Safe driving method and system

Abstract

The embodiment of the present invention discloses a method and system for safe driving, which relates to the field of computer technology. The method includes: a control console dispatches multiple driving tasks to multiple automatic guided transport vehicles; multiple automatic guided transport vehicles automatically adjust safe driving areas respectively; according to the safe driving areas, the multiple automatic guided transport vehicles drive safely. According to the method for safe driving of an embodiment of the present invention, multiple automatic guided transport vehicles automatically adjust safe driving areas respectively; according to the safe driving areas, the multiple automatic guided transport vehicles drive safely. This reduces the frequent communication between the automatic guided transport vehicles and the control console, saving communication bandwidth.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method and system for safe driving. Background Art

[0002] Current automated guided vehicles (AGVs) often encounter unexpected situations during operation, such as people, machines, and goods appearing on the driving path of the AGV, making it impossible for the AGV to drive normally. In the prior art, the AGV communicates with the control console multiple times, and the control console switches the safe driving area of ​​the AGV in real time according to the current operating status of the AGV.

[0003] AGV following means that AGVs follow the same route one after another. During the driving process, the rear vehicle should be as close to the front vehicle as possible, but no safety incidents should occur, such as the front vehicle colliding with the rear vehicle due to an abnormality. In the prior art, the two AGVs following the front and rear vehicles report the current speed and status information of the AGVs to the control console in real time. The control console controls and adjusts the AGVs in real time according to the current operating status information of the two AGVs.

[0004] The automated guided vehicle reports its current operating status to the control console in real time. The control console switches the safe driving area of ​​the automated guided vehicle and makes control adjustments to the automated guided vehicle in real time according to the current operating status of the automated guided vehicle. Frequent communication between the automated guided vehicle and the control console is required, which wastes communication bandwidth. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method and system for safe driving, wherein a plurality of automated guided vehicles automatically adjust safe driving areas respectively to reduce frequent communications between the automated guided vehicles and a control console.

[0006] According to one aspect of the present invention, a method for safe driving is provided, comprising: a control console dispatches multiple driving tasks to multiple automated guided vehicles; the multiple automated guided vehicles automatically adjust safe driving areas respectively; and the multiple automated guided vehicles drive safely according to the safe driving areas.

[0007] Preferably, the control console dispatches multiple driving tasks to multiple automatic guided transport vehicles, and at the same time, the control console dispatches the section lengths of the multiple driving tasks to the multiple automatic guided transport vehicles respectively.

[0008] Preferably, the safe driving method further comprises: the multiple automatic guided transport vehicles calculating the remaining road distances of the multiple driving tasks in real time.

[0009] Preferably, the specific steps for the multiple automated guided transport vehicles to calculate the remaining road section distances of the multiple driving tasks in real time include: the multiple automated guided transport vehicles calculate the road section distances that have been traveled in real time; the multiple automated guided transport vehicles subtract the road section distances that have been traveled from the road section lengths of the multiple driving tasks in real time to obtain the remaining road section distances of the multiple driving tasks.

[0010] Preferably, the specific steps for the multiple automated guided transport vehicles to automatically adjust the safe driving areas include: presetting multiple groups of safety areas for the multiple automated guided transport vehicles; correspondingly presetting multiple groups of safety area parameters for the multiple groups of safety areas; comparing the multiple groups of safety area parameters with the remaining road distances of the multiple driving tasks to obtain the safe driving areas of the multiple automated guided transport vehicles.

[0011] Preferably, the plurality of groups of safety area parameters include at least one of the following: a maximum value of the plurality of groups of safety areas of the plurality of automated guided transport vehicles.

[0012] Preferably, the maximum values ​​of the multiple groups of safety areas are obtained according to the maximum driving parameters of the multiple automated guided vehicles.

[0013] Preferably, the maximum driving parameters of the plurality of automated guided transport vehicles include at least one of the following: a maximum driving speed, a maximum deceleration, and a reserved safety distance.

