WO2024045570A1

WO2024045570A1 - Autonomous vehicle control method and apparatus, and operation system

Info

Publication number: WO2024045570A1
Application number: PCT/CN2023/082804
Authority: WO
Inventors: 唐建林; 孙亚文; 周长成
Original assignee: 江苏徐工工程机械研究院有限公司
Priority date: 2023-03-08
Filing date: 2023-03-21
Publication date: 2024-03-07
Also published as: CN116125993A

Abstract

An autonomous vehicle control method and apparatus (100, 700), and an operation system (800). The autonomous vehicle control method comprises: acquiring an alternative safe travel destination of a first autonomous vehicle; when it is determined that, during traveling on the basis of the alternative safe travel destination, the first autonomous vehicle does not conflict with another autonomous vehicle, determining the alternative safe travel destination to be a new safe travel destination; and issuing the new safe travel destination to the first autonomous vehicle, so as to instruct the first autonomous vehicle to move to the new safe travel destination. The method is suitable for a cooperative operation of multiple autonomous vehicles in a working area, and guarantees that the autonomous vehicles travel in order in the working area, thereby guaranteeing the operation efficiency in the working area when no safety accidents may occur.

Description

Unmanned vehicle control method and device and operating system

Cross-references to related applications

This application is based on the application with CN application number 202310219727.8 and the filing date is March 8, 2023, and claims its priority. The disclosure content of the CN application is hereby incorporated into this application as a whole.

Technical field

The present disclosure relates to the field of traffic control, and in particular to an unmanned vehicle control method and device and an operating system.

Background technique

The operation map used by the mine unmanned transportation system is divided into a driving area, a loading area and an unloading area, of which the loading area and the unloading area are collectively referred to as the work area. Autonomous driving of unmanned vehicles involves many key technologies such as execution control, environmental perception, high-precision positioning, decision-making and planning, and operation scheduling.

In a scenario where multiple unmanned vehicles work together in a work area, the path resources of multiple unmanned vehicles are prone to conflicts, resulting in vehicle collisions or path congestion, which affects the safety and efficiency of operations in the work area.

Contents of the invention

The embodiment of the present disclosure proposes an unmanned vehicle control method suitable for collaborative operation of multiple unmanned vehicles in the work area, ensuring that the unmanned vehicles drive in an orderly manner in the work area without causing collisions or other safety accidents. Work efficiency in the work area.

Some embodiments of the present disclosure provide an unmanned vehicle control method, including:

Obtain the alternative safe driving destination of the first unmanned vehicle;

When it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles, determine the alternative safe driving end point as the new safe driving end point;

The new safe driving end point is issued to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point.

In some embodiments, obtaining the alternative safe driving end point of the first unmanned vehicle includes:

When the position update of the first unmanned vehicle is detected, obtain the alternative safe driving end point of the first unmanned vehicle; or,

When the previous alternative safe driving end point is not determined as the safe driving end point, obtain the next alternative safe driving end point of the first unmanned vehicle; or,

Search forward along the target driving path of the first unmanned vehicle starting from the current position point of the first unmanned vehicle, and use one of the points in the searched target driving path as an alternative safe driving end point.

In some embodiments, determining that the first unmanned vehicle's driving based on the alternative safe driving endpoint does not conflict with other unmanned vehicles includes:

Determine the alternative safe driving area and the alternative safe parking area of the first unmanned vehicle based on the alternative safe driving end point of the first unmanned vehicle;

Perform a first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;

A second judgment is performed to determine whether the alternative safe parking area of the first unmanned vehicle conflicts with the waiting area of the third unmanned vehicle, where: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle In the same work area, the priority of the third unmanned vehicle is higher than the priority of the first unmanned vehicle;

When the first judgment result and the second judgment result are both non-conflicts, it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles.

In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: expanding based on the current location point of the first unmanned vehicle and the alternative safe driving end point, and using the expanded area as the first Alternative safe driving zones for autonomous vehicles.

In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: according to the preset expansion factor, performing horizontal expansion and longitudinal expansion based on the current position point of the first unmanned vehicle and the alternative safe driving end point. Expand, and use the expanded area as an alternative safe driving area for the first unmanned vehicle.

In some embodiments, determining the alternative safe parking area of the first unmanned vehicle includes: expanding based on the alternative safe driving end point of the first unmanned vehicle, and using the expanded area as the first unmanned vehicle's Alternative secure parking area.

In some embodiments, determining the alternative safe parking area of the first unmanned vehicle includes: performing horizontal expansion and vertical expansion based on the alternative safe driving end point of the first unmanned vehicle according to a preset expansion factor, and extending the The obtained area is used as an alternative safe parking area for the first unmanned vehicle.

In some embodiments, the candidate safe parking area of the first unmanned vehicle is a subset of the alternative safe driving area of the first unmanned vehicle.

In some embodiments, the safe driving area of the second unmanned vehicle is an area expanded based on the current location point and safe driving end point of the second unmanned vehicle.

In some embodiments, the safe driving area of the second unmanned vehicle is based on the preset expansion factor and is determined by the second The area obtained by horizontal expansion and vertical expansion based on the current location point and safe driving end point of the unmanned vehicle.

In some embodiments, the waiting area of the third unmanned vehicle is an area expanded based on the current location point and the task end point of the third unmanned vehicle.

In some embodiments, the waiting area of the third unmanned vehicle is an area obtained by horizontal expansion and vertical expansion based on the current position point and the task end point of the third unmanned vehicle according to a preset expansion factor. .

In some embodiments, the resulting area of expansion is a band-shaped area.

In some embodiments, the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In some embodiments, the alternative safe driving area of the first unmanned vehicle and the second unmanned vehicle are determined by determining whether they overlap. Whether the vehicle's safe driving zone conflicts.

In some embodiments, it is determined whether the alternative safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle. Whether there is a conflict in the waiting area of the vehicle.

In some embodiments, the method further includes: determining the priority of the unmanned vehicle according to the priority queue, wherein the sorting method of the priority queue includes: the priority of the unmanned vehicle in the exit queue is higher than that of the unmanned vehicle in the work queue. The priority of manned vehicles. The priority of unmanned vehicles in the operation queue is higher than the priority of unmanned vehicles in the entry queue. The priority of unmanned vehicles in the same queue is higher than that of unmanned vehicles that enter the queue later. Priority for people and vehicles.

