Vehicle path management and control method, electronic equipment and computer readable storage medium
By obtaining and testing the path segments of the automatically guided vehicles, determining whether there is a conflict, solving the problem of long waiting time caused by path conflict in multiple vehicle scenarios, and improving vehicle scheduling efficiency and path dispatch efficiency.
Patent Information
- Application Number
- CN202411390346.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-01-10
AI Technical Summary
In the prior art, automatic guided vehicles are prone to excessive waiting time due to path conflicts in multiple vehicle scenarios, and the scheduling efficiency is low.
By obtaining the initial path segment and the remaining path segment of the target vehicle, determining the current and subsequent path segments of the vehicle to be tested, two collision tests are conducted to determine whether there is a conflict, and determining whether to issue the initial path segment based on the test results, simplifying the test logic And improve the efficiency of path segmentation.
It improves the efficiency of vehicle scheduling, reduces vehicle waiting time, ensures that the path can be issued to the target scenario as soon as possible, and avoids path conflicts and deadlocks.
Smart Images
Figure CN119292272A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automated control technology, and in particular to a vehicle path control method, an electronic device, and a computer-readable storage medium. Background Art
[0002] Automated Guided Vehicle (AGV) has been widely used in many scenarios such as factories, warehouses and transfer stations, and how to automatically control the path of vehicles has received more and more attention. In the prior art, in order to avoid path conflicts in the target scene that lead to collisions or deadlocks, it is usually considered whether the entire path of the target vehicle has a path conflict with other vehicles that have been issued paths. The path is issued only when the entire path of the target vehicle has no conflict with other vehicles. However, when the number of vehicles in the target scene is large, it is very easy to cause the target vehicle to wait too long, resulting in low efficiency in vehicle scheduling. In view of this, how to improve the efficiency of vehicle scheduling has become a problem that needs to be solved urgently. Summary of the invention
[0003] The main technical problem solved by the present application is to provide a vehicle path control method, an electronic device and a computer-readable storage medium, which can improve the efficiency of vehicle scheduling.
[0004] To solve the above technical problems, the first aspect of the present application provides a vehicle path control method, including: obtaining an initial path segment and a remaining path segment to be issued for a target vehicle in a target scene, determining a vehicle to be tested corresponding to the target vehicle in the target scene based on the remaining path segment, obtaining a current path segment that has been issued and a subsequent path segment that has not been issued for the vehicle to be tested; obtaining a first collision test result between the remaining path segment and the current path segment, and at least one of a second collision test result between the subsequent path segment and an end point of the initial path segment; controlling the initial path segment in the target scene based on the obtained collision test results; wherein, when any collision test result is no collision, the initial path segment is issued to the target scene.
[0005] To solve the above technical problems, the second aspect of the present application provides an electronic device, which includes: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method described in the first aspect.
[0006] In order to solve the above technical problem, the third aspect of the present application provides a computer-readable storage medium on which program data is stored. When the program data is executed by a processor, the method described in the first aspect is implemented.
[0007] The above scheme obtains the initial path segment and the remaining path segment to be issued by the target vehicle in the target scene, so as to facilitate the segmentation of the complete path of the target vehicle, and the initial path segment can be allocated with a shorter path segment to be issued as soon as possible. Based on the remaining path segment, the vehicle to be tested that is associated with the remaining path segment of the target vehicle is screened out from the target scene, and the current path segment that has been issued and the subsequent path segment that has not been issued are obtained. At least one of the first collision test results of the collision test between the remaining path segment and the current path segment and the second collision test results of the collision test between the subsequent path segment and the end point of the initial path segment is obtained, so as to select at least one of the collision tests to determine whether a collision occurs based on the two-segment comparison, wherein any test can be based on a partial path segment for collision testing, which simplifies the test logic, makes the logic clearer and the result more accurate. Based on the obtained collision test results, it is determined whether to issue the initial path segment in the target scene. When any collision test result is no collision, the initial path segment is issued to the target scene, so that the path of the vehicle can be issued to the target scene as soon as possible, thereby improving the efficiency of vehicle scheduling. BRIEF DESCRIPTION OF THE DRAWINGS
[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:
[0009] Figure 1 It is a flow chart of an implementation method of a vehicle path control method of the present application;
[0010] Figure 2 It is a flow chart of another implementation method of the vehicle path control method of the present application;
[0011] Figure 3 It is a structural schematic diagram of an embodiment of the electronic device of the present application;
[0012] Figure 4 It is a structural schematic diagram of an implementation method of a computer-readable storage medium of the present application. DETAILED DESCRIPTION
[0013] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments, and different implementation methods can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0014] The terms "system" and "network" are often used interchangeably in this article. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship. In addition, "many" in this article means two or more than two.
