Methods and apparatus for controlling unmanned equipment

Abstract

The embodiments of the present disclosure disclose a method and device for controlling unmanned equipment. A specific implementation of the method includes: obtaining the initial driving trajectory of the target unmanned equipment; in the process of driving the target unmanned equipment, executing the following control steps: in response to receiving the point cloud of the obstacle, projecting the point cloud to obtain the target figure; determining the initial object, executing the following adjustment steps: based on the initial object, adjusting the initial driving trajectory to obtain a new driving trajectory; in response to the initial object being greater than or equal to the target figure, using the new driving trajectory as the target driving trajectory; in response to the initial object being smaller than the target figure, enlarging the initial object to obtain a new object, using the new object as the initial object, using the new driving trajectory as the initial driving trajectory, and continuing to execute the adjustment steps; controlling the target unmanned equipment to drive according to the target driving trajectory. This implementation helps to improve the quality of the re-planned driving trajectory.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of unmanned equipment control, and more particularly, to a method and apparatus for controlling unmanned equipment. Background Art

[0002] With the development of artificial intelligence, mobile unmanned equipment (such as sweeping robots, drones, etc.) have been widely used.

[0003] At present, with the widespread application of computer technologies such as image recognition in unmanned equipment, unmanned equipment has a certain ability to perceive the environment. Furthermore, when the unmanned equipment is driving along the driving trajectory, if the unmanned equipment senses the existence of obstacles around it, it can obtain information about the obstacles and re-plan the driving trajectory based on the information of the obstacles in order to avoid the obstacles. Summary of the invention

[0004] Embodiments of the present disclosure provide methods and devices for controlling unmanned equipment.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for controlling an unmanned device, the method comprising: obtaining an initial driving trajectory of a target unmanned device from a current position to a target position; while the target unmanned device is driving along the initial driving trajectory, executing the following control steps: in response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for characterizing the plane contour of the obstacle; determining a scaled initial object corresponding to the target graphic, and executing the following adjustment steps: based on the initial object, adjusting the initial driving trajectory to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object; in response to the size of the initial object being greater than or equal to the size of the target graphic, using the new driving trajectory as the target driving trajectory; in response to the size of the initial object being smaller than the size of the target graphic, enlarging the initial object according to a preset enlargement method to obtain a new object, using the new object as the initial object, using the new driving trajectory as the initial driving trajectory, and continuing to execute the adjustment steps; controlling the target unmanned device to drive along the target driving trajectory.

[0006] In some embodiments, determining the scaled initial object corresponding to the target graphic includes: scaling the target graphic to obtain a point corresponding to the target graphic as the initial object.

[0007] In some embodiments, based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory, including: determining whether a new driving trajectory can be obtained based on the initial object; in response to the inability to obtain a new driving trajectory, determining whether the initial object can be scaled; in response to determining that the initial object can be scaled, scaling the initial object according to a preset scaling method to obtain the scaled object as the initial object; based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory.

[0008] In some embodiments, the preset magnification method includes: magnifying the initial object to obtain a new object, so that the distance between the vertex and the center point corresponding to the new object is a preset multiple of the distance between the vertex and the center point corresponding to the initial object.

[0009] In some embodiments, the method further includes: during the process of the target unmanned equipment driving along the target driving trajectory, taking the target driving trajectory as the initial driving trajectory and repeatedly executing the control step.

[0010] In some embodiments, the target unmanned equipment is an unmanned vehicle.

[0011] In some embodiments, the target location is the location of a parking space.

[0012] In a second aspect, an embodiment of the present disclosure provides a device for controlling an unmanned device, the device comprising: an acquisition unit, configured to acquire an initial driving trajectory of a target unmanned device from a current position to a target position; a first control unit, configured to execute the following control steps while the target unmanned device is driving along the initial driving trajectory: in response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for characterizing the plane contour of the obstacle; determining a scaled initial object corresponding to the target graphic, and executing the following adjustment steps: based on the initial object, adjusting the initial driving trajectory to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object; in response to the size of the initial object being greater than or equal to the size of the target graphic, using the new driving trajectory as the target driving trajectory; in response to the size of the initial object being smaller than the size of the target graphic, enlarging the initial object according to a preset enlargement method to obtain a new object, using the new object as the initial object, using the new driving trajectory as the initial driving trajectory, and continuing to execute the adjustment steps; controlling the target unmanned device to drive along the target driving trajectory.

[0013] In some embodiments, the first control unit is further configured to: scale the target graphic to obtain points corresponding to the target graphic as initial objects.

[0014] In some embodiments, the first control unit is further configured to: determine whether a new driving trajectory can be obtained based on the initial object; in response to the inability to obtain a new driving trajectory, determine whether the initial object can be scaled; in response to determining that the initial object can be scaled, scale the initial object according to a preset scaling method to obtain the scaled object as the initial object; based on the initial object, adjust the initial driving trajectory to obtain a new driving trajectory.