[0014] Preferably, the specific steps for the multiple automated guided transport vehicles to automatically adjust the safe driving areas respectively also include: the multiple automated guided transport vehicles respectively preset multiple groups of safety areas; the multiple groups of safety areas respectively preset multiple groups of safety area parameters; when the multiple automated guided transport vehicles need to follow the vehicle, the position point of the following vehicle is allowed to be pre-locked; when the driving target point of other automated guided transport vehicles is the position point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles; compares the multiple groups of safety area parameters and braking distances of the multiple automated guided transport vehicles, and obtains the safe driving area of ​​the multiple automated guided transport vehicles that have received the following vehicle instruction.

[0015] Preferably, the following vehicle travel position point only allows one automated guided vehicle pre-locking point.

[0016] Preferably, the braking distances of the multiple automated guided transport vehicles are obtained based on real-time driving parameters of the multiple automated guided transport vehicles.

[0017] Preferably, the real-time driving parameters of the plurality of automated guided transport vehicles include at least one of the following: real-time driving speed, real-time deceleration and reserved safety distance.

[0018] Preferably, according to the safe driving area, in the safe driving area, the multiple automated guided transport vehicles follow the vehicle, and if the automated guided transport vehicle traveling in front slows down or stops, the multiple automated guided transport vehicles can stop safely according to the real-time deceleration of the automated guided transport vehicle following the vehicle.

[0019] According to another aspect of the present invention, a safe driving system is provided, comprising: a control console for assigning multiple driving tasks to multiple automatic guided transport vehicles; multiple automatic guided transport vehicles for automatically adjusting safe driving areas respectively; according to the safe driving areas, the multiple automatic guided transport vehicles drive safely.

[0020] Preferably, the control console is also used to respectively assign the section lengths of multiple driving tasks to multiple automated guided transport vehicles; and when the driving target point of other automated guided transport vehicles is the location point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles.

[0021] Preferably, the plurality of automated guided vehicles include safety sensors, and the safety sensors respectively preset a plurality of groups of safety areas; the plurality of groups of safety areas correspondingly preset a plurality of groups of safety area parameters.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the safe driving method as described above is implemented.

[0023] An embodiment of the present invention has the following advantages or beneficial effects: multiple automated guided transport vehicles automatically adjust safe driving areas respectively; according to the safe driving areas, the multiple automated guided transport vehicles drive safely. This reduces the frequent communication between the automated guided transport vehicles and the control console, saving communication bandwidth. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0025] Figure 1 A structural schematic diagram showing a safe driving area of ​​an existing automatic guided transport vehicle.

[0026] Figure 2 A schematic structural diagram showing a driving map of an existing automatic guided vehicle.

[0027] Figure 3 A schematic flow chart showing a method for safe driving according to an embodiment of the present invention.

[0028] Figure 4A schematic flow chart showing a method for safe driving according to an embodiment of the present invention.

[0029] Figure 5 A schematic flow chart showing a method for safe driving according to an embodiment of the present invention.

[0030] Figure 6 A schematic structural diagram of a safe driving system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0031] The present invention is described below based on embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, some specific details are described in detail. It is possible for a person skilled in the art to fully understand the present invention without the description of these details. In order to avoid confusing the essence of the present invention, known methods, processes, and procedures are not described in detail. In addition, the drawings are not necessarily drawn to scale.

[0032] Figure 1 It is a structural diagram of the safe driving area of ​​an existing automated guided transport vehicle. The safety sensor is installed at the center of the front of the automated guided transport vehicle (UST). Output region 1, Output region 2, and Outputregion 3 in the figure are three safe driving areas, corresponding to the three signals of the safety sensor. When an object enters the safe driving area, the safety sensor will output a corresponding signal to the control console, and then the control console performs logical control according to the signal. According to the corresponding signals returned by Output region 1, Output region 2, and Output region 3, the control console generally makes the following logical control: Output region 1 alarms, Output region 2 stops, and Output region 3 stops urgently. The safety sensor of the automated guided transport vehicle can set multiple groups of such safe driving areas. The length design of the safe driving area must ensure that the automated guided transport vehicle can stably stop without hitting the obstacle after the obstacle enters the safe driving area.

[0033] Figure 2 This is a schematic diagram of the structure of the existing driving map of an AGV. Multiple AGVs travel horizontally or vertically in the driving map. To ensure that the AGVs do not collide with each other, the control console uses a locking point mechanism to achieve safe driving of the AGVs. If you want to ensure that the AGVs can stop safely at any speed, the design of the safe driving area is generally larger than the size of 1 grid.