[0015] The vehicle path control method provided in the present application is used to control the path of an automated guided vehicle in a target scene, and its corresponding execution subject is a processing unit capable of scheduling vehicles.
[0016] See also Figure 1 , Figure 1 It is a flow chart of an implementation method of a vehicle path control method of the present application, the method comprising:
[0017] S101: Obtain the initial path segment and remaining path segments to be sent for the target vehicle in the target scene, determine the vehicle to be tested corresponding to the target vehicle in the target scene based on the remaining path segments, and obtain the current path segment that has been sent and the subsequent path segments that have not been sent for the vehicle to be tested.
[0018] Specifically, the initial path segment and the remaining path segments to be sent for the target vehicle in the target scene are obtained so that the complete path of the target vehicle can be sent in segments, and the initial path segment can be allocated with shorter path segments to be sent as soon as possible.
[0019] Furthermore, based on the remaining path segments, the vehicles to be tested that are associated with the remaining path segments of the target vehicle are screened out from the target scene, and the issued current path segments being executed by the vehicles to be tested and the unissued subsequent path segments are obtained.
[0020] In some implementation scenarios, an initial path segment and a remaining path segment corresponding to the target vehicle in the target scene are obtained, wherein the initial path segment is determined by the path nodes specified from the path starting point to the complete path, the path nodes to be passed by the remaining path segment are determined, and a vehicle whose overlap rate with all the path nodes passed by the remaining path segment is greater than a preset threshold is obtained as the vehicle to be tested corresponding to the target vehicle in the target scene.
[0021] In some implementation scenarios, the initial path segment and the remaining path segment corresponding to the target vehicle in the target scene are obtained, wherein the initial path segment is determined by the distance within the travel time threshold of the path starting point, and the vehicle that is currently within a preset range of the remaining path segment is obtained as the vehicle to be tested corresponding to the target vehicle in the target scene.
[0022] It should be noted that the initial path segment has been safety tested in advance, and there is no conflict between the initial path segment and the current path segments of all vehicles in the target scene. Then, it is tested whether the initial path segment will conflict with the subsequent path segments of other vehicles after it is issued, so as to determine whether the initial path segment can be issued and will not cause vehicle collision or deadlock in the target scene after it is issued.
[0023] It is understandable that the path segment corresponding to the task being performed by the vehicle under test is the current path segment, and the path segment that has not yet been issued to the vehicle under test is the subsequent path segment. The complete path of each vehicle is divided into at least two path segments for issuance, and the path segments into which the complete path of each vehicle is divided are usually greater than two. This application does not impose any specific restrictions on the number of path segments.
[0024] In a specific implementation scenario, the target scene includes multiple path nodes, the path starting point and path end point of the target vehicle correspond to the path nodes in the target scene, the target vehicle corresponds to a complete target path, the initial path segment and the remaining path segments together constitute the target path, the initial path segment of the target vehicle has undergone a safety test, and the number of path nodes passed by the initial path segment is less than a threshold value.
[0025] S102: Obtain at least one of a first collision test result between the remaining path segment and the current path segment, and a second collision test result between the subsequent path segment and an end point of the initial path segment.
[0026] Specifically, at least one of a first collision test result of a collision test between the remaining path segment and the current path segment and a second collision test result of a collision test between the subsequent path segment and the end point of the initial path segment is obtained.
[0027] It can be understood that based on the two-segment comparison, at least one collision test is selected to determine whether a collision occurs, wherein any test can be based on a partial path segment for collision testing, which simplifies the test logic, makes the logic clearer and the results more accurate.
[0028] In some implementation scenarios, a collision test is first performed on the remaining path segment of the target vehicle and the current path segment of the vehicle to be tested to obtain a first collision test result. If the first collision test result is no collision, the second collision test result is no longer obtained. If the first collision test result is that a collision exists, a collision test is performed on the subsequent path segment of the vehicle to be tested and the state of the target vehicle stopped at the end of the initial path segment to obtain a second collision test result.