[0015] In some embodiments, the preset magnification method includes: magnifying the initial object to obtain a new object, so that the distance between the vertex and the center point corresponding to the new object is a preset multiple of the distance between the vertex and the center point corresponding to the initial object.

[0016] In some embodiments, the device also includes: a second control unit configured to use the target driving trajectory as the initial driving trajectory and repeatedly execute the control steps when the target unmanned equipment is driving along the target driving trajectory.

[0017] In some embodiments, the target unmanned equipment is an unmanned vehicle.

[0018] In some embodiments, the target location is the location of a parking space.

[0019] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method of any embodiment of the above-mentioned method for controlling unmanned equipment.

[0020] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements a method of any embodiment of the above-mentioned method for controlling an unmanned device.

[0021] The method and device for controlling unmanned equipment provided by the embodiments of the present disclosure obtain an initial driving trajectory of the target unmanned equipment from the current position to the target position, and then perform the following control steps while the target unmanned equipment is driving along the initial driving trajectory: in response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for characterizing the plane contour of the obstacle; determining a scaled initial object corresponding to the target graphic, and performing the following adjustment steps: adjusting the initial driving trajectory based on the initial object to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object; in response to the size of the initial object being greater than or equal to the size of the target graphic, using the new driving trajectory as the target driving trajectory; in response to the size of the initial object being smaller than the target graphic, zooming in on the target graphic according to a preset zooming method. The initial object is enlarged to obtain a new object, and the new object is used as the initial object, and the new driving trajectory is used as the initial driving trajectory to continue to perform the adjustment steps; the target unmanned equipment is controlled to travel according to the target driving trajectory, so that in the process of re-planning the driving trajectory of the unmanned equipment based on the obstacle, the driving trajectory corresponding to the obstacle and the smaller object is first determined, and then the size of the object is gradually enlarged, and the driving trajectory of the larger object is gradually determined until the size of the object is the same as the size of the obstacle, and the driving trajectory corresponding to the obstacle can be obtained. In this way, the driving trajectory of the unmanned equipment can be re-planned in the scene with obstacles, and the planning process is smoother, which helps to improve the quality of the re-planned driving trajectory, thereby improving the safety of the unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present disclosure will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present disclosure may be applied;

[0024] Figure 2 is a flow chart of an embodiment of a method for controlling an unmanned device according to the present disclosure;

[0025] Figure 3 is a schematic diagram of an application scenario of a method for controlling an unmanned device according to an embodiment of the present disclosure;

[0026] Figure 4 is a flow chart of another embodiment of a method for controlling an unmanned device according to the present disclosure;

[0027] Figure 5 is a structural schematic diagram of an embodiment of an apparatus for controlling unmanned equipment according to the present disclosure;

[0028] Figure 6 It is a schematic diagram of the structure of a computer system of an electronic device suitable for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] Figure 1 An exemplary system architecture 100 is shown to which an embodiment of a method for controlling an unmanned device or an apparatus for controlling an unmanned device of the present disclosure can be applied.

[0032] like Figure 1 As shown, the system architecture 100 may include a control device 101, a network 102, and an unmanned device 103. The network 102 is used to provide a medium for a communication link between the control device 101 and the unmanned device 103. The network 102 may include various connection types, such as wired, wireless communication links, or optical fiber cables.

[0033] The control device 101 may be any electronic device having information processing capability, such as a server.

[0034] The unmanned device 103 may be configured with a CPU, a memory, a wireless network card, a GPS, a camera, a laser radar, a millimeter wave radar, and the like.

[0035] The unmanned device 103 can be positioned by GPS or the like, and the positioning information can be sent to the control device 101, so that the control device 101 can plan a driving trajectory based on the positioning information and the destination information, and control the unmanned device 103 to travel according to the driving trajectory.

[0036] In addition, the unmanned device 103 can collect road condition information (including images, laser point clouds, etc.) through cameras, lidars, etc., and send the collected road condition information to the control device 101, so that the control device 101 can re-plan the driving trajectory based on the road condition information, and control the unmanned device 103 to follow the re-planned driving trajectory.

[0037] It should be noted that the control device 101 can be set on the unmanned device 103 as a vehicle-mounted device of the unmanned device 103 , or can be set outside the unmanned device 103 independently of the unmanned device 103 .

[0038] Continue to refer Figure 2 , shows a process 200 of an embodiment of a method for controlling an unmanned device according to the present disclosure. The method for controlling an unmanned device comprises the following steps:

[0039] Step 201, obtaining an initial driving trajectory of a target unmanned equipment from a current position to a target position.

