Unmanned vehicle dispatching method, device and system

Abstract

The present invention discloses an unmanned vehicle dispatching method, device and system. The method includes: determining an intersection site according to the set paths of at least two unmanned vehicles; constructing a virtual area model with the coordinates of the intersection site as the center; if the next site of the unmanned vehicle is within the virtual area model, and the current coordinates of other unmanned vehicles are within the virtual area model, then controlling the unmanned vehicle that is about to enter the virtual area model to stop. The present invention can determine the location of the intersection based on the set path of the unmanned vehicle, and construct a virtual area model for the intersection. During the driving process of the unmanned vehicle, based on the virtual area model, the unmanned vehicle can be controlled to stop in time to prevent motion interference when passing through the intersection, so that the unmanned vehicles can pass through the intersection in sequence and in an orderly manner to avoid collisions, and can improve the road planning utilization rate of narrow spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle dispatching, and in particular to an unmanned vehicle dispatching method, device and system. Background Art

[0002] Factory laser unmanned vehicles are gradually becoming popular. Compared with magnetic navigation or QR code navigation unmanned vehicles, laser SLAM (Simultaneous Localization and Mapping) unmanned vehicles have the advantages of flexible routes, rich data information processing, and easy maintenance.

[0003] Automated Guided Vehicles (AGVs) can be used in factories or workshops to achieve intelligent transportation. AGVs can achieve navigation based on SLAM algorithms. When companies implement unmanned guided vehicle scheduling solutions that use laser SLAM unmanned vehicles, they will encounter motion interference during vehicle driving and the inability to accurately maintain a safe distance between vehicles in application scenarios with small spaces and complex routes. This can easily lead to vehicle collisions at intersections, causing safety issues. Summary of the invention

[0004] The embodiments of the present invention provide an unmanned vehicle dispatching method, device and system to at least solve the problem in the prior art that multiple unmanned vehicles are prone to collision when driving at an intersection.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides an unmanned vehicle dispatching method, comprising:

[0006] Determine an intersection site based on set paths of at least two unmanned vehicles;

[0007] Constructing a virtual area model with the coordinates of the intersection site as the center;

[0008] If the next stop of the unmanned vehicle is within the virtual area model, and the current coordinates of other unmanned vehicles are within the virtual area model, the unmanned vehicle that is about to enter the virtual area model is controlled to stop.

[0009] Optionally, determining the intersection site according to the set paths of at least two unmanned vehicles includes:

[0010] Obtain the set paths of each unmanned vehicle respectively;

[0011] According to the sites planned on the map, determine the sites included in each set path;

[0012] If there is a site included in at least two set paths, and the previous site of the site in the at least two set paths is different, then the site is determined to be a cross site.

[0013] Optionally, a virtual area model is constructed with the coordinates of the intersection site as the center, including:

[0014] For each intersection site, determining the intersection type corresponding to the intersection site, and determining the preset model parameters corresponding to the intersection type;

[0015] The virtual area model is constructed according to the preset model parameters with the coordinates of the intersection site as the center.

[0016] Optionally, the shape of the virtual area model is T-shaped, Y-shaped or cross-shaped.

[0017] Optionally, after constructing the virtual area model with the coordinates of the intersection site as the center, the method further includes:

[0018] When the unmanned vehicle enters the virtual area model, the entry time is recorded;

[0019] If there are at least two unmanned vehicles in the virtual area model at the same time, the at least two unmanned vehicles are controlled to travel according to the first-in-first-out principle based on their respective entry times.

[0020] Optionally, the above method further includes:

[0021] Determine at least one pair of conflicting sites among all sites planned on the map, and store the determined at least one pair of conflicting sites, wherein each pair of conflicting sites satisfies at least one of the following conditions: the distance between the two sites is less than a preset x-axis straight-ahead safe action distance, the distance between the two sites is less than a preset y-axis straight-ahead safe action distance, and the distance between the two sites is less than a preset vehicle rotation action radius;

[0022] If the next station of the target unmanned vehicle is a conflicting station, determine whether there are other unmanned vehicles at another station in the conflicting station or heading to another station in the conflicting station;

[0023] If yes, control the target unmanned vehicle to stop;

[0024] If not, the target unmanned vehicle is controlled to continue driving.