In some embodiments, the method further includes: dynamically adding the unmanned vehicle to the admission queue, operation queue or exit queue according to the status of the unmanned vehicle performing tasks.

In some embodiments, dynamically adding unmanned vehicles to the admission queue, operation queue or exit queue includes:

When the unmanned vehicle passes the entry point and is about to enter the work area, add the unmanned vehicle to the entry queue of the work area; or,

When the unmanned vehicle is performing a job task, the unmanned vehicle is removed from the admission queue of the work area and added to the job queue of the work area; or,

When the execution of the unmanned vehicle's job task ends, the unmanned vehicle will be deleted from the job queue of the work area and added to the exit queue of the work area; or,

When the body of the unmanned vehicle completely drives out of the work area, the unmanned vehicle will be deleted from the exit queue of the work area.

In some embodiments, one or more of the following are also included:

If the first judgment result is a conflict, the safe driving end point of the first unmanned vehicle will not be updated;

When the second judgment result is a conflict, obtain the new alternative safe driving end point of the first unmanned vehicle, and determine whether the first unmanned vehicle travels based on the new alternative safe driving end point according to the method of claim 3 Conflict with other autonomous vehicles.

In some embodiments, the method further includes: obtaining the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area. The target driving path includes: an entry path from the entry point to the operating point and an entry path from the operating point to the operating point. The point set of the exit path of the exit point.

In some embodiments, the method further includes: monitoring abnormalities in the real-time location of the unmanned vehicle based on the target driving path of the unmanned vehicle.

In some embodiments, it also includes: if the real-time position of the unmanned vehicle is monitored to be outside the preset range of the target driving path of the unmanned vehicle, notify the abnormal unmanned vehicle or other unmanned vehicles in the same work area. Issue a stop command.

Some embodiments of the present disclosure provide an unmanned vehicle control device, including:

memory; and

A processor coupled to the memory, the processor configured to execute an autonomous vehicle control method based on instructions stored in the memory.

Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the unmanned vehicle control method are implemented.

Some embodiments of the present disclosure provide an operating system, including:

at least one autonomous vehicle, and,

The unmanned vehicle control device is configured to execute the unmanned vehicle control method.

The determination module is configured to: obtain the alternative safe driving end point of the first unmanned vehicle; when it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles, set the alternative safe driving end point to the first unmanned vehicle. The driving end point is determined as the new safe driving end point;

The delivery module is configured to deliver the new safe driving end point to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point.

In some embodiments, the determining module is configured as:

Search forward along the target driving path of the first unmanned vehicle starting from the current position point of the first unmanned vehicle, and use one of the points in the searched target driving path as an alternative safe driving end point;

or,

In some embodiments, it also includes: a queue management module configured to: manage a priority queue for determining the priority of the unmanned vehicle, wherein: the sorting method of the priority queue includes: unmanned vehicles in the exit queue The priority of the vehicle is higher than the priority of the unmanned vehicle in the operation queue. The priority of the unmanned vehicle in the operation queue is higher than the priority of the unmanned vehicle in the admission queue. The priority of the unmanned vehicle in the same queue is higher than that of the unmanned vehicle in the queue. The priority of the vehicle is higher than that of the unmanned vehicle that enters the queue later; the unmanned vehicle is dynamically added to the entry queue, operation queue or exit queue according to the status of the unmanned vehicle performing tasks.

In some embodiments, it also includes: a path acquisition module configured to: acquire the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area, where the target driving path includes: from the entry point to the operating point. The entry path and the point set of the exit path from the operation point to the exit point.

In some embodiments, it also includes: an anomaly monitoring module configured to monitor abnormalities in the real-time location of the unmanned vehicle according to the target driving path of the unmanned vehicle.

Description of drawings

The drawings needed to be used in the description of the embodiments or related technologies will be briefly introduced below. The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings.

Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 shows a schematic diagram of an unmanned vehicle control device according to some embodiments of the present disclosure.

Figure 2 shows a schematic diagram of a target driving path, an (alternative) safe driving area, an (alternative) safe parking area, and a waiting area according to some embodiments of the present disclosure.

Figure 3 shows a schematic diagram of an unmanned vehicle control method according to some embodiments of the present disclosure.

Figures 4a, 4b, and 4c show schematic diagrams of application example 1 of the unmanned vehicle control method according to some embodiments of the present disclosure.

Figures 5a, 5b, and 5c show schematic diagrams of application example 2 of the unmanned vehicle control method according to some embodiments of the present disclosure.

Figure 6 shows a schematic diagram of application example 3 of the unmanned vehicle control method according to some embodiments of the present disclosure.

Figure 7 shows a schematic structural diagram of an unmanned vehicle control device according to some embodiments of the present disclosure.

Figure 8 shows a schematic diagram of an operating system according to some embodiments of the present disclosure.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure.

Unless otherwise specified, descriptions such as "first", "second" and "third" in this disclosure are used to distinguish different objects and are not used to indicate size or timing.

As shown in Figure 1, the unmanned vehicle control device 100 in this embodiment includes: a determination module 130 and a delivery module 140. If necessary, it may also include: a path acquisition module 110, a queue management module 120, and an exception monitoring module 150.

The path acquisition module 110 is configured to: obtain the target driving path of the unmanned vehicle that has been assigned a working point in the same work area. The target driving path includes: an entry path from the entry point to the working point and an entry path from the working point to the working point. The point set of the exit path of the exit point.

The target driving path of the unmanned vehicle is, for example, a pre-planned driving path for a work task of the unmanned vehicle. The target driving path can be represented by a set of points (ie, a point set) set at preset intervals.

Taking the unmanned transportation scenario in a mining area as an example, the operation map used by the unmanned mining transportation system is divided into a driving area, a loading area, and an unloading area. The loading area and the unloading area are collectively called the work area.

The queue management module 120 is configured to: manage the priority queue to determine the priority of the unmanned vehicle; and dynamically add the unmanned vehicle to the entry queue, operation queue or exit queue according to the status of the unmanned vehicle performing tasks.