[0040] In this embodiment, the execution subject (eg Figure 1 The control device shown in the figure) can obtain the initial driving trajectory of the target unmanned device from the current position to the target position from the local or other electronic devices through a wired connection or a wireless connection. The target unmanned device is the unmanned device to be controlled, and the target unmanned device is connected to the execution subject through communication. The execution subject can be set on the target unmanned device or outside the target unmanned device.

[0041] In practice, the target unmanned equipment can be any automatically controllable equipment such as unmanned vehicles, autonomous driving unmanned equipment, robots, etc. It should be noted that, here, autonomous driving unmanned equipment is also considered an unmanned equipment during the autonomous driving process.

[0042] The current location is the current location of the target unmanned device, which can be the location located by the GPS installed on the target unmanned device, or the location input by the user using the terminal. The target location is the location that the target unmanned device expects to reach, which can be the location assigned to the target unmanned device by other electronic devices connected to the communication, or the location selected by the user using the terminal.

[0043] Specifically, the execution subject may obtain the initial driving trajectory in various ways. As an example, the execution subject may obtain the current position located by the target unmanned device and the target position assigned to the target unmanned device by other electronic devices connected in communication, and then generate the initial driving trajectory based on the current position and the target position. As another example, other electronic devices connected in communication with the execution subject may be connected in communication with the target unmanned device at the same time, and then the electronic devices may obtain the current position located by the target unmanned device, and then generate the initial driving trajectory based on the current position and the target position assigned to the target unmanned device.

[0044] It should be noted that various methods can be used here to generate an initial driving trajectory based on the current position and the target position. For example, a driving trajectory set is predetermined, and the driving trajectory set includes driving trajectories from various positions to the target position, and then the driving trajectory from the current position to the target position can be found from the driving trajectory set as the initial driving trajectory; or a map including the current position and the target position is pre-stored, and then the driving trajectory from the current position to the target position can be extracted from the map as the initial driving trajectory.

[0045] Step 202, while the target unmanned equipment is traveling along the initial driving trajectory, a control step is executed.

[0046] In this embodiment, when the target unmanned equipment is traveling according to the initial driving trajectory obtained in step 201, the execution subject may perform the following control steps (steps 2021 to 2024):

[0047] Step 2021 , in response to receiving the point cloud of the obstacle, projecting the point cloud to obtain a target graphic for representing the plane contour of the obstacle.

[0048] Specifically, radars and other equipment installed on the target unmanned equipment can continuously detect the environment around the target unmanned equipment, and send point clouds of objects in the surrounding environment to the above-mentioned execution subject. Furthermore, the above-mentioned execution subject can project the point cloud in response to receiving the point cloud of the obstacle to obtain a target graphic for characterizing the plane contour of the obstacle. Among them, the obstacle is an object that the target unmanned equipment needs to avoid during driving, which can be a moving object (such as a pedestrian) or a stationary object (such as an isolation belt). It should be noted that if the obstacle is a moving object, the present disclosure assumes that the position of the obstacle is unchanged from the acquisition of the point cloud of the obstacle to the subsequent generation of the target driving trajectory, and the position of the obstacle is variable compared to the position when the point cloud of the obstacle is acquired again the next time the point cloud of the obstacle is acquired.

[0049] Specifically, the above-mentioned execution entity can project the point cloud onto the driving plane where the initial driving trajectory is located, and obtain a target graphic for characterizing the plane contour of the obstacle. In this way, the relative position of the target graphic and the initial driving trajectory can be determined from the driving plane, so as to re-plan the driving trajectory based on the obstacle. Here, the driving plane can be a virtual plane corresponding to various physical planes, for example, a virtual plane corresponding to the ground, a virtual plane corresponding to the desktop, etc. It should be noted that the driving plane where the initial driving trajectory is located can be determined when the initial driving trajectory is generated. As an example, the initial driving trajectory is generated by generating the initial driving trajectory on an electronic map, and the plane indicated by the electronic map can be determined as the driving plane where the initial driving trajectory is located.

[0050] It can be understood that the target graphic can be a graphic obtained by projecting the point cloud in a direction perpendicular to the driving plane. Specifically, the target graphic can be a circle or a polygon. And, if the target image is a polygon, it can be a convex polygon.

[0051] In practice, if the driving trajectory on the driving plane does not intersect with the target figure corresponding to the obstacle, it can be considered that the target unmanned equipment will not collide with the obstacle during driving.

[0052] Step 2022, determining the scaled initial object corresponding to the target graphic, and performing the following adjustment steps:

[0053] In the first step, based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object.

[0054] In this embodiment, the initial object may be an object obtained by scaling the target graphic. Specifically, the scaling here is scaling with the center point of the target graphic as the fixed point, that is, the center point of the initial object after scaling is the same as the center point of the target graphic. The scaling method may be predetermined, for example, a method of scaling a size (radius or side length, etc.) by a preset multiple.

