A method and device for controlling an unmanned vehicle
An unmanned vehicle and obstacle technology, applied in vehicle position/route/height control, control/regulation system, non-electric variable control, etc., can solve problems such as inaccurate control strategies of unmanned vehicles, and improve efficiency and risk. Accurate distribution of effects
Active Publication Date: 2020-11-03
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology
This leads to the existing collision risk based on obstacles and unmanned vehicles, and the control strategy for determining unmanned vehicles is not accurate enough
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[0057] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.
[0058] The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
[0059] figure 1 The schematic diagram of the unmanned vehicle control flow provided by the embodiment of this specification includes:
[0060] S100: Determine the position of each obstacle ...
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This specification discloses an unmanned vehicle control method and device, which determines the position of each obstacle at the current moment based on the acquired environmental information, and determines the location of the obstacle in a specified time period in the future based on the historical moment and the position of the obstacle at the current moment. Several predicted motion trajectories within the obstacle, and then for each obstacle, based on each predicted motion trajectory of the obstacle, the risk distribution corresponding to the predicted motion trajectory of the obstacle at each moment in the specified time period is determined, and finally based on the determined The risk distribution within the specified time period determines the total spatiotemporal risk distribution, which is used to determine the control strategy of the unmanned vehicle. Since the spatio-temporal risk distribution of obstacles can be determined without determining the driving trajectory of the unmanned vehicle, the risk distribution is not determined based on collision, but the objectively existing risk distribution caused by obstacles is determined based on objective facts, making the risk-based Distributions can determine more accurate control strategies.
Description
technical field [0001] The present application relates to the field of unmanned driving, in particular to an unmanned vehicle control method and device. Background technique [0002] At present, in the control method of unmanned vehicles, the control strategy of unmanned vehicles is usually determined based on the collision risk of external obstacles and unmanned vehicles. [0003] The method of determining the collision risk in the prior art usually needs to predict the trajectory of the obstacle first, and then determine whether the obstacle and the unmanned vehicle will collide by judging whether the trajectory of the unmanned vehicle intersects with the trajectory of the obstacle , so as to determine the collision risk. That is, based on the judgment result of whether the obstacle and the unmanned vehicle will collide, it is determined whether the obstacle poses a risk to the unmanned vehicle. Therefore, the collision risk in the prior art usually describes the relation...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0276
Inventor 樊明宇任冬淳白钰杨秋实夏华夏朱炎亮李鑫
Owner BEIJING SANKUAI ONLINE TECH CO LTD