[0029] In some implementation scenarios, a collision test is first performed on the subsequent path segment of the vehicle to be tested and the state of the target vehicle stopped at the end point of the initial path segment to obtain a second collision test result. If the second collision test result is no collision, the first collision test result is no longer obtained. If the second collision test result is that a collision exists, a collision test is performed on the remaining path segment of the target vehicle and the current path segment of the vehicle to be tested to obtain the first collision test result.
[0030] In some implementation scenarios, a collision test is performed on the remaining path segment of the target vehicle and the current path segment of the vehicle to be tested to obtain a first collision test result, and a collision test is performed on the subsequent path segment of the vehicle to be tested and the state of the target vehicle stopped at the end of the initial path segment to obtain a second collision test result.
[0031] It should be noted that, during the collision test, the current path segment may be a complete path trajectory and stop at the end point of the current path segment, or the vehicle to be tested may be stopped at the end point of the current path segment for testing.
[0032] S103: Based on the obtained collision test results, the initial path segment is controlled in the target scene; wherein, when any collision test result is no collision, the initial path segment is sent to the target scene.
[0033] Specifically, based on the collision test results obtained, it is determined in the target scene whether to send the initial path segment. When any collision test result is no collision, the initial path segment is sent to the target scene so that the vehicle's path can be sent to the target scene as soon as possible, thereby improving the efficiency of vehicle scheduling.
[0034] In some implementation scenarios, when the first collision test result or the second collision test result is no collision, the initial path segment of the target vehicle is immediately sent to the target scene. When the first collision test result and the second collision test result are both collision, wait for the vehicle to be tested to complete the current path segment, obtain the current path segment newly sent by the vehicle to be tested, and return to the step of obtaining at least one of the first collision test result between the remaining path segment and the current path segment, and the second collision test result between the subsequent path segment and the end point of the initial path segment.
[0035] In some implementation scenarios, when the first collision test result or the second collision test result is no collision, the initial path segment of the target vehicle is immediately sent to the target scene; when the first collision test result and the second collision test result are both collisions, the initial path segment of the target vehicle is shortened, and the process returns to the step of obtaining the initial path segment and the remaining path segments to be sent for the target vehicle in the target scene; based on the remaining path segments, the vehicle to be tested corresponding to the target vehicle in the target scene is determined, and the current path segment that has been sent for the vehicle to be tested and the subsequent path segments that have not been sent are obtained.
[0036] In some implementation scenarios, when the first collision test result or the second collision test result is no collision, the initial path segment of the target vehicle is immediately sent to the target scene; when the first collision test result and the second collision test result are both collisions, a safe point that can avoid collision is sought on the paths of the target vehicle and the vehicle to be tested; if a safe point is found, the initial path segment of the target vehicle is immediately sent to the target scene, and the corresponding vehicle is controlled to drive to the safe point and stop at the safe point; otherwise, other vehicles are obtained as target vehicles to prioritize planning the paths of other vehicles.
[0037] It should be noted that, when there are multiple vehicles to be tested, it is sufficient to traverse each vehicle to be tested to determine whether a path conflict will occur between the target vehicle and each vehicle to be tested.
[0038] The above scheme obtains the initial path segment and the remaining path segment to be issued by the target vehicle in the target scene, so as to facilitate the segmentation of the complete path of the target vehicle, and the initial path segment can be allocated with a shorter path segment to be issued as soon as possible. Based on the remaining path segment, the vehicle to be tested that is associated with the remaining path segment of the target vehicle is screened out from the target scene, and the current path segment that has been issued and the subsequent path segment that has not been issued are obtained. At least one of the first collision test results of the collision test between the remaining path segment and the current path segment and the second collision test results of the collision test between the subsequent path segment and the end point of the initial path segment is obtained, so as to select at least one of the collision tests to determine whether a collision occurs based on the two-segment comparison, wherein any test can be based on a partial path segment for collision testing, which simplifies the test logic, makes the logic clearer and the result more accurate. Based on the obtained collision test results, it is determined whether to issue the initial path segment in the target scene. When any collision test result is no collision, the initial path segment is issued to the target scene, so that the path of the vehicle can be issued to the target scene as soon as possible, thereby improving the efficiency of vehicle scheduling.