Wherein: the sorting method of the priority queue includes: the priority of the unmanned vehicles in the exit queue is higher than the priority of the unmanned vehicles in the operation queue, and the priority of the unmanned vehicles in the operation queue is higher than that of the entry queue. The priority of the unmanned vehicles in the same queue. The priority of the unmanned vehicle that enters the queue first is higher than the priority of the unmanned vehicle that enters the queue later. (That is, first-in-first-out strategy).

For example, if autonomous vehicle A is entering the venue and autonomous vehicle A is in the admission queue, then the autonomous vehicles with a higher priority than autonomous vehicle A include the autonomous vehicles in front of autonomous vehicle A in the admission queue, Unmanned vehicles in the work queue and unmanned vehicles in the exit queue. For another example, if unmanned vehicle B is coming out and unmanned vehicle B is in the exit queue, then the unmanned vehicles with a higher priority than unmanned vehicle B include the unmanned vehicles in front of unmanned vehicle B in the exit queue.

Among them, dynamically adding the unmanned vehicle to the entry queue, job queue or exit queue according to the status of the unmanned vehicle executing the task includes: when the unmanned vehicle passes the entry point and is about to enter the work area, adding the unmanned vehicle to the work The admission queue of the work area; or, when the unmanned vehicle is performing an operation task, the unmanned vehicle is deleted from the admission queue of the work area and added to the operation queue of the work area; or, when the unmanned vehicle's operation task At the end of the execution, the unmanned vehicle will be deleted from the work queue of the work area and added to the exit queue of the work area; or, when the body of the unmanned vehicle completely drives out of the work area, the unmanned vehicle will be removed from the work area of the work area. Removed from exit queue. Therefore, the unmanned vehicles are dynamically added to the corresponding queue according to the status of the unmanned vehicles performing tasks.

The determination module 130 is configured to: obtain the alternative safe driving end point of the first unmanned vehicle; when it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles, set the alternative safe driving end point to the first unmanned vehicle. The safe driving end point is determined as the new safe driving end point.

Since the determination module 130 can usually determine the safe driving end point of the unmanned vehicle in real time based on the real-time location of the unmanned vehicle, the determination module 130 is also called the real-time determination module 130 .

In some embodiments, the determination module 130 is configured to: determine the current position point of the first unmanned vehicle in its target driving path based on the monitored current position of any first unmanned vehicle. For example, the current position of the first unmanned vehicle is projected onto the target driving path of the first unmanned vehicle, and the point corresponding to the projection point in the target driving path is the current position point of the first unmanned vehicle.

In some embodiments, the determination module 130 is configured to: when the location update of the first unmanned vehicle is detected, obtain the alternative safe driving end point of the first unmanned vehicle; or, when the last alternative safe driving end point is detected, If the end point is not determined as a safe driving end point, obtain the next alternative safe driving end point of the first unmanned vehicle.

In some embodiments, the determination module 130 is configured to: search forward along the target driving path of the first unmanned vehicle starting from the current position point of the first unmanned vehicle, and add the searched target driving path to One of the points is used as an alternative safe driving end point. For example, the point in the target driving path that is closest to the current position point or the previous alternative safe driving end point in the forward direction is used as the alternative safe driving end point, but is not limited to the examples given.

In some embodiments, the determination module 130 is configured to determine whether the first unmanned vehicle's driving based on the alternative safe driving endpoint conflicts with other unmanned vehicles, including:

Perform a first judgment to determine whether the alternative safe driving zone of the first unmanned vehicle conflicts with the safe driving zone of the second unmanned vehicle, for example, by determining whether the alternative safe driving zone of the first unmanned vehicle conflicts with the safe driving zone of the second unmanned vehicle. Whether the safe driving area of the human vehicle overlaps to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;

Perform a second judgment to determine whether the first unmanned vehicle's alternative safe parking area conflicts with the third unmanned vehicle's waiting area, for example, by determining whether the first unmanned vehicle's alternative safe parking area conflicts with the third unmanned vehicle's waiting area. Whether the waiting area for people and vehicles overlaps to determine whether the alternative safe parking area of the first unmanned vehicle conflicts with the waiting area for the third unmanned vehicle;

When the first judgment result and the second judgment result are both non-conflicts, it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles. Otherwise, it is determined that the first unmanned vehicle is in conflict with other unmanned vehicles. Self-driving car conflict. When the first judgment result is a conflict, the safe driving end point of the first unmanned vehicle is not updated, for example, the safe driving end point of the first unmanned vehicle is not updated within a preset time; when the second judgment result is a conflict In this case, obtain the new alternative safe driving end point of the first unmanned vehicle, and determine whether the first unmanned vehicle's driving based on the new alternative safe driving end point conflicts with other unmanned vehicles according to the aforementioned method. Therefore, according to the conflict situation between the first unmanned vehicle's alternative safe driving area and the second unmanned vehicle's safe driving area, and the first unmanned vehicle's alternative safe parking area and the third unmanned vehicle's waiting area, The conflict situation determines whether the first unmanned vehicle's driving based on the alternative safe driving endpoint conflicts with other unmanned vehicles.

Among them: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than the priority of the first unmanned vehicle. That is, the second unmanned vehicle is an unmanned vehicle other than the first unmanned vehicle in the same work area, and the third unmanned vehicle is an unmanned vehicle with a higher priority than the first unmanned vehicle in the same work area. Among them, the priority of the unmanned vehicle is determined according to the aforementioned priority queue.

In some embodiments, the determination module 130 is configured to: determine the alternative safe driving area of the first unmanned vehicle including: expanding based on the current location point of the first unmanned vehicle and the alternative safe driving end point. (Extend outward), and use the expanded area as an alternative safe driving area for the first unmanned vehicle.

In some embodiments, the determination module 130 is configured to: perform horizontal expansion and vertical expansion based on the current location point of the first unmanned vehicle and the alternative safe driving end point according to the preset expansion factors, and expand the expansion The obtained area is used as an alternative safe driving area for the first unmanned vehicle. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In some embodiments, the determination module 130 is configured to: determine an alternative safe stop of the first unmanned vehicle. The vehicle area includes: expansion (outward expansion) based on the alternative safe driving end point of the first unmanned vehicle, and the expanded area is used as the alternative safe parking area of the first unmanned vehicle.

