220 may control the target vehicle 211 to perform route switching when receiving the task switching instruction, thereby improving flexibility of task and route switching.
In some embodiments, the target vehicle 211 may be further configured to update the first state to the second preset state when the own driving route is switched from the current route to the target route, and send the updated first state to the scheduling module 220.
Here, the second preset state may characterize that the target vehicle completes the task switch. After updating the first state to the second preset state, the target vehicle 211 sends the updated first state to the scheduling module 220, and may notify the scheduling module 220: the target vehicle 211 completes the task switch (i.e., state=4), so that the scheduling module 220 can timely detect the current first State of the target vehicle 211.
In addition, after updating the first state to the second preset state and transmitting the updated first state to the scheduling module 220, the target vehicle 211 may also update the first state to the first preset state and transmit the updated first state again to the scheduling module 220. In this way, the scheduling module 220 may be notified: the target vehicle 211 is in the driving process (i.e. state=1), so that the scheduling module 220 can timely detect the first preset State of the current first State position of the target vehicle 211, so as to facilitate the subsequent route switching again.
In some embodiments, the target vehicle 211 is further configured to send third feedback information to the dispatch module 220 in the event of a failure in acceptance of path information, failure in verification of a target route, or incomplete task switch,
the dispatch module 220 is also configured to send a cancel handover instruction to the target vehicle 211,
the target vehicle 211 is further configured to, in response to the cancel switch instruction, continue traveling according to the current route, update the first state to a first preset state, and send the updated first state to the scheduling module.
Here, the target vehicle 211 may transmit third feedback information, which may characterize a route switching abnormality, to the scheduling module 220 in the case where the path information reception fails, the target route check fails, or the task switching is not completed. Then, the scheduling module 220 may send a cancel switch instruction to the target vehicle 211, and the target vehicle 211 may respond to the cancel switch instruction, continue to travel according to the current route, update the first state to the first preset state, and send the updated first state to the scheduling module.
For example, the target vehicle 211 may send third feedback information to the dispatch module 220 in case of a path information reception failure, a target route verification failure, or an incomplete task switch, the third feedback information may characterize a route switch abnormality (State > 5). Then, the scheduling module 220 may send a cancel switch instruction to the target vehicle 211, and in response to the cancel switch instruction, the target vehicle 211 may continue traveling along the current route and update the first State to the first preset State (state=1), and send the updated first State to the scheduling module.
In this way, the scheduling module 220 may detect the route switching abnormality of the target vehicle 211 in time and restore the state to the first preset state, so that the next route switching may be performed in time.
Compared with a traditional cloud control task distribution system, the route switching system provided by the embodiment of the application can identify that the end point of a vehicle task is changed or the front of the vehicle task route is blocked in the running process of the vehicle, judge whether a dynamic task change flow needs to be initiated or not according to the current vehicle condition and the environment where the vehicle is located, and enable the vehicle to safely and smoothly switch routes after issuing a newly planned global task route and completing interaction with the vehicle. The operation efficiency of the automatic driving vehicle is improved, and the driving safety is improved.
To facilitate an understanding of the information interaction between the target vehicle and the dispatch module, the following description is provided in connection with FIG. 5.
As shown in fig. 5, the information interaction between the target vehicle and the scheduling module includes S501-S512, which are specifically as follows:
s501, status information is transmitted.
Specifically, the target vehicle continually periodically transmits status information to the dispatch module, which may include a first status.
S502, determining the switching intention.
Specifically, the scheduling module determines whether route switching is required.
S503, judging the first state of the target vehicle.
Specifically, if it is determined that the target vehicle needs to be switched from the current route to the target route, the scheduling module may determine whether the state of the target vehicle is a first preset state.
S504, judging the feasibility of route switching.
Specifically, the scheduling module may preliminarily determine the feasibility of the route switching through the distance between the target vehicle and the bifurcation point between the current route and the target route.
S505, transmitting path information and a route switching instruction.
Specifically, the scheduling module may send path information and route switching instructions for the target route to the target vehicle.
S506, first feedback information is sent.
Specifically, after receiving the path information and the route switching instruction, the target vehicle may send first feedback information to the scheduling module, notifying the scheduling module of: the target vehicle successfully receives the path information and the route switching instruction.
S507, judging the feasibility of route switching.
Specifically, the target vehicle can further judge the feasibility of the route switching by planning the switching path.
S508, sending second feedback information.
Specifically, after the target vehicle determines that the route switching is feasible, the target vehicle may send second feedback information to the scheduling module, notifying the scheduling module of: and checking and passing the target route.
S509, a route switching is performed.
Specifically, the target vehicle may make a route switching.
S510, sending the first state.
Specifically, after the target vehicle completes the route switching, the first state may be sent to the scheduling module to notify the scheduling module: the target vehicle completes the route switching.
S511, transmitting acknowledgement information.
Specifically, the scheduling module may send a confirmation message to the target vehicle, confirm that the route switching is completed, and ask the target vehicle to restore the first state to the first preset state.
S512, driving according to the target route.
Specifically, the target vehicle may travel along the target route.
Therefore, the target vehicle can send the first state of the target vehicle to the scheduling module, the scheduling module can judge whether the first state of the target vehicle is a first preset state representing that the target vehicle is in a driving process under the condition that the target vehicle needs to be switched from a current route to a target route, and send a route switching instruction to the target vehicle under the condition that the first state is the first preset state, and then the target vehicle can respond to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route. Therefore, the vehicle can start again after waiting for canceling the current route and receiving the new route without stopping, so that the efficiency of route switching can be improved, and the working efficiency of the vehicle can be improved.