[0039] See also Figure 2 , Figure 2 It is a flow chart of another implementation method of the vehicle path control method of the present application, the method comprising:
[0040] S201: Obtain the initial path segment and remaining path segments to be issued for the target vehicle in the target scene, determine the vehicle to be tested corresponding to the target vehicle in the target scene based on the remaining path segments, and obtain the current path segment that has been issued and the subsequent path segments that have not been issued for the vehicle to be tested.
[0041] Specifically, the initial path segment and the remaining path segment to be issued of the target vehicle in the target scene are obtained, and based on the remaining path segment, the vehicles to be tested that are associated with the remaining path segment of the target vehicle are screened out from the target scene, and the current path segment that has been issued and the subsequent path segments that have not been issued and are being executed by the vehicle to be tested are obtained.
[0042] In some implementation scenarios, the mission information of the target vehicle in the target scene is obtained, the target path matching the mission information is determined, and the target path is decomposed into an initial path segment and a remaining path segment; the path nodes on the remaining path segments are determined, and the vehicles within a preset range on the path nodes are obtained as the vehicles to be tested corresponding to the target vehicle in the target scene.
[0043] Specifically, the task information of the target vehicle in the target scene is obtained, the target path of the target vehicle in the target scene is planned based on the task information, the target path is decomposed to obtain an initial path segment and the remaining path segments after the initial path segment, thereby decomposing the complete target path, so as to determine whether the task of the target vehicle can be issued as soon as possible based on the initial path segment.
[0044] Furthermore, the path nodes on the remaining path segment are determined, and vehicles within a preset range are searched on the path nodes of the remaining path segment, so as to obtain vehicles that may intersect or overlap with the remaining path with the current moment as the search node, and use the current moment as the vehicle to be tested corresponding to the target vehicle in the target scene, making the vehicle to be tested more comprehensive.
[0045] Optionally, vehicles within a preset range on the path node are obtained, the driving direction of the vehicles within the preset range is determined, and the vehicles close to the remaining path are used as the target vehicles and the corresponding vehicles to be tested in the target scene, thereby reducing the number of vehicles to be tested and improving the deployment efficiency.
[0046] It should be noted that obtaining the mission information of the target vehicle in the target scene, determining the target path matching the mission information, and decomposing the target path into an initial path segment and remaining path segments include: obtaining the mission information of the target vehicle in the target scene, and planning the target path of the target vehicle in the target scene based on the mission information; in the target path, obtaining a path segment that has no conflict with the current path segments of other vehicles as the initial path segment, and taking the path segments other than the initial path segment in the target path as the remaining path segments; wherein the number of path nodes passed by the initial path segment is less than the number of path nodes passed by the remaining path segments.
[0047] Specifically, the task information of the target vehicle in the target scene is obtained, the path of the target vehicle in the target scene is planned based on the task information, and the target path of the target vehicle in the target scene is obtained. The target path is decomposed to obtain an initial path segment that does not conflict with the current path segments of other vehicles to ensure the safety between the initial path segment and other vehicles, and the path segments other than the initial path segment in the target path are taken as the remaining path segments, and the path nodes passed by the initial path segment are less than the path nodes passed by the remaining path segments, that is, the initial path segment is shorter than the remaining path segments, so that the target path can be decomposed into as many path segments as possible and issued in sequence, and the initial path segment can be issued as soon as possible.
[0048] S202: Obtain at least one of a first collision test result between the remaining path segment and the current path segment, and a second collision test result between the subsequent path segment and an end point of the initial path segment.
[0049] Specifically, at least one of a first collision test result of a collision test between the remaining path segment and the current path segment and a second collision test result of a collision test between the subsequent path segment and the end point of the initial path segment is obtained.
[0050] In some implementation scenarios, a first collision test result is obtained based on the contour covered by the remaining path segment of the target vehicle and the contour covered by the current path segment of the vehicle to be tested; and / or a second collision test result is obtained based on the contour covered by the subsequent path segment of the vehicle to be tested and the contour covered by the target vehicle when it stops at the end point of the initial path segment.