In some embodiments, the determination module 130 is configured to: perform horizontal expansion and vertical expansion based on the alternative safe driving end point of the first unmanned vehicle according to the preset expansion factor, and expand the resulting area. As an alternative safe parking area for the first unmanned vehicle. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

The safe driving area of the second unmanned vehicle is an area obtained by expanding (expanding outward) based on the current position point and the safe driving end point of the second unmanned vehicle.

The safe driving area of the second unmanned vehicle is an area obtained by horizontal expansion and vertical expansion based on the current position point and safe driving end point of the second unmanned vehicle according to the preset expansion factor. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

The waiting area of the third unmanned vehicle is an area obtained by expanding (expanding outward) based on the current position point and the task end point of the third unmanned vehicle.

The waiting area of the third unmanned vehicle is an area obtained by horizontal expansion and vertical expansion based on the current position point and the task end point of the third unmanned vehicle according to the preset expansion factor. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

The delivery module 140 is configured to deliver the new safe driving end point to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point. The first autonomous vehicle moves to a new safe driving endpoint based on the instructions and stops.

As the position of the unmanned vehicle changes, the driving path of the unmanned vehicle is dynamically updated. As a result, the unmanned vehicle can move forward along the target driving path, and the safe driving end point can move forward synchronously, ensuring that the unmanned vehicle in the work area will not collide and occupy the other party's driving path, causing congestion. The unmanned vehicle stops at the last safe driving endpoint received (i.e., the mission endpoint).

If the unmanned vehicle does not receive the instruction of the new safe driving end point, it needs to stop and wait before receiving the latest safe driving end point. This can effectively prevent the unmanned vehicle from unexpected situations such as communication failure. Collision resulting from receipt of a stop command.

The anomaly monitoring module 150 is configured to monitor abnormalities in the real-time location of the unmanned vehicle based on the target driving path of the unmanned vehicle. If the real-time position of the unmanned vehicle is monitored to be outside the preset range of the unmanned vehicle's target driving path, a parking instruction is issued to the abnormal unmanned vehicle or other unmanned vehicles in the same work area. Thus, the safety of operations in the work area is ensured to the greatest extent.

The first part of Figure 2 shows an example of a point set of a target driving path. The first point in the point set is the task starting point of the operation task, and the last point in the point set is the task end point of the operation task.

The second part of Figure 2 shows an example of an (alternative) safe driving zone, which is expanded horizontally and vertically based on the current location point of the unmanned vehicle and the (alternative) safe driving end point, and the resulting zone is expanded. The area like this is the (alternative) safe driving area for unmanned vehicles.

The third part of Figure 2 shows an example of an (alternative) safe parking area, which is expanded horizontally and vertically based on the (alternative) safe driving end point of the unmanned vehicle. The resulting strip area is (Alternative) safe parking area for people and vehicles.

The fourth part of Figure 2 shows an example of an area to be driven, which is expanded horizontally and vertically based on the current location point of the unmanned vehicle and the end point of the task. The expanded strip area is the area to be driven.

Figure 3 shows a schematic diagram of an unmanned vehicle control method according to some embodiments of the present disclosure. The unmanned vehicle control method may be executed, for example, by an unmanned vehicle control device.

As shown in Figure 3, the unmanned vehicle control method includes steps 310-390. If steps 310-320 can be executed in advance, the unmanned vehicle control process continues to execute steps 330-390. If step 310 can be executed in advance, then no The unmanned vehicle control process continues to (iteratively) execute steps 320-390. If both steps 310 and 320 need to be dynamically executed, the unmanned vehicle control process iteratively executes steps 310-390.

In step 310, obtain the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area. The target driving path includes: an entry path from the entry point to the operating point and an exit path from the operating point to the exit point. set of points.

In step 320, the priority queue is managed to determine the priority of the unmanned vehicle; the unmanned vehicle is dynamically added to the entry queue, operation queue or exit queue according to the status of the unmanned vehicle performing tasks.

In some embodiments, the priority queue sorting method includes: the priority of unmanned vehicles in the exit queue is higher than the priority of unmanned vehicles in the work queue, and the priority of unmanned vehicles in the work queue is higher. Regarding the priority of unmanned vehicles in the entry queue, the priority of the unmanned vehicle that enters the queue first in the same queue is higher than the priority of the unmanned vehicle that enters the queue later (that is, the first-in, first-out policy).

In some embodiments, dynamically adding the unmanned vehicle to the entry queue, operation queue or exit queue includes: when the unmanned vehicle passes the entry point and is about to enter the work area, adding the unmanned vehicle to the entry queue of the work area ; Or, when the unmanned vehicle is executing the operation task, the unmanned vehicle will be deleted from the admission queue of the work area and added to the operation queue of the work area; or, when the execution of the operation task of the unmanned vehicle ends, the unmanned vehicle will The unmanned vehicle is deleted from the work queue of the work area and added to the exit queue of the work area; or, when the body of the unmanned vehicle completely drives out of the work area, the unmanned vehicle is deleted from the exit queue of the work area. Therefore, the unmanned vehicles are dynamically added to the corresponding queue according to the status of the unmanned vehicles performing tasks.

In step 330, the current position point of the first unmanned vehicle in its target driving path is determined.

In some embodiments, the current position point of the first unmanned vehicle in its target driving path is determined based on the monitored current position of any first unmanned vehicle. For example, the current position of the first unmanned vehicle is projected onto the target driving path of the first unmanned vehicle, and the point corresponding to the projection point in the target driving path is the current position point of the first unmanned vehicle.

In step 340, an alternative safe driving end point of the first unmanned vehicle is obtained.

In some embodiments, when a location update of the first unmanned vehicle is detected, an alternative safe driving end point of the first unmanned vehicle is obtained.

In some embodiments, when the previous alternative safe driving end point is not determined as the safe driving end point, the next alternative safe driving end point of the first unmanned vehicle is obtained.