[0055] In some optional implementations of this embodiment, the execution subject may scale the target graphic to obtain a point corresponding to the target graphic as the initial object. That is, the scaling method corresponding to this implementation is to scale the target graphic into a point.

[0056] In practice, compared with the constraint based on the non-intersection of the graph and the driving trajectory, it is easier to solve the driving trajectory based on the constraint that the point and the driving trajectory do not intersect. Therefore, this implementation method can increase the probability of solving the driving trajectory by scaling the target graph to a point.

[0057] In this embodiment, based on the scaled initial object, the execution entity can adjust the initial driving trajectory to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object. Specifically, the execution entity can pre-store a map, and when adjusting the initial driving trajectory, the execution entity can traverse the driving trajectories from the current position to the target position in the map that do not intersect with the initial object, and then select a driving trajectory from them as a new driving trajectory. It should be noted that here, various methods can be used to select a new driving trajectory from the traversed driving trajectories. For example, the shortest driving trajectory can be selected as the new driving trajectory; or, the driving trajectory with the least number of turns can be selected as the new driving trajectory.

[0058] In some optional implementations of the present embodiment, based on the initial object, the execution subject may adjust the initial driving trajectory through the following steps to obtain a new driving trajectory, including: first, the execution subject may determine whether a new driving trajectory can be obtained based on the initial object. Then, in response to determining that a new driving trajectory cannot be obtained based on the initial object, the execution subject may determine whether the initial object can be scaled. Next, in response to determining that the initial object can be scaled, the execution subject may scale the initial object according to a preset scaling method to obtain the scaled object as the initial object. Finally, the execution subject may adjust the initial driving trajectory based on the initial object (i.e., the scaled object) to obtain a new driving trajectory.

[0059] Here, the scaling of the initial object is based on the center point of the initial object as the fixed point, that is, the center point of the scaled object is the same as the center point of the initial object. The preset scaling method can be various predetermined scaling methods, such as a method of scaling the size (radius or side length, etc.) of the initial object by a preset multiple; or a method of scaling the initial object to a point.

[0060] Here, based on the initial object, the process of obtaining a new driving trajectory can actually be regarded as an optimal solution solving process with the initial object as a constraint. In order not to intersect with the initial object, the larger the size of the initial object, the greater the degree of change of the new driving trajectory relative to the initial driving trajectory may be, and thus, the greater the difficulty of solving the problem. Therefore, in practice, there may be a situation where the new driving trajectory cannot be obtained due to the large size of the initial object (i.e., the optimal solution cannot be found).

[0061] This implementation method can simplify the solution process by scaling the initial object when a new driving trajectory cannot be obtained based on the initial object, thereby making it easier to obtain a new driving trajectory and increasing the probability of obtaining a new driving trajectory.

[0062] In the second step, in response to the size of the initial object being greater than or equal to the size of the target figure, the new driving trajectory is used as the target driving trajectory.

[0063] In this embodiment, the execution subject may use the new driving trajectory as the target driving trajectory in response to the size of the initial object being greater than or equal to the size of the target graphic. Here, the target driving trajectory is a trajectory replanned after the obstacle is detected and used to control the driving of the target unmanned equipment.

[0064] It can be understood that when the above adjustment steps are executed for the first time, since the initial object is an object obtained by scaling the target graphic, the size of the initial object at this time may be smaller than the size of the target graphic. Therefore, when the adjustment steps are executed for the first time, usually only the above first step is executed, and the above second step is not executed. When the size of the initial object is subsequently enlarged and the above adjustment steps are continued to be executed based on the enlarged initial object, the above second step may be executed.

[0065] Step 2023, in response to the size of the initial object being smaller than the size of the target graphic, the initial object is enlarged according to a preset enlargement method to obtain a new object, the new object is used as the initial object, the new driving trajectory is used as the initial driving trajectory, and the above adjustment steps are continued.

[0066] In this embodiment, after the first step in the above adjustment steps, the above execution entity can also respond to the size of the initial object being smaller than the size of the target graphic, enlarge the initial object according to a preset enlargement method, obtain a new object, use the new object as the initial object, use the new driving trajectory as the initial driving trajectory, and continue to execute the above adjustment steps.

[0067] Here, the enlargement of the initial object is an enlargement with the center point of the initial object as the fixed point, that is, the center point of the enlarged new object is the same as the center point of the initial object. The preset enlargement method can be various predetermined enlargement methods, for example, a method of enlarging the size (radius or side length, etc.) of the initial object by a preset multiple.

[0068] In some optional implementations of this embodiment, the initial object includes vertices, and the preset magnification method may include: magnifying the initial object to obtain a new object, so that the distance between the vertices and the center point corresponding to the new object is a preset multiple of the distance between the vertices and the center point corresponding to the initial object.