[0051] Specifically, the target vehicle and the vehicle to be tested correspond to the spaces they occupy respectively. Therefore, the target vehicle and the vehicle to be tested have corresponding contours during the driving process. Based on the contour covered by the remaining path segment of the target vehicle and the contour covered by the current path segment of the vehicle to be tested, a collision test is performed on the target vehicle's driving distance and the path segment and the process of the vehicle to be tested driving to the end point of the current path segment to obtain a first collision test result.
[0052] It can be understood that based on the contour covered by the subsequent path segment of the vehicle to be tested and the contour covered by the target vehicle when it stops at the end of the initial path segment, a collision test is performed on the state of the vehicle to be tested traveling the subsequent path segment and the target vehicle stopping at the end of the path segment to obtain a second collision test result. Therefore, when determining the first collision test result and the second collision test result, the spatial dimensions of the vehicle are taken into consideration in the collision test process, so that the collision test result is more accurate.
[0053] Optionally, one of the first collision test result and the second collision test result may be obtained first, and when the result of the first collision test is no collision, the subsequent test is no longer performed.
[0054] In a specific implementation scenario, the first collision test result is obtained before the second collision test result. When the first collision test result is no collision, the second collision test result is no longer obtained. When the first collision test result is collision, the second collision test result is obtained.
[0055] Specifically, based on the contour covered by the remaining path segment of the target vehicle and the contour covered by the current path segment of the vehicle to be tested, the first collision test result is obtained. If the first collision test result is no collision, the second collision test result is no longer obtained. If the first collision test result is a collision, the second collision test result is obtained based on the contour covered by the subsequent path segment of the vehicle to be tested and the contour covered by the target vehicle at the end of the initial path segment. Therefore, the first collision test result is obtained first, so that the vehicle to be tested can be controlled to complete the current path segment, and the subsequent path segments of the vehicle to be tested can continue to be attempted to be issued, so that the path in the entire target scene can be issued as soon as possible.
[0056] S203: In response to the first collision test result or the second collision test result being no collision, the initial path segment is sent to the target scene.
[0057] Specifically, when the first collision test result or the second collision test result is no collision, the initial path segment is sent to the target scene, so that the target vehicle starts to perform the task.
[0058] S204: In response to the first collision test result and the second collision test result both indicating collision, based on the first collision point and the second collision point, a safety point between the target vehicle and the vehicle to be tested is searched to obtain a safety point search result, and based on the safety point search result, the initial path segment is managed and controlled in the target scene.
[0059] Specifically, when the result of the first collision test is that a collision exists, a first collision point is recorded, and when the result of the second collision test is that a collision exists, a second collision point is recorded.
[0060] It can be understood that when both the first collision test result and the second collision test result indicate that there is a collision, based on the first collision point and the second collision point, a safety point is searched from the path of the target vehicle and the path of the vehicle to be tested, so as to find a point where the vehicle can avoid collision after stopping at the safety point, and a safety point search result is obtained. Based on the safety point search result, whether the initial path segment in the target scene is issued is controlled, so that the initial path segment can be issued as soon as possible when a safety point is found.
[0061] It should be noted that based on the first collision point and the second collision point, the safety point between the target vehicle and the vehicle to be tested is searched to obtain the safety point search result, including: searching for the first safety point that does not collide with the subsequent path segment in the position on the initial path segment and the remaining path segment until the first collision point, and judging whether the first safety point is obtained; if obtained, determining the safety point search result based on the first safety point; if not obtained, searching for the second safety point that does not collide with the remaining path segment in the position on the current path segment and the subsequent path segment until the second collision point, and determining the safety point search result based on the second safety point.
[0062] Specifically, assume that the target vehicle is vehicle A and the target path of the target vehicle is P 0 …P end , the initial path segment is P 0 …P i , then the remaining path is P i+1 ...P end , the first collision point is P Ad , the vehicle to be tested is vehicle B, and the current path segment of the vehicle to be tested is BP 0 …BP k , the remaining path is BP k+1 ...BP end , the second collision point is BP Bd , traverse A car P in turn 0 , P 1 …P Ad Path to determine whether the first safe point P is obtained safe , so that the contour covered by the subsequent path segment of car B will not collide with the contour finally covered by car A at this point. If obtained, then based on the first safe point P safe It is determined that the safety point search result is that a safety point exists.