The embodiment of the application also provides a route switching method which can be applied to the scheduling module.
The route switching method provided in the embodiment of the present application is described below with reference to the accompanying drawings.
Fig. 6 shows a flowchart of a route switching method according to an embodiment of the present application.
As shown in fig. 6, the method may include:
s610, a first state sent by a target vehicle is received.
S620, in a case where it is determined that the target vehicle needs to be switched from the current route to the target route, it is determined whether the first state of the target vehicle is a first preset state.
And S630, transmitting a route switching instruction to the target vehicle when the first state is a first preset state, so that the target vehicle responds to the route switching instruction to switch the self driving route from the current route to the target route.
The first preset state may represent that the target vehicle is in a driving process.
It should be noted that, the specific process of the route switching method provided in the embodiment of the present application is the same as the processing process of the scheduling system in the route switching system in the above embodiment, and will not be described herein again.
Therefore, the target vehicle can send the first state of the target vehicle to the scheduling module, the scheduling module can judge whether the first state of the target vehicle is a first preset state representing that the target vehicle is in a driving process under the condition that the target vehicle needs to be switched from a current route to a target route, and send a route switching instruction to the target vehicle under the condition that the first state is the first preset state, and then the target vehicle can respond to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route. Therefore, the vehicle can start again after waiting for canceling the current route and receiving the new route without stopping, so that the efficiency of route switching can be improved, and the working efficiency of the vehicle can be improved.
These examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and claimed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various modifications as are suited to the particular use contemplated. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.
Claims (10)
1. A route switching system, the system comprising:
a target vehicle for transmitting its own first status to the dispatch module,
the scheduling module is used for determining whether the first state of the target vehicle is a first preset state or not under the condition that the target vehicle needs to be switched from the current route to the target route, sending a route switching instruction to the target vehicle under the condition that the first state is the first preset state, wherein the first preset state represents that the target vehicle is in the driving process,
the target vehicle is further configured to switch its own travel route from the current route to the target route in response to the route switching instruction.
2. The route switching system of claim 1, wherein the scheduling module is specifically configured to:
determining a bifurcation point of the current route and the target route,
and sending the route switching instruction to the target vehicle when the distance between the target vehicle and the bifurcation point exceeds a preset distance.
3. The route switching system of claim 1, wherein the scheduling module is further configured to determine path information corresponding to the target route and send the path information to the target vehicle,
the target vehicle is also used for driving according to the path information.
4. The route switching system of claim 3, wherein the target vehicle is further configured to send first feedback information to the scheduling module upon receipt of the path information, the first feedback information characterizing successful receipt of the path information by the target vehicle.
5. The route switching system of claim 1, wherein the target vehicle is specifically configured to:
the dynamic parameters of the self-body are obtained,
planning a switching path according to the dynamics parameters, the current route and the target route,
and under the condition that the contact ratio of the switching path and the current route is larger than a contact ratio threshold value, switching the driving route from the current route to the target route.
6. The route switching system of claim 5, wherein the target vehicle is further configured to send second feedback information to the scheduling module, the second feedback information characterizing the target route verification pass, if a degree of overlap of the switched path with the current route is greater than the degree of overlap threshold.
7. The route switching system of claim 1, wherein the route switching system further comprises:
a plurality of vehicles for transmitting status information of themselves to the dispatch module, the plurality of vehicles including the target vehicle and at least one other vehicle,
the scheduling module is further configured to determine, according to a plurality of the status information, whether the other vehicle that impedes the driving of the target vehicle exists, and determine that the target vehicle needs to be switched from the current route to the target route if the other vehicle that impedes the driving of the target vehicle exists.
8. The route switching system of claim 1, wherein the route switching system further comprises:
a management module for sending a task switching instruction carrying task switching information to the scheduling module, wherein the task switching information comprises an identification of the target vehicle and a target task position,
the scheduling module is also used for responding to the task switching instruction, planning a target route for the target vehicle to travel to the target task position according to the task switching information, and determining that the target vehicle needs to be switched from the current route to the target route.
9. The route switching system according to claim 8, wherein the target vehicle is further configured to update the first state to a second preset state, in a case where a travel route of the target vehicle itself is switched from the current route to the target route, and send the updated first state to the scheduling module, the second preset state indicating that the target vehicle completes task switching.
10. A route switching method applied to the scheduling module in the route switching system of any one of claims 1 to 9, the method comprising:
a first state transmitted by the target vehicle is received,
determining whether a first state of the target vehicle is a first preset state under the condition that the target vehicle needs to be switched from a current route to a target route;
and under the condition that the first state is the first preset state, sending a route switching instruction to the target vehicle so that the target vehicle responds to the route switching instruction to switch the driving route of the target vehicle from the current route to the target route, wherein the first preset state represents that the target vehicle is in the driving process.
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|---|---|---|---|
| CN202310618950.XA CN116543583A (en) | 2023-05-29 | 2023-05-29 | Route switching system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310618950.XA CN116543583A (en) | 2023-05-29 | 2023-05-29 | Route switching system and method |
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| CN202310618950.XA Pending CN116543583A (en) | 2023-05-29 | 2023-05-29 | Route switching system and method |
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