In some embodiments, search forward along the target driving path of the first unmanned vehicle starting from the current location point of the first unmanned vehicle, and use one of the points in the searched target driving path as an alternative safe driving end point. . For example, the point in the target driving path that is closest to the current location point in the forward direction is used as an alternative safe driving end point, but is not limited to the example given.

In step 350, an alternative safe driving area and an alternative safe parking area of the first unmanned vehicle are determined based on the alternative safe driving end point of the first unmanned vehicle.

In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: expanding (outward expansion) based on the current location point of the first unmanned vehicle and the alternative safe driving end point, and expanding the obtained The area is used as an alternative safe driving area for the first unmanned vehicle.

In some embodiments, determining an alternative safe driving area for the first unmanned vehicle includes: based on a preset expansion factor, Perform horizontal expansion and vertical expansion based on the current position point of the first unmanned vehicle and the alternative safe driving end point, and use the expanded area as the alternative safe driving area of the first unmanned vehicle. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In some embodiments, determining the alternative safe parking area of the first unmanned vehicle includes: expanding (outward expansion) based on the alternative safe driving end point of the first unmanned vehicle, and using the expanded area as the third An alternative safe parking area for autonomous vehicles.

In some embodiments, determining the alternative safe parking area of the first unmanned vehicle includes: performing horizontal expansion and vertical expansion based on the alternative safe driving end point of the first unmanned vehicle according to a preset expansion factor, and extending the The obtained area is used as an alternative safe parking area for the first unmanned vehicle. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In step 360, the safe driving area of the second unmanned vehicle and the waiting area of the third unmanned vehicle are obtained.

In some embodiments, the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than the priority of the first unmanned vehicle. That is, the second unmanned vehicle is an unmanned vehicle other than the first unmanned vehicle in the same work area, and the third unmanned vehicle is an unmanned vehicle with a higher priority than the first unmanned vehicle in the same work area. The priority of the unmanned vehicle is determined based on the aforementioned priority queue.

In some embodiments, the safe driving area of the second unmanned vehicle is an area obtained by expanding (expanding outward) based on the current location point and safe driving end point of the second unmanned vehicle.

In some embodiments, the safe driving area of the second unmanned vehicle is obtained by horizontal expansion and vertical expansion based on the current position point and safe driving end point of the second unmanned vehicle according to a preset expansion factor. area. Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In some embodiments, the waiting area of the third unmanned vehicle is an area expanded (outward expansion) based on the current location point and the task end point of the third unmanned vehicle.

In some embodiments, the waiting area of the third unmanned vehicle is an area obtained by horizontal expansion and vertical expansion based on the current position point and the task end point of the third unmanned vehicle according to a preset expansion factor. . Wherein: the area obtained by expansion is a strip area; the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.

In step 370, a first judgment is performed to determine whether the candidate safe driving zone of the first unmanned vehicle conflicts with the safe driving zone of the second unmanned vehicle.

For example, by determining whether the candidate safe driving zone of the first unmanned vehicle overlaps with the safe driving zone of the second unmanned vehicle, the safe driving zone of the first unmanned vehicle and the second unmanned vehicle can be determined. Whether the zone conflicts.

In step 380, a second judgment is performed to determine whether the candidate safe parking area of the first unmanned vehicle conflicts with the waiting area of the third unmanned vehicle.

For example, by determining whether the candidate safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle, the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle are determined. Whether the zone conflicts.

When the first judgment result and the second judgment result are both non-conflicting, it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles. If the safe driving end point does not conflict with other unmanned vehicles, the alternative safe driving end point is determined as the new safe driving end point, and then step 390 is performed.

If the first judgment result is a conflict, the safe driving end point of the first unmanned vehicle is not updated, for example, the safe driving end point of the first unmanned vehicle is not updated within a preset time, and then the process ends.

If the second judgment result is a conflict, continue to obtain the new alternative safe driving end point of the first unmanned vehicle, and continue to determine whether the first unmanned vehicle's driving based on the new alternative safe driving end point is consistent with other unmanned vehicles. If there is a vehicle conflict, step 340 and subsequent steps are continued.

Therefore, according to the conflict situation between the first unmanned vehicle's alternative safe driving area and the second unmanned vehicle's safe driving area, and the first unmanned vehicle's alternative safe parking area and the third unmanned vehicle's waiting area, The conflict situation determines whether the first unmanned vehicle's driving based on the alternative safe driving endpoint conflicts with other unmanned vehicles.

In step 390, the new safe driving end point is issued to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point. The first autonomous vehicle moves to a new safe driving endpoint based on the instructions and stops. Then, continue to execute the method of this embodiment iteratively to continuously control the first unmanned vehicle until the first unmanned vehicle moves to the end of the task.

If the unmanned vehicle does not receive the instruction of the new safe driving end point, it needs to stop and wait before receiving the latest safe driving end point. This can effectively avoid the unmanned vehicle from being damaged even if emergencies such as communication failure occur. Collision caused by failure to receive a stop command.

Based on the target driving path of the unmanned vehicle, the real-time location anomalies of the unmanned vehicle are monitored. If it is monitored that the real-time position of the unmanned vehicle is outside the preset range of the target driving path of the unmanned vehicle, a parking instruction is issued to the abnormal unmanned vehicle or other unmanned vehicles in the same work area. Thus, the safety of operations in the work area is ensured to the greatest extent.

Here are some application examples.

Application example 1

Unmanned vehicles A and B (referred to as vehicle A and vehicle B) drive according to the task path (target driving path) and receive safe driving endpoint information.

As shown in Figure 4a, unmanned vehicles A and B enter the vehicle in sequence. When unmanned vehicle A arrives at the loading point at time t, unmanned vehicle B drives on the entry path to perform the entry task.

At time t+1, the unmanned vehicle control device calculates an alternative safe driving end point for unmanned vehicle B.

As shown in Figure 4b, the unmanned vehicle control device continues to search forward along the safe driving end point at time t, and searches for point P1. When P1 point is the alternative safe driving end point, due to the alternative safe parking of unmanned vehicle B The area overlaps with the to-be-driving area of autonomous vehicle A with higher priority, and does not meet the conditions for issuing a safe driving end point. The search continues forward for the next alternative safe driving end point.