[0025] The embodiment of the present invention further provides an unmanned vehicle dispatching device, comprising:

[0026] A determination module, for determining an intersection site according to set paths of at least two unmanned vehicles;

[0027] A construction module, used to construct a virtual area model with the coordinates of the intersection site as the center;

[0028] The control module is used to control the unmanned vehicle that is about to enter the virtual area model to stop if the next station of the unmanned vehicle is within the virtual area model and the current coordinates of other unmanned vehicles are within the virtual area model.

[0029] An embodiment of the present invention further provides an unmanned vehicle dispatching system, comprising: the unmanned vehicle dispatching device described in the embodiment of the present invention and at least two unmanned vehicles.

[0030] An embodiment of the present invention further provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the embodiment of the present invention when executing the computer program.

[0031] The embodiment of the present invention further provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the embodiment of the present invention are implemented.

[0032] By applying the technical solution of the present invention, the intersection site is determined according to the set path of the unmanned vehicle, and a virtual area model is constructed with the coordinates of the intersection site as the center. If the next site of the unmanned vehicle is in the virtual area model, and the current coordinates of other unmanned vehicles are in the virtual area model, the unmanned vehicle that is about to enter the virtual area model is controlled to stop. Based on the set path of the unmanned vehicle, the location of the intersection can be determined, and a virtual area model can be constructed for the intersection. During the driving process of the unmanned vehicle, based on the virtual area model, the unmanned vehicle can be controlled to stop in time to prevent motion interference when the unmanned vehicle passes through the intersection, so that the unmanned vehicles can pass through the intersection in order and avoid collisions, solving the problem that multiple unmanned vehicles are prone to collision when driving at the intersection. In addition, the optimized scheduling method of this embodiment is targeted at narrow spaces, which can improve the utilization rate of road planning, overcome the difficulties of path planning in narrow spaces, and improve the utilization rate of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of the unmanned vehicle dispatching method provided by the first embodiment of the present invention;

[0034] Figure 2 is a schematic diagram of an unmanned vehicle dispatching system provided by Embodiment 2 of the present invention;

[0035] Figure 3 is a schematic diagram of vehicle parameters provided by the second embodiment of the present invention;

[0036] Figure 4 is a specific flow chart of the unmanned vehicle dispatching method provided by Embodiment 2 of the present invention;

[0037] Figure 5is a schematic diagram of a cross-shaped virtual area model provided in the second embodiment of the present invention;

[0038] Figure 6 is a specific flow chart of the unmanned vehicle dispatching method applicable to intersections provided in the second embodiment of the present invention;

[0039] Figure 7 It is a structural block diagram of the unmanned vehicle dispatching device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0043] Embodiment 1

[0044] This embodiment provides an unmanned vehicle dispatching method applicable to intersections, which performs dispatching control on at least two unmanned vehicles, especially dispatching unmanned vehicles in scenarios with narrow spaces and complex routes. The unmanned vehicle can be a SLAM laser unmanned guided vehicle. The intersection can be a T-intersection, a Y-intersection, a crossroads, etc. Of course, there can be more forks.

[0045] Figure 1 is a flow chart of the unmanned vehicle dispatching method provided in the first embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0046] S101, determining an intersection site according to set paths of at least two unmanned vehicles;

[0047] S102, constructing a virtual area model with the coordinates of the intersection site as the center;

[0048] S103, if the next stop of the unmanned vehicle is within the virtual area model, and the current coordinates of other unmanned vehicles are within the virtual area model, the unmanned vehicle that is about to enter the virtual area model is controlled to stop.

[0049] Among them, the above-mentioned at least two unmanned vehicles are driving in a place, and many sites are planned on the map of the place, and each site has corresponding coordinates. Each unmanned vehicle has its own set path, which refers to the path taken by the unmanned vehicle from the starting point to the end point, and the set path contains at least two sites. The virtual area model determines the conflict area of ​​the intersection. The virtual area model is similar to the shape of the intersection. For example, the shape of the virtual area model can be T-shaped, Y-shaped, cross-shaped, etc.