[0034] In one embodiment, the automatic guided transport vehicle x1 moves from point A to point D, and the control console locks points A, B, C, and D. That is, the control console will release points A, B, and C only after the automatic guided transport vehicle x1 has traveled through points A, B, C, and D.

[0035] In one embodiment, the automated guided transport vehicle x2 travels from point A to point D, and the automated guided transport vehicle x3 travels from point E1 to point E. When the automated guided transport vehicle x2 travels to point C, it will scan the automated guided transport vehicle x3 parked at point E. The automated guided transport vehicle x3 parked at point E will mistakenly trigger a safety event for the automated guided transport vehicle x2.

[0036] In one embodiment, automated guided transport vehicles x4 and x5 stop at point A and point C respectively, and automated guided transport vehicle x4 needs to move from point A to point B. Since x5 at point C is within the safe driving area of ​​automated guided transport vehicle x4, automated guided transport vehicle x4 cannot reach point B.

[0037] In another embodiment, the automatic guided transport vehicles x6 and x7 stop at point A and point B respectively, that is, x6 locks point A, and x7 locks point B. The automatic guided transport vehicle x6 goes from point A to point D, and x7 goes from point B to point E. According to the locking point mechanism, only when x7 reaches point C can x6 lock point B and then start to perform the driving task. This locking point mechanism will seriously affect the driving efficiency of the automatic guided transport vehicle in some special cases. If point D is the operating point, that is, when x6 arrives at point D, other machines or people will operate on x6. However, x6 needs to queue at point C, and only when x7 at point D arrives at point E can x6 continue to drive to point D.

[0038] In summary, the inventors have found that the above-mentioned safe driving method based on console scheduling has the following shortcomings:

[0039] The automated guided vehicle reports its current operating status to the control console in real time. The control console switches the safe driving area of ​​the automated guided vehicle and makes control adjustments to the automated guided vehicle in real time according to the current operating status of the automated guided vehicle. Frequent communication between the automated guided vehicle and the control console is required, which wastes communication bandwidth.

[0040] When multiple AGVs work together, if a fixed-length safe driving zone is set, the AGVs will trigger many safety events by mistake. When an AGV encounters a safety event, it reports it to the control console, which determines whether it is another AGV and then notifies the AGV whether to switch to a safe driving zone. This further increases the frequent communication between the AGV and the control console, wasting communication bandwidth.

[0041] The method of real-time dispatch of the AGV by the control console is used to achieve vehicle following. In order to ensure the real-time information of the current operating status of the two AGVs, frequent communication between the AGVs and the control console is required. When multiple AGVs are used together, the communication bandwidth is limited, and the real-time information of the current operating status of the AGVs decreases, which reduces the efficiency of the AGVs in following the vehicle. At the same time, the vehicle following is achieved through the locking point mechanism. In some special cases, the AGVs need to wait in line, which further reduces the efficiency of the AGVs in following the vehicle.

[0042] Figure 3 The figure is a flow chart of a safe driving method according to an embodiment of the present invention, which specifically includes the following steps:

[0043] In step S301, the control console dispatches multiple driving tasks to multiple automated guided vehicles.

[0044] In step S302, a plurality of automated guided vehicles automatically adjust safe driving areas respectively.

[0045] In step S303, the multiple automated guided vehicles drive safely according to the safe driving area.

[0046] In one embodiment of the present invention, first, the control console assigns multiple driving tasks to multiple automated guided vehicles. Then, the multiple automated guided vehicles automatically adjust the safe driving areas respectively. Finally, according to the safe driving areas, the multiple automated guided vehicles drive safely.

[0047] According to an embodiment of the present invention, a plurality of automated guided vehicles automatically adjust safe driving areas respectively; according to the safe driving areas, the plurality of automated guided vehicles drive safely. This reduces frequent communication between the automated guided vehicles and the control console, saving communication bandwidth.

[0048] Figure 4 The following is a flow chart of a safe driving method according to an embodiment of the present invention.