[0069] It can be understood that the new object includes vertices corresponding to the vertices in the initial object. Furthermore, the preset magnification method here specifically refers to that, for each vertex included in the new object, the distance between the vertex and the center point is magnified to a preset multiple of the distance between the vertex corresponding to the vertex in the initial object and the center point.

[0070] As an example, the initial object includes four vertices, which are represented as a, b, c, and d, and the center point is represented as o. The new object may include vertices a', b', c', and d' corresponding to the vertices a, b, c, and d in the initial object, respectively. The above-mentioned preset magnification method refers to magnifying the initial object so that the distance between the vertex a' and the center point o of the magnified new object is a preset multiple of the distance between the vertex a and the center point o; the distance between the vertex b' and the center point o is a preset multiple of the distance between the vertex b and the center point o; the distance between the vertex c' and the center point o is a preset multiple of the distance between the vertex c and the center point o; the distance between the vertex d' and the center point o is a preset multiple of the distance between the vertex d and the center point o.

[0071] It can be understood that by gradually enlarging the size of the initial object and repeating the above adjustment steps, the target driving trajectory can be obtained when the size of the enlarged initial object is finally greater than or equal to the size of the target figure.

[0072] Step 2024, controlling the target unmanned equipment to travel along the target driving trajectory.

[0073] In this embodiment, the above-mentioned execution entity can use the target driving trajectory to replace the driving trajectory currently used by the target unmanned equipment, and then control the target unmanned equipment to travel according to the target driving trajectory.

[0074] In some optional implementations of this embodiment, the target unmanned equipment is an unmanned vehicle. Furthermore, this implementation can realize an unmanned driving function based on the unmanned vehicle, which helps to save manpower consumption and improve the automation and intelligence of the driving of the unmanned equipment.

[0075] In some optional implementations of this embodiment, the target position may be a parking space. Furthermore, this implementation can realize automatic parking of unmanned equipment, and can avoid obstacles in time during the parking process, thereby improving the safety of parking.

[0076] Continue to see Figure 3 , Figure 3 It is a schematic diagram of an application scenario of the method for controlling unmanned equipment according to this embodiment.

[0077] exist Figure 3 In the application scenario, the control device 301 may first obtain an initial driving trajectory 302 of the target unmanned device from the current position to the target position, and then, when the target unmanned device is driving according to the initial driving trajectory, the control device 302 may perform the following control steps:

[0078] In response to receiving the point cloud 303 of the obstacle, the point cloud 303 is projected to obtain a target graphic 304 for characterizing the plane contour of the obstacle; the scaled initial object 305 corresponding to the target graphic 304 is determined, and the following adjustment steps are performed: based on the initial object 305, the initial driving trajectory 302 is adjusted to obtain a new driving trajectory 306, so that the new driving trajectory 306 does not intersect with the initial object 305.

[0079] In response to the size of the initial object 305 being smaller than the size of the target graphic 304, the size of the initial object 305 is enlarged by 2.5 times (i.e., the initial object 305 is enlarged according to a preset enlargement method, where 2.5 times is a preset multiple), a new object 307 is obtained, the new object 307 is used as the initial object 307, the new driving trajectory 306 is used as the initial driving trajectory 306, and the above adjustment steps are continued to be performed to obtain a new driving trajectory 308.

[0080] In response to the size of the initial object 307 being greater than or equal to the size of the target graphic 304 , the new driving trajectory 308 is used as the target driving trajectory 309 .

[0081] Finally, the control device 301 can control the target unmanned equipment to travel according to the target driving trajectory 309.

[0082] It should be noted that the above Figure 3 The corresponding application scenario only provides the case where the size of the initial object is larger than or equal to the size of the target graphic by enlarging the initial object once. It can be understood that in other application scenarios, the initial object may be enlarged twice, three times, or other times to make the size of the initial object larger than or equal to the size of the target graphic, and the above cases should all be considered to fall within the protection scope of the present disclosure.

[0083] The method provided by the above-mentioned embodiments of the present disclosure can, in the process of replanning the driving trajectory of the unmanned equipment based on the obstacle, first determine the driving trajectory corresponding to the object with a smaller size corresponding to the obstacle, and then gradually enlarge the size of the object, and gradually determine the driving trajectory of the object with a larger size, until the size of the object is the same as the size of the obstacle, and the driving trajectory corresponding to the obstacle can be obtained. In this way, the driving trajectory of the unmanned equipment can be replanned in the scene with obstacles, and the planning process is smoother, which helps to improve the quality of the replanned driving trajectory, and thus improve the safety of the driving of the unmanned equipment.

[0084] Further references Figure 4 , which shows a process 400 of another embodiment of a method for controlling an unmanned device. The process 400 of the method for controlling an unmanned device includes the following steps:

[0085] Step 401, obtaining the initial driving trajectory of the target unmanned equipment from the current position to the target position.