[0063] It is understandable that if the first safe point is not obtained, then traverse the B car BP in turn 0 , BP 1 …BP Bd Path to determine whether the second safety point BP is obtained safe , so that the contour covered by the remaining path segment of vehicle A will not collide with the contour finally covered by vehicle B at this point. If obtained, then based on the second safety point BP safe The result of the safety point search is determined to be that there is a safety point. If not, the result of the safety point search is determined to be that there is no safety point. Therefore, by obtaining the safety point in a two-stage segmented manner, priority is given to ensuring that the task of the vehicle under test can be performed normally, and by finding the safety point, the probability that the initial path segment of the target vehicle can be issued is increased.
[0064] It should be noted that based on the safety point search results, the initial path segment is controlled in the target scene, including: in response to obtaining the first safety point, the initial path segment is sent to the target scene, and the target vehicle is controlled to travel to the first safety point and wait for the vehicle to be tested to execute the subsequent path segment; in response to obtaining the second safety point, the initial path segment is sent to the target scene, and the vehicle to be tested is controlled to travel to the second safety point and wait for the target vehicle to execute the remaining path segment; in response to not obtaining the first safety point and the second safety point, after waiting for the vehicle to be tested that conflicts with the target vehicle to execute the current path segment, return to the step of obtaining the initial path segment and the remaining path segment to be sent by the target vehicle in the target scene.
[0065] Specifically, when the first safety point is obtained, the initial path segment is sent to the target scene, and the target vehicle is controlled to travel to the first safety point and wait for the vehicle to be tested to execute the subsequent path segment, so that the initial path can be sent as soon as possible, and the trajectory of the target vehicle is controlled so that no collision occurs in the target scene. When the second safety point is obtained, the initial path segment is sent to the target scene, and the vehicle to be tested is controlled to travel to the second safety point and wait for the target vehicle to execute the remaining path segment, so that the initial path can be sent as soon as possible, and the trajectory of the vehicle to be tested is controlled so that no collision occurs in the target scene.
[0066] It should be noted that when the first safety point and the second safety point are not obtained, the initial path segment of the target vehicle cannot be sent temporarily. After waiting for the vehicle to be tested that conflicts with the target vehicle to execute the current path segment, so that there is an execution time difference between the subsequent path segments of the target vehicle and the vehicle to be tested, return to the step of obtaining the initial path segment and the remaining path segments to be sent of the target vehicle in the target scene, and try to send the initial path segment of the target vehicle again.
[0067] In this embodiment, at least one of a first collision test result of a collision test between a remaining path segment and a current path segment and a second collision test result of a collision test between a subsequent path segment and an end point of the initial path segment is obtained; when the first collision test result is that a collision exists, a first collision point is recorded; when the second collision test result is that a collision exists, a second collision point is recorded; based on the first collision point and the second collision point, a safety point is searched on the path of the target vehicle and the path of the vehicle to be tested, so as to find a point at which the vehicle can avoid a collision after stopping at the safety point, and a safety point search result is obtained; based on the safety point search result, whether the initial path segment in the target scene is issued is controlled, so that the initial path segment can be issued as soon as possible when a safety point is found.
[0068] See also Figure 3 , Figure 3It is a structural diagram of an embodiment of an electronic device of the present application, wherein the electronic device 30 includes a memory 301 and a processor 302 coupled to each other, wherein the memory 301 stores program data (not shown), and the processor 302 calls the program data to implement the method in any of the above embodiments. For descriptions of related contents, please refer to the detailed description of the above method embodiments, which will not be repeated here.
[0069] See also Figure 4 , Figure 4 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 40 stores program data 400. When the program data 400 is executed by a processor, the method in any of the above embodiments is implemented. For descriptions of related contents, please refer to the detailed description of the above method embodiments, which will not be repeated here.
[0070] It should be noted that the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present implementation scheme.
[0071] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
[0072] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.
[0073] The above description is only an implementation method of the present application, and does not limit the protection scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the protection scope of the present application.
Claims
1. A vehicle path control method, characterized in that: The method comprises: Obtaining an initial path segment and a remaining path segment to be issued for a target vehicle in a target scene, determining a vehicle to be tested corresponding to the target vehicle in the target scene based on the remaining path segment, and obtaining a current path segment that has been issued and a subsequent path segment that has not been issued for the vehicle to be tested; Obtaining at least one of a first collision test result between the remaining path segment and the current path segment, and a second collision test result between the subsequent path segment and an end point of the initial path segment; Based on the obtained collision test results, the initial path segment is controlled in the target scene; wherein, when any collision test result is no collision, the initial path segment is sent to the target scene.