[0049] In step S401, the control console dispatches a plurality of driving tasks to a plurality of automatic guided transport vehicles. At the same time, the control console dispatches the section lengths of the plurality of driving tasks to the plurality of automatic guided transport vehicles respectively.

[0050] In step S402, the multiple automated guided vehicles calculate the remaining road distances of the multiple driving tasks in real time.

[0051] In step S403, the plurality of automated guided vehicles respectively preset a plurality of groups of safety areas.

[0052] In step S404, the plurality of groups of security areas are respectively preset with a plurality of groups of security area parameters.

[0053] In step S405, the plurality of groups of safety area parameters are compared with the remaining road distances of the plurality of driving tasks to obtain the safety driving areas of the plurality of automated guided vehicles.

[0054] In step S406, the multiple automated guided vehicles drive safely according to the safe driving area.

[0055] In one embodiment of the present invention, a control console dispatches multiple driving tasks to multiple automatic guided transport vehicles, and at the same time, the control console dispatches the road section lengths of the multiple driving tasks to the multiple automatic guided transport vehicles respectively. The multiple automatic guided transport vehicles calculate the remaining road section distances of the multiple driving tasks in real time. The multiple automatic guided transport vehicles respectively preset multiple groups of safety areas. The multiple groups of safety areas respectively preset multiple groups of safety area parameters. The multiple groups of safety area parameters are compared with the remaining road section distances of the multiple driving tasks to obtain the safe driving areas of the multiple automatic guided transport vehicles. According to the safe driving areas, the multiple automatic guided transport vehicles drive safely.

[0056] According to an embodiment of the present invention, the multiple groups of safety area parameters and the remaining road distances of the multiple driving tasks are compared to obtain the safe driving areas of the multiple automated guided transport vehicles. During the driving of the automated guided transport vehicle, the safe driving area is continuously reduced, thereby preventing the automated guided transport vehicle from being mistakenly triggered by other normally parked automated guided transport vehicles.

[0057] In one embodiment, the specific steps for the multiple automated guided transport vehicles to calculate the remaining road section distances of the multiple driving tasks in real time include: the multiple automated guided transport vehicles calculate the road section distances that have been traveled in real time; the multiple automated guided transport vehicles subtract the road section distances that have been traveled from the road section lengths of the multiple driving tasks in real time to obtain the remaining road section distances of the multiple driving tasks.

[0058] According to the embodiment of the present invention, the multiple automated guided transport vehicles only need to communicate with the control console once to obtain the road section lengths of the multiple driving tasks, and the remaining road section distances of the multiple driving tasks can be calculated in real time. This reduces the frequent communication between the automated guided transport vehicles and the control console, saving communication bandwidth.

[0059] In one embodiment, the multiple groups of safety area parameters include at least one of the following: the maximum value of the multiple groups of safety areas of the multiple automated guided transporters. The maximum value of the multiple groups of safety areas is obtained according to the maximum driving parameters of the multiple automated guided transporters. In one embodiment, the remaining distance of the multiple driving tasks of the multiple automated guided transporters is s. r The multiple groups of safe driving areas of the multiple automated guided vehicles are respectively p1, p2...p n (The size of n is determined by the safety sensor and is available in 8, 16, 32, and other specifications.) p1, p2, ... n The corresponding maximum values ​​preset in the safe driving area are increased in sequence to l1, l2…l n ,in, where v max Indicates the maximum speed of the automated guided vehicle, a indicates the maximum deceleration of the automated guided vehicle. Where b is the reserved safety distance. r with l1, l2…l n Compare them one by one, so that s r <l x+1 And r >l x , we get p1, p2…p n A safe driving area x+1 , whose maximum value is l x+1 , we get p x+1 It is a safe driving area for the multiple automated guided transport vehicles.

[0060] Figure 5 The following is a flow chart of a safe driving method according to an embodiment of the present invention.

[0061] In step S501, the control console dispatches multiple driving tasks to multiple automated guided vehicles.

[0062] In step S502, the plurality of automated guided vehicles respectively preset a plurality of groups of safety areas.

[0063] In step S503, the plurality of groups of security areas are respectively preset with a plurality of groups of security area parameters.