[0086] In this embodiment, the execution subject (eg Figure 1 The control device shown in the figure can obtain the initial driving trajectory of the target unmanned device from the current position to the target position from the local or other electronic devices through a wired connection or a wireless connection. The target unmanned device is the unmanned device to be controlled, and the current position is the current position of the target unmanned device. The target position is the position that the target unmanned device expects to reach.

[0087] Step 402, while the target unmanned equipment is traveling along the initial driving trajectory, a control step is executed.

[0088] In this embodiment, when the target unmanned equipment is traveling according to the initial driving trajectory obtained in step 401, the execution subject may perform the following control steps (steps 4021 to 4024):

[0089] Step 4021 , in response to receiving the point cloud of the obstacle, performing projection processing on the point cloud to obtain a target graphic for representing the plane contour of the obstacle.

[0090] Among them, obstacles are objects that the target unmanned equipment needs to avoid during driving.

[0091] Step 4022, determining the scaled initial object corresponding to the target graphic, and performing the following adjustment steps:

[0092] In the first step, based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object.

[0093] In this embodiment, the initial object may be an object obtained by scaling the target graphic.

[0094] In the second step, in response to the size of the initial object being greater than or equal to the size of the target figure, the new driving trajectory is used as the target driving trajectory.

[0095] In this embodiment, the execution subject may use the new driving trajectory as the target driving trajectory in response to the size of the initial object being greater than or equal to the size of the target graphic. Here, the target driving trajectory is a trajectory replanned after the obstacle is detected and used to control the driving of the target unmanned equipment.

[0096] Step 4023, in response to the size of the initial object being smaller than the size of the target graphic, the initial object is enlarged according to a preset enlargement method to obtain a new object, the new object is used as the initial object, the new driving trajectory is used as the initial driving trajectory, and the above adjustment steps are continued.

[0097] In this embodiment, after the first step in the above adjustment steps, the above execution entity can also respond to the size of the initial object being smaller than the size of the target graphic, enlarge the initial object according to a preset enlargement method, obtain a new object, use the new object as the initial object, use the new driving trajectory as the initial driving trajectory, and continue to execute the above adjustment steps.

[0098] Step 4024, controlling the target unmanned equipment to travel along the target driving trajectory.

[0099] In this embodiment, the above-mentioned execution entity can use the target driving trajectory to replace the driving trajectory currently used by the target unmanned equipment, and then control the target unmanned equipment to travel according to the target driving trajectory.

[0100] The above steps 401 and 402 may be respectively performed in a manner similar to step 201 and step 202 in the aforementioned embodiment. The above descriptions of step 201 and step 202 also apply to step 401 and step 402 and are not repeated here.

[0101] Step 403, when the target unmanned equipment is driving along the target driving trajectory, the target driving trajectory is used as the initial driving trajectory and the control steps are repeatedly executed.

[0102] In this embodiment, when the target unmanned device is traveling along the target driving trajectory, the execution subject may use the target driving trajectory as the initial driving trajectory and repeatedly execute the control steps described in step 402. Here, the target driving trajectory is the driving trajectory currently used by the target unmanned device.

[0103] from Figure 4 It can be seen that Figure 2 Compared with the corresponding embodiment, the process 400 of the method for controlling the unmanned equipment in this embodiment highlights the scheme of using the target driving trajectory as the initial driving trajectory and repeatedly executing the control steps when the target unmanned equipment is driving according to the target driving trajectory. Therefore, the scheme described in this embodiment can continuously detect obstacles during the driving of the unmanned equipment, and update the driving trajectory currently used by the unmanned equipment in real time whenever an obstacle is detected, which helps the unmanned equipment to avoid obstacles that appear during driving in a timely manner, and further improves the safety of the driving of the unmanned equipment.

[0104] Further references Figure 5As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a device for controlling unmanned equipment. Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0105] like Figure 5 As shown, the device 500 for controlling an unmanned device in this embodiment includes: an acquisition unit 501 and a first control unit 502. The acquisition unit 501 is configured to acquire an initial driving trajectory of the target unmanned device from the current position to the target position; the first control unit 502 is configured to perform the following control steps during the process of the target unmanned device driving along the initial driving trajectory: in response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for characterizing the plane contour of the obstacle; determining the scaled initial object corresponding to the target graphic, and performing the following adjustment steps: adjusting the initial driving trajectory based on the initial object to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object; in response to the size of the initial object being greater than or equal to the size of the target graphic, taking the new driving trajectory as the target driving trajectory; in response to the size of the initial object being smaller than the size of the target graphic, enlarging the initial object according to a preset enlargement method to obtain a new object, using the new object as the initial object, using the new driving trajectory as the initial driving trajectory, and continuing to perform the adjustment steps; controlling the target unmanned device to drive along the target driving trajectory.