[0050] This embodiment determines the intersection site according to the set path of the unmanned vehicle, and constructs a virtual area model with the coordinates of the intersection site as the center. If the next site of the unmanned vehicle is in the virtual area model, and the current coordinates of other unmanned vehicles are in the virtual area model, the unmanned vehicle that is about to enter the virtual area model is controlled to stop. Based on the set path of the unmanned vehicle, the location of the intersection can be determined, and a virtual area model can be constructed for the intersection. During the driving process of the unmanned vehicle, based on the virtual area model, the unmanned vehicle can be controlled to stop in time to prevent motion interference when passing through the intersection, so that the unmanned vehicle can pass through the intersection in order and avoid collisions, solving the problem that multiple unmanned vehicles are prone to collision when driving at the intersection. In addition, the optimized scheduling method of this embodiment is targeted at narrow spaces, which can improve the utilization rate of road planning, overcome the difficulties of path planning in narrow spaces, and improve the utilization rate of the site.

[0051] In one embodiment, step S101 determines the intersection site according to the set paths of at least two unmanned vehicles, including: obtaining the set paths of each unmanned vehicle respectively; determining the sites included in each set path respectively according to the sites planned on the map; if there is a site included in at least two set paths, and the site is different from the previous site in the at least two set paths, then the site is determined to be an intersection site. All intersection sites constitute an intersection site set. This embodiment can accurately and reliably determine the intersection site.

[0052] In one embodiment, step S102 constructs a virtual area model with the coordinates of the intersection as the center, including: for each intersection, determining the intersection type corresponding to the intersection, and determining the preset model parameters corresponding to the intersection type; with the coordinates of the intersection as the center, constructing the virtual area model according to the above preset model parameters.

[0053] The type of intersection corresponding to the intersection site can be determined based on the coordinates of the intersection site and the map. For example, the coordinates of the intersection site are mapped to the map to determine the type of intersection in combination with the map. Intersection types include: T-intersection, Y-intersection, crossroads, etc. For different types of intersections, corresponding preset model parameters are set respectively, and the preset model parameters are used to determine the boundaries of the virtual area model of the intersection. This embodiment can effectively and quickly construct a virtual area model of the intersection.

[0054] Considering that sometimes there may be multiple unmanned vehicles in the virtual area model, causing all unmanned vehicles within the model to be inactive, in order to solve this problem, after constructing the virtual area model with the coordinates of the intersection site as the center, it also includes: when the unmanned vehicle enters the virtual area model, the entry time is recorded; if there are at least two unmanned vehicles in the virtual area model at the same time, at least two unmanned vehicles are controlled to drive according to the first-in-first-out principle according to their respective entry times. Specifically, the unmanned vehicles in the virtual area model can be sorted according to the entry time, and each unmanned vehicle can be controlled to exit the intersection in order from early to late in the entry time, that is, the unmanned vehicle with an early entry time has priority to exit. This avoids the problem of multiple unmanned vehicles in the virtual area model not moving.

[0055] Taking into account that the distances between individual stations are relatively close, that is, the distance between two stations is smaller than the vehicle safe action distance (for example, the preset x-axis straight-ahead safe action distance Lx1, the y-axis straight-ahead safe action distance Ly1, or the vehicle rotation action radius LR), when multiple vehicles are running, the above-mentioned stations that are relatively close may not belong to the conflict points determined according to the model, which will cause vehicle motion interference. This embodiment solves this problem by artificially constructing a conflict relationship. Specifically, the above method may also include: determining at least one pair of conflicting sites among all the sites planned on the map, and storing at least one pair of conflicting sites determined, wherein each pair of conflicting sites satisfies at least one of the following conditions: the distance between the two sites is less than the preset x-axis straight-line safe action distance (Lx1), the distance between the two sites is less than the preset y-axis straight-line safe action distance (Ly1), and the distance between the two sites is less than the preset vehicle rotation action radius (LR); if the next site of the target unmanned vehicle belongs to the conflicting site, then determine whether there are other unmanned vehicles at another site in the conflicting site or are moving toward another site in the conflicting site; if so, then control the target unmanned vehicle to stop; if not, it means that there are no other unmanned vehicles at another site in the conflicting site, and no other unmanned vehicles are moving toward another site in the conflicting site, then control the target unmanned vehicle to continue driving. In this embodiment, for the situation where the distance between individual sites is close, by artificially setting up conflict points, it can be predicted whether the next action of the unmanned vehicle will interfere. If there will be interference, the unmanned vehicle is controlled to stop and wait in advance to avoid collision.