As shown in Figure 4c, the unmanned vehicle control device searches for the reversing point P2. When point P2 is the alternative safe driving end point, the alternative safe driving area of unmanned vehicle B does not overlap with the safe driving area of unmanned vehicle A. , and the alternative safe parking area of unmanned vehicle B does not overlap with the waiting area of unmanned vehicle A, and the safe driving conditions are met. The alternative safe driving end point P2 is regarded as the new safe driving end point, and the vehicle alights to unmanned vehicle B. Find the new safe driving end point P2.

Subsequently, unmanned vehicle B waits for unmanned vehicle A to complete the loading task and exit the scene at the reversing point P2, then reverses to the operating point to complete the loading task. It will not collide with unmanned vehicle A and will not affect the departure of unmanned vehicle A. field.

Multiple unmanned vehicles work together in the same work area, and the unmanned vehicles drive in an orderly manner in the work area, ensuring the efficiency of operations in the work area without causing collisions and other safety accidents.

Application example 2

Unmanned vehicles A and B drive according to the task path (target driving path) and receive safe driving end point information.

As shown in Figure 5a, unmanned vehicles A and B enter the venue in sequence. When A arrives at the loading point at time t, unmanned vehicle B The entry route is driven to perform the entry task, and the safe driving end point of unmanned vehicle B is point P1.

As shown in Figure 5b, unmanned vehicle B drives forward, and at time t+1, the unmanned vehicle control device updates the safe driving end point for the unmanned vehicle. None of the alternative safe driving end points in front of point P1 meet the safety conditions. If the alternative safe driving end point is the reversing point P2, the reversing point P2 is closer to the exit path, making the alternative safe parking area of unmanned vehicle B and The to-be-driving path of unmanned vehicle A conflicts, that is, unmanned vehicle B waiting at the reversing point P2 will affect the exit of unmanned vehicle A, and if unmanned vehicle A cannot exit, unmanned vehicle B cannot operate, and task blocking will occur. Therefore, unmanned vehicle B should stop and wait at the location where unmanned vehicle A exits on the entry path, thereby achieving queuing in the venue. Therefore, at time t+1, the unmanned vehicle control device does not issue a new safe driving end point to unmanned vehicle B, that is, the safe driving end point of unmanned vehicle B at this time is still point P1.

As shown in Figure 5c, unmanned vehicle B drives forward to point P1, stops and waits until unmanned vehicle A completes the loading operation, leaves the site and drives out of the conflict area, then unmanned vehicle B continues to move forward.

Application example 3

As shown in Figure 6, taking multi-vehicle unloading as an example, unmanned vehicles A and B enter the scene in sequence. When unmanned vehicle A completes the unloading operation and is about to leave, unmanned vehicle B is entering the conflict area. Due to The exit route of unmanned vehicle A conflicts with the entry route of unmanned vehicle B. Unmanned vehicle A needs to stop and wait at the unloading point. When unmanned vehicle B passes through the conflict area, unmanned vehicle A leaves the site, thus achieving multi-vehicle collaboration. Unload the task.

The unmanned vehicle control method of the embodiment of the present disclosure is suitable for collaborative operations of multiple unmanned vehicles in the work area, for example, multiple unmanned vehicles collaborative unloading operations, multiple unmanned vehicles collaborative loading operations, multiple unmanned vehicles collaborative loading operations and uninstall jobs, etc. Among them, loading operations include unilateral loading operations and bilateral loading operations.

As shown in Figure 7, the unmanned vehicle control device 700 of this embodiment includes: a memory 710 and a processor 720 coupled to the memory 710. The processor 720 is configured to execute various implementations based on instructions stored in the memory 710. The unmanned vehicle control method in the example.

The device 700 may also include an input/output interface 730, a network interface 740, a storage interface 750, and the like. These interfaces 730, 740, 750, the memory 710 and the processor 720 may be connected through a bus 760, for example.

The memory 710 may include, for example, system memory, fixed non-volatile storage media, etc. System memory stores, for example, operating systems, applications, boot loaders, and other programs.

Among them, the processor 720 can be a general processor, a digital signal processor (Digital Signal Processor, DSP), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors.

Among them, the input and output interface 730 provides a connection interface for input and output devices such as a monitor, mouse, keyboard, and touch screen. Network interface 740 provides a connection interface for various networked devices. The storage interface 750 provides a connection interface for external storage devices such as SD cards and USB disks. Bus 760 may use any of a variety of bus structures. For example, bus structures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.

As shown in FIG. 8 , the operating system 800 includes at least one unmanned vehicle 810 and an unmanned vehicle control device 820 configured to execute the unmanned vehicle control method in each embodiment.

Embodiments of the present disclosure provide a non-transitory computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the unmanned vehicle control method in each embodiment are implemented.

(1) An unmanned vehicle control method, including:

Obtain the alternative safe driving destination of the first unmanned vehicle;

(2) According to (1), obtaining the alternative safe driving end point of the first autonomous vehicle includes:

(3) According to (1) or (2), determining that the first unmanned vehicle’s driving based on the alternative safe driving endpoint does not conflict with other unmanned vehicles includes:

Perform the first judgment to determine the alternative safe driving area of the first unmanned vehicle and the safe driving area of the second unmanned vehicle Whether there is a conflict;

(4) According to (3), determining the alternative safe driving area of the first unmanned vehicle includes: expanding based on the current location point of the first unmanned vehicle and the alternative safe driving end point, and using the expanded area as The first alternative safe driving zone for unmanned vehicles.

(5) According to (3) or (4), determining the alternative safe driving area of the first unmanned vehicle includes: based on the preset expansion factors, taking the current position point of the first unmanned vehicle and the alternative safe driving end point as The base is expanded horizontally and vertically, and the expanded area is used as an alternative safe driving area for the first unmanned vehicle.

(6) According to any one of (3)-(5), determining the alternative safe parking area of the first unmanned vehicle includes: expanding based on the alternative safe driving end point of the first unmanned vehicle, and extending the obtained The area serves as an alternative safe parking area for the first unmanned vehicle.

(7) According to any one of (3)-(6), determining the alternative safe parking area of the first unmanned vehicle includes: based on the preset expansion factors, based on the alternative safe driving end point of the first unmanned vehicle Carry out horizontal expansion and vertical expansion, and use the expanded area as an alternative safe parking area for the first unmanned vehicle.