[0106] In this embodiment, the acquisition unit 501 of the device 500 for controlling an unmanned device can acquire the initial driving trajectory of the target unmanned device from the current position to the target position from a local or other electronic device through a wired connection or a wireless connection. The target unmanned device is the unmanned device to be controlled, and the target unmanned device is connected to the above-mentioned device 500 for communication. The above-mentioned device 500 can be set on the target unmanned device, and can also be set outside the target unmanned device.

[0107] The current position is the current position of the target unmanned device. The target position is the position that the target unmanned device expects to reach.

[0108] In this embodiment, when the target unmanned equipment is traveling according to the initial driving trajectory obtained by the acquisition unit 501, the first control unit 502 may perform the following control steps (steps 5021 to 5024):

[0109] Step 5021, in response to receiving the point cloud of the obstacle, projecting the point cloud to obtain a target graphic for representing the plane contour of the obstacle.

[0110] Among them, obstacles are objects that the target unmanned equipment needs to avoid during driving, and can be moving objects or stationary objects.

[0111] Step 5022, determining the scaled initial object corresponding to the target graphic, and performing the following adjustment steps:

[0112] In the first step, based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object.

[0113] In this embodiment, the initial object may be an object obtained by scaling the target graphic. Specifically, the scaling here is scaling with the center point of the target graphic as the fixed point. The scaling method may be predetermined.

[0114] In the second step, in response to the size of the initial object being greater than or equal to the size of the target figure, the new driving trajectory is used as the target driving trajectory.

[0115] In this embodiment, the first control unit 502 can use the new driving trajectory as the target driving trajectory in response to the size of the initial object being greater than or equal to the size of the target graphic. Here, the target driving trajectory is a trajectory replanned after the above-mentioned obstacle is detected and used to control the driving of the target unmanned equipment.

[0116] Step 5023, in response to the size of the initial object being smaller than the size of the target graphic, the initial object is enlarged according to a preset enlargement method to obtain a new object, the new object is used as the initial object, the new driving trajectory is used as the initial driving trajectory, and the above adjustment steps are continued.

[0117] In this embodiment, after the first step in the above adjustment steps, the first control unit 502 can also, in response to the size of the initial object being smaller than the size of the target graphic, enlarge the initial object according to a preset enlargement method, obtain a new object, use the new object as the initial object, use the new driving trajectory as the initial driving trajectory, and continue to execute the above adjustment steps.

[0118] Here, the enlargement of the initial object is the enlargement with the center point of the initial object as the fixed point. The preset enlargement mode can be various pre-determined enlargement modes.

[0119] Step 5024, controlling the target unmanned equipment to travel along the target driving trajectory.

[0120] In this embodiment, the first control unit 502 can use the target driving trajectory to replace the driving trajectory currently used by the target unmanned equipment, thereby controlling the target unmanned equipment to travel according to the target driving trajectory.

[0121] In some optional implementations of this embodiment, the first control unit 502 may be further configured to: scale the target graphic to obtain points corresponding to the target graphic as initial objects.

[0122] In some optional implementations of the present embodiment, the first control unit 502 may be further configured to: determine whether a new driving trajectory can be obtained based on the initial object; in response to the inability to obtain a new driving trajectory, determine whether the initial object can be scaled; in response to determining that the initial object can be scaled, scale the initial object according to a preset scaling method to obtain the scaled object as the initial object; based on the initial object, adjust the initial driving trajectory to obtain a new driving trajectory.

[0123] In some optional implementations of this embodiment, the preset magnification method may include: magnifying the initial object to obtain a new object, so that the distance between the vertex and the center point corresponding to the new object is a preset multiple of the distance between the vertex and the center point corresponding to the initial object.

[0124] In some optional implementations of this embodiment, the device 500 may also include: a second control unit (not shown in the figure), which is configured to use the target driving trajectory as the initial driving trajectory and repeat the above control steps when the target unmanned equipment is driving along the target driving trajectory.

[0125] In some optional implementations of this embodiment, the target unmanned equipment is an unmanned vehicle.

[0126] In some optional implementations of this embodiment, the target location is the location of the parking space.

[0127] It is understood that the units described in the device 500 are similar to those described in the reference Figure 2 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device 500 and the units included therein, and will not be described in detail here.

[0128] The device 500 provided by the above-mentioned embodiment of the present disclosure can, in the process of replanning the driving trajectory of the unmanned equipment based on the obstacle, first determine the driving trajectory corresponding to the object with a smaller size corresponding to the obstacle, and then gradually enlarge the size of the object, and gradually determine the driving trajectory of the object with a larger size, until the size of the object is the same as the size of the obstacle, and the driving trajectory corresponding to the obstacle can be obtained. In this way, the driving trajectory of the unmanned equipment can be replanned in the scene with obstacles, and the planning process is smoother, which helps to improve the quality of the replanned driving trajectory, and thus improve the safety of the driving of the unmanned equipment.