[0056] This embodiment also provides a method for same-direction control and dispatching of unmanned vehicles, specifically including: determining the stations within the safety distance of the target unmanned vehicle in real time based on the station where the target unmanned vehicle is currently located; for each station included in the safety distance, constructing a safety action space model corresponding to each station; if the current coordinates of other unmanned vehicles are within the above-mentioned safety action space model, the target unmanned vehicle is controlled to stop.

[0057] The target unmanned vehicle is any one of all the dispatched unmanned vehicles. The safety distance refers to the preset safety distance between two unmanned vehicles. The safe action space model determines the safe action area of ​​the target unmanned vehicle, and the safe action space model changes in real time as the target unmanned vehicle moves.

[0058] During the driving process of the unmanned vehicle, this embodiment constructs a safe action space model that changes in real time with the movement of the unmanned vehicle based on the current station of the unmanned vehicle and the preset safe distance. Based on the safe action space model, the unmanned vehicle can be controlled to stop in time, so that the unmanned vehicle maintains a safe distance when following the vehicle, avoids collisions, and prevents vehicles in the same direction from rear-ending each other, thereby solving the problems of motion interference and collision when multiple unmanned vehicles are driving. In addition, the optimized scheduling method of this embodiment is targeted at narrow spaces, which can improve the utilization rate of road planning, overcome the difficulties of path planning in narrow spaces, and improve site utilization.

[0059] In an optional embodiment, the stations included in the safety distance of the target unmanned vehicle are determined in real time based on the current station of the target unmanned vehicle, including: determining the current station of the target unmanned vehicle in real time; determining the stations included in the safety distance of the target unmanned vehicle based on the coordinates of the current station, the coordinates of the station after the current station in the set path of the target unmanned vehicle according to the forward direction, and the preset safety distance between unmanned vehicles.

[0060] Based on the planned sites and preset safety distances, this implementation can quickly and effectively determine the sites included in the safety distance of the target unmanned vehicle, providing a guarantee for the subsequent accurate construction of a safe action space model.

[0061] Furthermore, the current station of the target unmanned vehicle is determined in real time, including: obtaining the current coordinates of the target unmanned vehicle in real time; calculating the distance between the current coordinates and the coordinates of each station in the set path of the target unmanned vehicle; and selecting the station corresponding to the minimum distance as the current station of the target unmanned vehicle. In this embodiment, the station closest to the current position of the target unmanned vehicle is used as the current station of the target unmanned vehicle, and the determination method is accurate and reliable.

[0062] Specifically, based on the coordinates of the current station, the coordinates of the station behind the current station in the set path of the target unmanned vehicle according to the forward direction, and the preset safety distance between unmanned vehicles, the stations included in the safety distance of the target unmanned vehicle are determined, including:

[0063] Starting from the current station, the L value is calculated by adding up the square of the distance to each station:

[0064] When we find a solution that satisfies L≥La 2 When the minimum L value is reached, the accumulation is stopped, and the station used to calculate the minimum L value is used as the station included in the safe distance of the target unmanned vehicle;

[0065] Among them, La represents the preset safe distance between unmanned vehicles; LMk represents the current location of the target unmanned vehicle, (X LMk, Y LMk ) represents the coordinates of the current station of the target unmanned vehicle; LMk+s represents the sth station after the current station in the set path of the target unmanned vehicle according to the forward direction, (X LMk+s , Y LMk+s ) represents the coordinates of the sth station after the current station in the set path of the target unmanned vehicle according to the forward direction; the value of u determines the number of stations used to calculate the L value, and the value of u increases with accumulation, that is, for each accumulated station, the value of u increases by one, u is a positive integer, 1≤u≤ik, and i represents the total number of stations included in the set path of the target unmanned vehicle.