(8) According to any one of (3) to (7), the first unmanned vehicle's alternative safe parking area is a subset of the first unmanned vehicle's alternative safe driving area.

(9) According to any one of (3) to (8), the safe driving area of the second unmanned vehicle is an area expanded based on the current position point and safe driving end point of the second unmanned vehicle.

(10) According to any one of (3)-(9), the safe driving area of the second unmanned vehicle is based on the preset expansion factor, based on the current position point and safe driving end point of the second unmanned vehicle. The area obtained by horizontal expansion and vertical expansion.

(11) According to any one of (3) to (10), the waiting area of the third unmanned vehicle is an area expanded based on the current position point of the third unmanned vehicle and the task end point.

(12) According to any one of (3)-(11), the waiting area of the third unmanned vehicle is based on the preset expansion factor and based on the current position point and the task end point of the third unmanned vehicle. The resulting area from horizontal expansion and vertical expansion.

(13) According to any one of (5)-(12), the area obtained by expansion is a strip area; or the expansion factors include: at least one of positioning error, vehicle body contour, parking error and safety margin item.

(14) According to any one of (3)-(13): determine whether the first unmanned vehicle's alternative safe driving area overlaps with the second unmanned vehicle's safe driving area, determine the first unmanned vehicle's backup Whether the selected safe driving area conflicts with the safe driving area of the second unmanned vehicle; or,

By determining whether the alternative safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle, it is determined whether the alternative safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle. conflict.

(15) According to any one of (3) to (14): determine the priority of the unmanned vehicle according to the priority queue, wherein the sorting method of the priority queue includes: the unmanned vehicle in the exit queue has a higher priority Depending on the priority of the unmanned vehicles in the operation queue, the priority of the unmanned vehicles in the operation queue is higher than that of the unmanned vehicles in the admission queue. The priority of the unmanned vehicle in the same queue that enters the queue first is higher. Priority for autonomous vehicles entering the queue later.

(16) According to any one of (3)-(15): According to the status of the unmanned vehicle performing tasks, the unmanned vehicle is dynamically added to the admission queue, operation queue or exit queue.

(17) According to any one of (3)-(16): dynamically adding unmanned vehicles to the admission queue, operation queue or exit queue includes:

(18) According to any one of (3)-(17), it also includes one or more of the following:

(19) According to any one of (1)-(18), it also includes: obtaining the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area, and the target driving path includes: from the entry point to the operating point The entry path and the point set of the exit path from the operation point to the exit point.

(20) According to any one of (1) to (19), it also includes: monitoring the abnormality of the real-time position of the unmanned vehicle according to the target driving path of the unmanned vehicle.

(21) According to any one of (1)-(20), it also includes: if the real-time position of the unmanned vehicle is monitored to be outside the preset range of the target driving path of the unmanned vehicle, send a warning to the abnormal unmanned vehicle. Or other unmanned vehicles in the same work area issue parking instructions.

Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more non-transitory computer-readable storage media (including, but not limited to, disk memory, CD-ROM, optical storage, etc.) embodying computer program code therein. .

The disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection of the present disclosure. within the range.

Claims

An unmanned vehicle control method, including:

Obtain the alternative safe driving destination of the first unmanned vehicle;

When it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles, determine the alternative safe driving end point as the new safe driving end point;

The new safe driving end point is issued to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point.
According to the method of claim 1, obtaining the alternative safe driving end point of the first unmanned vehicle includes:

When the position update of the first unmanned vehicle is detected, obtain the alternative safe driving end point of the first unmanned vehicle; or,

When the previous alternative safe driving end point is not determined as the safe driving end point, obtain the next alternative safe driving end point of the first unmanned vehicle; or,

Search forward along the target driving path of the first unmanned vehicle starting from the current position point of the first unmanned vehicle, and use one of the points in the searched target driving path as an alternative safe driving end point.
According to the method of claim 1, determining that the first unmanned vehicle's driving based on the alternative safe driving end point does not conflict with other unmanned vehicles includes:

Determine the alternative safe driving area and the alternative safe parking area of the first unmanned vehicle based on the alternative safe driving end point of the first unmanned vehicle;

Perform a first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;

A second judgment is performed to determine whether the alternative safe parking area of the first unmanned vehicle conflicts with the waiting area of the third unmanned vehicle, where: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle In the same work area, the priority of the third unmanned vehicle is higher than the priority of the first unmanned vehicle;

When the first judgment result and the second judgment result are both non-conflicts, it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles.
According to the method of claim 3, determining the alternative safe driving area of the first unmanned vehicle includes:

Based on the current position point of the first unmanned vehicle and the alternative safe driving end point, the expanded The area is used as an alternative safe driving area for the first unmanned vehicle.
According to the method of claim 4, determining the alternative safe driving area of the first unmanned vehicle includes:

According to the preset expansion factors, horizontal expansion and vertical expansion are performed based on the current position point of the first unmanned vehicle and the alternative safe driving end point, and the expanded area is used as the alternative safe driving area of the first unmanned vehicle. .
According to the method of claim 3, determining an alternative safe parking area for the first unmanned vehicle includes:

Expand based on the alternative safe driving end point of the first unmanned vehicle, and use the expanded area as the alternative safe parking area of the first unmanned vehicle.
According to the method of claim 6, determining an alternative safe parking area for the first unmanned vehicle includes:

According to the preset expansion factors, horizontal expansion and vertical expansion are performed based on the alternative safe driving end point of the first unmanned vehicle, and the expanded area is used as the alternative safe parking area of the first unmanned vehicle.
According to the method according to any one of claims 3 to 7, the candidate safe parking area of the first unmanned vehicle is a subset of the candidate safe driving area of the first unmanned vehicle.
According to the method of claim 3, the safe driving area of the second unmanned vehicle is an area expanded based on the current location point and the safe driving end point of the second unmanned vehicle.
According to the method of claim 9, the safe driving area of the second unmanned vehicle is expanded horizontally and vertically based on the current location point and safe driving end point of the second unmanned vehicle according to a preset expansion factor. the resulting area.
According to the method of claim 3, the waiting area of the third unmanned vehicle is an area expanded based on the current position point and the task end point of the third unmanned vehicle.
According to the method of claim 11, the waiting area of the third unmanned vehicle is expanded horizontally and vertically based on the current position point and the task end point of the third unmanned vehicle according to a preset expansion factor. obtained area.
According to the method of claim 5 or 7 or 10 or 12, the area obtained by expanding is a strip area;

or,

The extended factors include: at least one of positioning error, vehicle body contour, parking error and safety margin.
The method of claim 3,