2. The vehicle path control method according to claim 1, characterized in that: The obtaining of at least one of a first collision test result between the remaining path segment and the current path segment, and a second collision test result between the subsequent path segment and an end point of the initial path segment, comprises: Acquire the first collision test result based on the contour covered by the remaining path segment of the target vehicle and the contour covered by the current path segment of the vehicle to be tested; and / or, The second collision test result is obtained based on the contour covered by the vehicle to be tested when traveling the subsequent path segment and the contour covered by the target vehicle when stopping at the end point of the initial path segment.
3. The vehicle path control method according to claim 2, characterized in that: The first collision test result is obtained before the second collision test result. When the first collision test result is no collision, the second collision test result is no longer obtained. When the first collision test result is collision, the second collision test result is obtained.
4. The vehicle path control method according to claim 1, characterized in that: When the first collision test result is that there is a collision, a first collision point is recorded, and when the second collision test result is that there is a collision, a second collision point is recorded; The controlling the initial path segment in the target scene based on the obtained collision test result includes: In response to the first collision test result or the second collision test result being no collision, sending the initial path segment to the target scene; In response to the first collision test result and the second collision test result both indicating the presence of a collision, based on the first collision point and the second collision point, a safety point between the target vehicle and the vehicle to be tested is searched to obtain a safety point search result, and based on the safety point search result, the initial path segment is managed and controlled in the target scene.
5. The vehicle path control method according to claim 4, characterized in that: The step of searching for a safety point between the target vehicle and the vehicle to be tested based on the first collision point and the second collision point to obtain a safety point search result includes: Searching for a first safe point that does not collide with the subsequent path segment in the positions on the initial path segment and the remaining path segments up to the first collision point, and determining whether the first safe point is obtained; If obtained, determining the security point search result based on the first security point; If not obtained, then searching for a second safety point that does not collide with the remaining path segments in the positions on the current path segment and the subsequent path segment up to the second collision point, and determining the safety point search result based on the second safety point.
6. The vehicle path control method according to claim 5, characterized in that: The controlling the initial path segment in the target scene based on the safety point search result includes: In response to obtaining the first safety point, the initial path segment is sent to the target scene, and the target vehicle is controlled to travel to the first safety point and then wait for the vehicle to be tested to execute the subsequent path segment; In response to obtaining the second safety point, the initial path segment is sent to the target scene, and the vehicle to be tested is controlled to travel to the second safety point and then wait for the target vehicle to execute the remaining path segment; In response to not obtaining the first safety point and the second safety point, after waiting for the vehicle to be tested that conflicts with the target vehicle to execute the current path segment, return to the step of obtaining the initial path segment and the remaining path segments to be issued by the target vehicle in the target scene.
7. The vehicle path control method according to claim 1, characterized in that: The step of obtaining an initial path segment and a remaining path segment to be sent by the target vehicle in the target scene, and determining a vehicle to be tested corresponding to the target vehicle in the target scene based on the remaining path segment, comprises: Acquire mission information of a target vehicle in the target scene, determine a target path matching the mission information, and decompose the target path into the initial path segment and the remaining path segment; Path nodes on the remaining path segments are determined, and vehicles within a preset range on the path nodes are acquired as vehicles to be tested corresponding to the target vehicle in the target scene.
8. The vehicle path control method according to claim 7, characterized in that: The step of acquiring the task information of the target vehicle in the target scene, determining a target path matching the task information, and decomposing the target path into the initial path segment and the remaining path segment includes: Acquire mission information of the target vehicle in the target scene, and plan a target path of the target vehicle in the target scene based on the mission information; In the target path, a path segment that does not conflict with the current path segment of other vehicles is obtained as the initial path segment, and the path segments other than the initial path segment in the target path are taken as the remaining path segments; wherein the number of path nodes passed by the initial path segment is less than the number of path nodes passed by the remaining path segment.
9. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method according to any one of claims 1 to 8.
10. A computer-readable storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the method according to any one of claims 1 to 8 is implemented.