[0066] For example, when we find a solution that satisfies L≥La 2 When the minimum L value is calculated, the accumulated stations for calculating the minimum L value are LMk, LMk+1, ..., LMk+b, and the set of stations included in the target unmanned vehicle safety distance La is (LMk, LMk+1, ..., LMk+b). In this way, the stations included in the target unmanned vehicle safety distance can be quickly and accurately determined. If all stations after station LMk in the set path have participated in the calculation of L value, but L value is still less than La 2 , then all the stations after the station LMk in the set path are directly taken as the stations included in the safe distance of the target unmanned vehicle.

[0067] In an optional embodiment, for each station included in the safety distance, a safety action space model corresponding to each station is constructed respectively, including: for each station included in the safety distance, determining model parameters according to the vehicle action mark of the station; and constructing the safety action space model corresponding to the station according to the model parameters.

[0068] Among them, the vehicle action mark refers to the direction of the unmanned vehicle at the site, and the vehicle action mark includes: straight or rotating. After determining the set path of the unmanned vehicle, the vehicle action of the unmanned vehicle at each site in its set path can be marked. The model parameters determined according to the vehicle action mark are the parameters used to construct the safe action space model. The model parameters may include: the shape of the area included in the model, the center point of the area, the side length of the area, etc.

[0069] This implementation constructs a safe action space model corresponding to the vehicle action mark of the unmanned vehicle at the site, so that the safe action space model matches the driving conditions of the unmanned vehicle, and can better control the driving of the unmanned vehicle and avoid collisions.

[0070] Furthermore, for each station included in the safety distance, the model parameters are determined according to the vehicle action mark of the station, including:

[0071] (1) If the vehicle action mark of the station is straight, the model parameters are determined as follows: a rectangle centered on the station coordinates, and the side length of the rectangle in the x-axis direction is: twice the sum of the x-axis laser obstacle avoidance distance and the x-axis straight-ahead safety action distance, and the side length of the rectangle in the y-axis direction is: twice the sum of the y-axis laser obstacle avoidance distance and the y-axis straight-ahead safety action distance.

[0072] Among them, the x-axis laser obstacle avoidance distance, y-axis laser obstacle avoidance distance, x-axis straight-ahead safe action distance, and y-axis straight-ahead safe action distance are all pre-set parameter values ​​based on actual conditions (such as the size of the venue, the size of the unmanned vehicle, the driving conditions of the unmanned vehicle, etc.). The laser obstacle avoidance distance is calculated from the center point of the unmanned vehicle, and the straight-ahead safe action distance is calculated from the boundary of the laser obstacle avoidance range.

[0073] Taking the station LMk+1 as an example, the vehicle action mark of the unmanned vehicle at this station is straight, and the safe action space model constructed according to the model parameters is: LMk+1 , Y LMk+1 ) is the center point, and the coordinates of the four vertices are (X LMk+1 –Lx1–Lx,Y LMk+1 –Ly1–Ly), (X LMk+1 –Lx1–Lx,Y LMk+1 +Ly1+Ly), (X LMk+1 +Lx1+Lx,Y LMk+1 +Ly1+Ly), (X LMk+1 +Lx1+Lx,Y LMk+1 –Ly1–Ly) rectangular model. Among them, Lx1 represents the safe straight action distance of the x-axis, Ly1 represents the safe straight action distance of the y-axis, Lx represents the laser obstacle avoidance distance of the x-axis, and Ly represents the laser obstacle avoidance distance of the y-axis.

[0074] (2) If the vehicle action at the station is marked as rotation, the model parameters are determined as follows: a rectangle centered on the station coordinates, and the side lengths of the rectangle in the x-axis and y-axis directions are both twice the radius of the vehicle rotation action.

[0075] The vehicle rotation radius is a parameter value pre-set according to the actual situation (such as the size of the venue, the size of the unmanned vehicle, the driving conditions of the unmanned vehicle, etc.). The vehicle rotation radius is calculated from the center point of the unmanned vehicle.