[0064] In step S504, when the multiple automated guided transport vehicles need to follow a vehicle, the position points of the following vehicle allow for pre-locking points.

[0065] In step S505, when the driving target point of other automated guided transport vehicles is the driving position point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles.

[0066] In step S506, the multiple groups of safety area parameters and braking distances of the multiple automated guided transport vehicles are compared to obtain the safe driving areas of the multiple automated guided transport vehicles that have received the vehicle following instruction.

[0067] In step S507, the multiple automated guided vehicles drive safely according to the safe driving area.

[0068] According to one embodiment of the present invention, a control console dispatches multiple driving tasks to multiple automated guided transport vehicles. The multiple automated guided transport vehicles respectively preset multiple groups of safety areas. The multiple groups of safety areas respectively preset multiple groups of safety area parameters. When the multiple automated guided transport vehicles need to follow the vehicle, the position point of the following vehicle allows pre-locking points. When the driving target point of other automated guided transport vehicles is the position point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles. The multiple groups of safety area parameters and braking distances of the multiple automated guided transport vehicles are compared to obtain the safe driving area of ​​the multiple automated guided transport vehicles that receive the following vehicle instruction. According to the safe driving area, the multiple automated guided transport vehicles drive safely.

[0069] According to an embodiment of the present invention, the multiple groups of safety area parameters and braking distances of the multiple automated guided transport vehicles are compared to obtain the safe driving areas of the multiple automated guided transport vehicles that receive the vehicle following instruction. Frequent communication between the automated guided transport vehicle and the control console is not required. Multiple automated guided transport vehicles automatically adjust their safe driving areas respectively, which increases the vehicle following efficiency of the automated guided transport vehicles.

[0070] In one embodiment, in the safe driving area, the multiple automated guided transport vehicles follow the vehicle. If the automated guided transport vehicle in front slows down or stops, the multiple automated guided transport vehicles can stop safely based on the real-time deceleration of the automated guided transport vehicle following the vehicle.

[0071] In one embodiment, the braking distances of the multiple automated guided transport vehicles are obtained according to the real-time driving parameters of the multiple automated guided transport vehicles. In one embodiment, the braking distances of the multiple automated guided transport vehicles are s x The braking distance Among them, v t represents the real-time speed of the automated guided vehicle, a t represents the real-time deceleration of the automated guided vehicle, and c represents the reserved safety distance. The multiple groups of safe driving areas of the multiple automated guided vehicles are p1, p2...p n .s x with l1, l2…l nCompare one by one, so that l y <s x <l y+1 , we get p1, p2…p n A safe driving area y+1 , whose maximum value is l y+1 , we get p y+1 It is a safe driving area for the multiple automated guided transport vehicles.

[0072] In one embodiment, the following vehicle travel position point only allows one automated guided transport vehicle pre-locking point.

[0073] Figure 6 FIG. 1 is a schematic diagram of a safe driving system according to an embodiment of the present invention. Figure 6 As shown, the safe driving system includes: a control console 601 and multiple automatic guided vehicles 602.

[0074] Control console 601: used to dispatch multiple driving tasks to multiple automated guided vehicles.

[0075] Multiple automated guided vehicles 602: used to automatically adjust the safe driving area respectively; according to the safe driving area, the multiple automated guided vehicles drive safely.

[0076] In one embodiment, the console 601 is also used to assign the road section lengths of multiple driving tasks to multiple automated guided transport vehicles respectively; and when the driving target point of other automated guided transport vehicles is the location point of the following vehicle, the console initiates a following vehicle instruction to the multiple automated guided transport vehicles.

[0077] In one embodiment, a plurality of automated guided transport vehicles 602 include safety sensors, and the safety sensors respectively preset a plurality of groups of safety zones; the plurality of groups of safety zones correspondingly preset a plurality of groups of safety zone parameters.

[0078] Accordingly, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed, the operations specified in the above-mentioned safe driving method are implemented.