By determining whether the alternative safe driving area of the first unmanned vehicle overlaps with the safe driving area of the second unmanned vehicle, it is determined whether the alternative safe driving area of the first unmanned vehicle and the safe driving area of the second unmanned vehicle overlap. conflict;

or,

By determining whether the alternative safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle, it is determined whether the alternative safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle. conflict.
The method according to claim 3, further comprising: determining the priority of the unmanned vehicle according to the priority queue,

Wherein, the sorting method of the priority queue includes: the priority of unmanned vehicles in the exit queue is higher than the priority of unmanned vehicles in the operation queue, and the priority of the unmanned vehicles in the operation queue is higher than that of the entrance queue. The priority of the unmanned vehicles in the same queue is that the priority of the unmanned vehicle that enters the queue first is higher than the priority of the unmanned vehicle that enters the queue later.
The method of claim 15, further comprising:

According to the status of the unmanned vehicle's task execution, the unmanned vehicle is dynamically added to the admission queue, operation queue or exit queue.
According to the method of claim 16, dynamically adding the unmanned vehicle to the entry queue, operation queue or exit queue includes:

When the unmanned vehicle passes the entry point and is about to enter the work area, add the unmanned vehicle to the entry queue of the work area; or,

When the unmanned vehicle is performing a job task, the unmanned vehicle is removed from the admission queue of the work area and added to the job queue of the work area; or,

When the execution of the unmanned vehicle's job task ends, the unmanned vehicle will be deleted from the job queue of the work area and added to the The exit queue for this workspace; or,

When the body of the unmanned vehicle completely drives out of the work area, the unmanned vehicle will be deleted from the exit queue of the work area.
The method of claim 3, further comprising one or more of the following:

If the first judgment result is a conflict, the safe driving end point of the first unmanned vehicle will not be updated;

When the second judgment result is a conflict, obtain the new alternative safe driving end point of the first unmanned vehicle, and determine whether the first unmanned vehicle travels based on the new alternative safe driving end point according to the method of claim 3 Conflict with other autonomous vehicles.
The method of claim 2, further comprising:

Obtain the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area. The target driving path includes: the entry path from the entry point to the operating point and the point set of the exit path from the operating point to the exit point.
The method according to claim 19, further comprising: monitoring the abnormality of the real-time position of the unmanned vehicle according to the target driving path of the unmanned vehicle.
The method of claim 20, further comprising:

If the real-time position of the unmanned vehicle is monitored to be outside the preset range of the unmanned vehicle's target driving path, a parking instruction is issued to the abnormal unmanned vehicle or other unmanned vehicles in the same work area.
An unmanned vehicle control device, including:

memory; and

A processor coupled to the memory, the processor configured to perform the method of any one of claims 1-21 based on instructions stored in the memory.
A non-transitory computer-readable storage medium on which a computer program is stored, which implements the steps of the method described in any one of claims 1-21 when executed by a processor.
An operating system that includes:

at least one autonomous vehicle, and,

An unmanned vehicle control device configured to perform the method according to any one of claims 1-21.
An unmanned vehicle control device, including:

The determination module is configured to: obtain the alternative safe driving end point of the first unmanned vehicle; when it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles, set the alternative safe driving end point to the first unmanned vehicle. The driving end point is determined as the new safe driving end point;

The delivery module is configured to deliver the new safe driving end point to the first unmanned vehicle to instruct the first unmanned vehicle to move to the new safe driving end point.
The device according to claim 25, the determining module is configured to:

When the position update of the first unmanned vehicle is monitored, the alternative safe driving end point of the first unmanned vehicle is obtained; or, when the previous alternative safe driving end point is not determined as the safe driving end point, the first unmanned vehicle's alternative safe driving end point is obtained. The next alternative safe driving destination; or,

Search forward along the target driving path of the first unmanned vehicle starting from the current position point of the first unmanned vehicle, and use one of the points in the searched target driving path as an alternative safe driving end point;

or,

Determine the alternative safe driving area and the alternative safe parking area of the first unmanned vehicle based on the alternative safe driving end point of the first unmanned vehicle;

Perform a first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;

A second judgment is performed to determine whether the alternative safe parking area of the first unmanned vehicle conflicts with the waiting area of the third unmanned vehicle, where: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle In the same work area, the priority of the third unmanned vehicle is higher than the priority of the first unmanned vehicle;

When the first judgment result and the second judgment result are both non-conflicts, it is determined that the driving of the first unmanned vehicle based on the alternative safe driving end point does not conflict with other unmanned vehicles.
The device of claim 26, further comprising:

The queue management module is configured to: manage a priority queue for determining the priority of unmanned vehicles, wherein the sorting method of the priority queue includes: the priority of unmanned vehicles in the exit queue is higher than that of unmanned vehicles in the operation queue The priority of unmanned vehicles in the operation queue is higher than the priority of unmanned vehicles in the admission queue. At the same time, The priority of the unmanned vehicle that enters the queue first in a queue is higher than the priority of the unmanned vehicle that enters the queue later; the unmanned vehicle is dynamically added to the entry queue, operation queue or exit queue according to the status of the task execution of the unmanned vehicle. .
The device of claim 26, further comprising:

The path acquisition module is configured to: obtain the target driving path of the unmanned vehicle that has been assigned an operating point in the same work area. The target driving path includes: an entry path from the entry point to the operating point and an entry path from the operating point to the exit. The point set of the exit path of the point.
The device of claim 28, further comprising:

The anomaly monitoring module is configured to monitor abnormalities in the real-time location of the unmanned vehicle based on the target driving path of the unmanned vehicle.