[0129] Reference below Figure 6, which shows an electronic device (eg, Figure 1 Schematic diagram of the structure of the control device) 600. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0130] like Figure 6 As shown, the electronic device 600 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0131] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a camera, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. Figure 6 The electronic device 600 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0132] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0133] It should be noted that the computer-readable medium described in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0134] The computer-readable medium may be included in the electronic device; or it may exist independently without being assembled into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains the initial driving trajectory of the target unmanned device from the current position to the target position; in the process of the target unmanned device driving along the initial driving trajectory, performs the following control steps: in response to receiving the point cloud of the obstacle, projecting the point cloud to obtain a target graphic for characterizing the plane contour of the obstacle; determining the scaled initial object corresponding to the target graphic, and performing the following adjustment steps: based on the initial object, adjusting the initial driving trajectory to obtain a new driving trajectory so that the new driving trajectory does not intersect with the initial object; in response to the size of the initial object being greater than or equal to the size of the target graphic, using the new driving trajectory as the target driving trajectory; in response to the size of the initial object being less than the size of the target graphic, enlarging the initial object according to a preset enlargement method to obtain a new object, using the new object as the initial object, using the new driving trajectory as the initial driving trajectory, and continuing to perform the adjustment steps; controlling the target unmanned device to drive along the target driving trajectory.

[0135] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0136] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0137] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, the acquisition unit may also be described as a "unit for acquiring an initial driving trajectory".

[0138] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

Claims

1. A method for controlling an unmanned device, comprising: Obtain the initial driving trajectory of the target unmanned equipment from the current position to the target position; When the target unmanned equipment is driving along the initial driving trajectory, the following control steps are performed: In response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for representing a plane contour of the obstacle; Determine the scaled initial object corresponding to the target graphic, and perform the following adjustment steps: determine whether a new driving trajectory can be obtained based on the initial object; In response to failure to obtain a new driving trajectory, determining whether the initial object can be scaled; In response to determining that the initial object can be scaled, scaling the initial object according to a preset scaling method to obtain a scaled object as the initial object; Based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory, so that the new driving trajectory does not intersect with the initial object; In response to the size of the initial object being greater than or equal to the size of the target figure, taking the new driving trajectory as the target driving trajectory; In response to the size of the initial object being smaller than the size of the target graphic, the initial object is enlarged according to a preset enlargement method to obtain a new object, the new object is used as the initial object, the new driving trajectory is used as the initial driving trajectory, and the adjustment step is continued; Control the target unmanned equipment to travel along the target driving trajectory.

2. The method according to claim 1, wherein: The determining of the scaled initial object corresponding to the target graphic comprises: The target graphic is scaled to obtain points corresponding to the target graphic as initial objects.

3. The method according to claim 1, wherein: The preset magnification method includes: The initial object is enlarged to obtain a new object, so that the distance between the vertex and the center point corresponding to the new object is a preset multiple of the distance between the vertex and the center point corresponding to the initial object.

4. The method according to claim 1, wherein: The method further comprises: When the target unmanned equipment is traveling along the target driving trajectory, the target driving trajectory is used as the initial driving trajectory and the control step is repeatedly executed.

5. The method according to any one of claims 1 to 4, wherein: The target unmanned equipment is an unmanned vehicle.

6. The method according to any one of claims 1 to 4, wherein: The target position is the position of the parking space.

7. A device for controlling unmanned equipment, comprising: An acquisition unit is configured to acquire an initial driving trajectory of the target unmanned equipment from a current position to a target position; The first control unit is configured to execute the following control steps when the target unmanned equipment is traveling along the initial driving trajectory: In response to receiving a point cloud of an obstacle, projecting the point cloud to obtain a target graphic for representing a plane contour of the obstacle; Determine the scaled initial object corresponding to the target graphic, and perform the following adjustment steps: determine whether a new driving trajectory can be obtained based on the initial object; In response to failure to obtain a new driving trajectory, determining whether the initial object can be scaled; In response to determining that the initial object can be scaled, scaling the initial object according to a preset scaling method to obtain a scaled object as the initial object; Based on the initial object, the initial driving trajectory is adjusted to obtain a new driving trajectory, so that the new driving trajectory does not intersect with the initial object; In response to the size of the initial object being greater than or equal to the size of the target figure, taking the new driving trajectory as the target driving trajectory; In response to the size of the initial object being smaller than the size of the target graphic, the initial object is enlarged according to a preset enlargement method to obtain a new object, the new object is used as the initial object, the new driving trajectory is used as the initial driving trajectory, and the adjustment step is continued; Control the target unmanned equipment to travel along the target driving trajectory.

8. The device according to claim 7, wherein: The first control unit is further configured to: The target graphic is scaled to obtain points corresponding to the target graphic as initial objects.

9. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

10. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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