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the possible system frameworks, functions and operations of the systems, methods and devices of the embodiments of the present invention. The boxes on the flowcharts and block diagrams can represent a module, a program segment or just a piece of code, and the modules, program segments and codes are all executable instructions for implementing the specified logical functions. It should also be noted that the executable instructions for implementing the specified logical functions can be recombined to generate new modules and program segments. Therefore, the boxes and the order of the boxes in the accompanying drawings are only used to better illustrate the process and steps of the embodiments, and should not be used as a limitation on the invention itself.

[0080] The above descriptions are only some embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for safe driving, characterized in that: include: The control console dispatches multiple driving tasks to multiple automated guided transport vehicles, wherein the multiple automated guided transport vehicles are respectively preset with multiple groups of safety areas, and the multiple groups of safety areas are respectively preset with multiple groups of safety area parameters, and the multiple groups of safety area parameters include the maximum values ​​of the multiple groups of safety areas of the multiple automated guided transport vehicles, and the maximum values ​​of the multiple groups of safety areas are determined according to the maximum driving parameters of the multiple automated guided transport vehicles, and the maximum driving parameters include at least one of the following: maximum driving speed, maximum deceleration and reserved safety distance, and the multiple groups of safety areas of the multiple automated guided transport vehicles are p1, p2...p n , safe areas p1, p2…p n The preset corresponding maximum values ​​are l1, l2, ...l n ; The plurality of automated guided vehicles automatically adjust the safe driving areas respectively, wherein the maximum value of the plurality of groups of safe areas is compared with the remaining road section distances s of the plurality of driving tasks. r ,s r with l1, l2…l n Compare them one by one, so that s r <l x+1 And r >l x , we get p1, p2…p n A safe area in x+1 , whose maximum value is l x+1 , we get p x+1 A safe driving area for the plurality of automated guided transport vehicles; According to the safe driving area, the multiple automated guided vehicles drive safely.

2. The safe driving method according to claim 1, characterized in that: The control console distributes the road section lengths of multiple driving tasks to multiple automated guided vehicles respectively.

3. The safe driving method according to claim 2, characterized in that: The safe driving method further includes: the multiple automatic guided transport vehicles calculating the remaining road section distances of the multiple driving tasks in real time.

4. The safe driving method according to claim 3, characterized in that: The specific steps of the multiple automatic guided transport vehicles calculating the remaining road section distances of the multiple driving tasks in real time include: the multiple automatic guided transport vehicles calculating the road section distances that have been traveled in real time; The multiple automated guided transport vehicles subtract the distance of the section that has been traveled from the section length of the multiple driving tasks in real time to obtain the remaining section distance of the multiple driving tasks.

5. A method for safe driving, characterized in that: include: The control console dispatches multiple driving tasks to multiple automated guided transport vehicles, wherein the multiple automated guided transport vehicles are respectively preset with multiple groups of safety areas, and the multiple groups of safety areas are respectively preset with multiple groups of safety area parameters, and the multiple groups of safety area parameters include the maximum values ​​of the multiple groups of safety areas of the multiple automated guided transport vehicles, and the maximum values ​​of the multiple groups of safety areas are determined according to the maximum driving parameters of the multiple automated guided transport vehicles, and the maximum driving parameters include at least one of the following: maximum driving speed, maximum deceleration and reserved safety distance, and the multiple groups of safety areas of the multiple automated guided transport vehicles are p1, p2...p n , safe areas p1, p2…p n The preset corresponding maximum values ​​are l1, l2, ...l n ; The multiple automated guided transport vehicles automatically adjust the safe driving areas respectively, wherein, when the multiple automated guided transport vehicles need to follow the vehicle, the position point of the following vehicle allows a pre-locking point, and when the driving target point of other automated guided transport vehicles is the position point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles, and compares the maximum value of the multiple groups of safety areas of the multiple automated guided transport vehicles and the braking distance s x ,s x with l1, l2…l n Compare one by one, so that l y <s x <l y+1 , we get p1, p2…p n A safe area in y+1 , whose maximum value is l y+1 , we get p y+1 A safe driving area for the plurality of automated guided transport vehicles; According to the safe driving area, the multiple automated guided vehicles drive safely.

6. The safe driving method according to claim 5, characterized in that: The following vehicle travel position point only allows one automated guided vehicle pre-locking point.

7. The safe driving method according to claim 5, characterized in that: The braking distances of the multiple automated guided transport vehicles are obtained according to the real-time driving parameters of the multiple automated guided transport vehicles.

8. The safe driving method according to claim 7, characterized in that: The real-time driving parameters of the plurality of automated guided transport vehicles include at least one of the following: real-time driving speed, real-time deceleration, and reserved safety distance.

9. The safe driving method according to claim 5, characterized in that: In the safe driving area, the multiple automated guided transport vehicles follow the vehicle. If the automated guided transport vehicle in front slows down or stops, the multiple automated guided transport vehicles can stop safely according to the real-time deceleration of the automated guided transport vehicle following the vehicle.

10. A safe driving system, characterized in that: include: The control console is used to dispatch multiple driving tasks to multiple automated guided transport vehicles, wherein the multiple automated guided transport vehicles are respectively preset with multiple groups of safety areas, and the multiple groups of safety areas are respectively preset with multiple groups of safety area parameters, and the multiple groups of safety area parameters include the maximum values ​​of the multiple groups of safety areas of the multiple automated guided transport vehicles, and the maximum values ​​of the multiple groups of safety areas are determined according to the maximum driving parameters of the multiple automated guided transport vehicles, and the maximum driving parameters include at least one of the following: maximum driving speed, maximum deceleration and reserved safety distance, and the multiple groups of safety areas of the multiple automated guided transport vehicles are p1, p2...p n , safe areas p1, p2…p n The preset corresponding maximum values ​​are l1, l2, ...l n ; The multiple automated guided transport vehicles are used to automatically adjust the safe driving areas respectively, wherein, during the following driving process of the automated guided transport vehicles, when the multiple automated guided transport vehicles need to follow the vehicle, the position point of the following vehicle allows a pre-locking point, and when the driving target point of other automated guided transport vehicles is the position point of the following vehicle, the control console initiates a following vehicle instruction to the multiple automated guided transport vehicles, and compares the maximum value of the multiple groups of safety areas and the braking distance s of the multiple automated guided transport vehicles x ,s x with l1, l2…l n Compare one by one, so that l y <s x <l y+1 , we get p1, p2…p n A safe area in y+1 , whose maximum value is l y+1 , we get p y+1 It is a safe driving area for the multiple automated guided transport vehicles; according to the safe driving area, the multiple automated guided transport vehicles drive safely.

11. A safe driving system, characterized in that: include: The control console is used to dispatch multiple driving tasks to multiple automated guided transport vehicles, wherein the multiple automated guided transport vehicles are respectively preset with multiple groups of safety areas, and the multiple groups of safety areas are respectively preset with multiple groups of safety area parameters, and the multiple groups of safety area parameters include the maximum values ​​of the multiple groups of safety areas of the multiple automated guided transport vehicles, and the maximum values ​​of the multiple groups of safety areas are determined according to the maximum driving parameters of the multiple automated guided transport vehicles, and the maximum driving parameters include at least one of the following: maximum driving speed, maximum deceleration and reserved safety distance, and the multiple groups of safety areas of the multiple automated guided transport vehicles are p1, p2...p n , safe areas p1, p2…p n The preset corresponding maximum values ​​are l1, l2, ...l n ; The multiple automated guided vehicles are used to automatically adjust the safe driving areas respectively, wherein the maximum value of the multiple groups of safe areas is compared with the remaining road section distances s of the multiple driving tasks. r ,s r with l1, l2…l n Compare them one by one, so that s r <l x+1 And r >l x , we get p1, p2…p n A safe area in x+1 , whose maximum value is l x+1 , we get p x+1 A safe driving area for the plurality of automated guided transport vehicles; According to the safe driving area, the multiple automated guided vehicles drive safely.

12. The safe driving system according to claim 11, characterized in that: The control console is also used to respectively assign the section lengths of multiple driving tasks to multiple automated guided vehicles.

13. The safe driving system according to claim 11, characterized in that: The automated guided transport vehicle comprises safety sensors, and the safety sensors respectively preset a plurality of safety areas in a group of safety areas of the automated guided transport vehicle; the safety areas respectively preset a maximum value of the safety areas.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed, the safe driving method according to any one of claims 1 to 9 is implemented.

Images