[0076] Taking the station LMk+1 as an example, the vehicle action of the unmanned vehicle at this station is marked as rotation. The safe action space model constructed according to the model parameters is: LMk+1 , Y LMk+1 ) is the center point, and the coordinates of the four vertices are (X LMk+1 –LR,Y LMk+1 –LR), (X LMk+1–LR,Y LMk+1 +LR), (X LMk+1 +LR,Y LMk+1 +LR), (X LMk+1 +LR,Y LMk+1 –LR), where LR represents the radius of the vehicle’s rotation.

[0077] This implementation method determines the corresponding model parameters for different vehicle action markers to construct the corresponding safe action space model. Through all the safe action space models corresponding to all the stations included in the safe distance, the safe driving area of ​​the target unmanned vehicle can be determined. If there are other unmanned vehicles in the safe driving area, the target unmanned vehicle is controlled to stop in time to maintain a safe distance and avoid collision.

[0078] In an optional implementation, before determining the sites within the safe distance of the target unmanned vehicle in real time based on the current site of the target unmanned vehicle, it also includes: determining the set path of the target unmanned vehicle based on the starting point and end point of the target unmanned vehicle; determining the sites included in the set path based on the sites planned on the map; and marking the vehicle actions for each site included in the set path. This implementation determines the set path of the unmanned vehicle and the sites included in the set path before the unmanned vehicle starts navigating, and marks the vehicle actions for each site included in the set path, so as to facilitate the subsequent construction of a corresponding safe action space model based on the vehicle action markings.

[0079] Specifically, the vehicle action is marked for each station included in the set path, including: marking the vehicle action at the starting point and the end point in the set path as straight ahead; obtaining the coordinates of each station in the set path; for each station except the starting point and the end point in the set path, determining whether the coordinates of the station are on the line connecting the previous station and the next station of the station in the set path; if on the line, it means that the direction of the vehicle head has not changed, and the vehicle action of the station is marked as straight ahead; if not on the line, it means that the direction of the vehicle head has changed, and the vehicle action of the station is marked as rotation. For simplicity, symbols can be used to represent vehicle action marks, for example, 0 represents straight ahead and 1 represents rotation. This embodiment can quickly and accurately mark vehicle actions based on station coordinates.

[0080] When vehicles are traveling towards each other on different paths, if the distance between the vehicles and the roads is narrow, the safe action space model of the vehicles will include the coordinates of each other's vehicles, causing both vehicles to stop. In order to solve this problem, after constructing the safe action space model corresponding to each site included in the safe distance, the above method can also include: among all the sites planned on the map, excluding the sites included in the set path of the target unmanned vehicle, to obtain a first site set; determining the sites in the first site set that are in the safe action space model, to obtain a second site set; if the current coordinates of other unmanned vehicles are in the safe action space model, and the current site of the other unmanned vehicles belongs to the second site set, it means that the paths of the two unmanned vehicles are different and do not conflict, for example, they are traveling towards each other on different paths or traveling in the same direction on different paths, then the target unmanned vehicle is controlled to continue driving. This can avoid the situation where the above two vehicles have different paths but both stop.

[0081] Embodiment 2

[0082] This embodiment describes the above-mentioned unmanned vehicle dispatching method with reference to a specific example. However, it is worth noting that this specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application. The explanation of terms that are the same or corresponding to the above-mentioned embodiment will not be repeated in this embodiment.

[0083] like Figure 2 As shown, the unmanned vehicle dispatching system includes: at least one SLAM laser unmanned guided vehicle 10 (referred to as SLAM vehicle) and a dispatching management system 20 (equivalent to the unmanned vehicle dispatching device described in the embodiment of the present application). The unmanned vehicle dispatching system can be applied to factory workshops. The SLAM laser unmanned guided vehicle 10 is the execution unit. The upper layer uses the dispatching management system 20 as the core platform to mobilize the SLAM laser unmanned guided vehicle 10 to perform the transport task.

[0084] The SLAM laser unmanned guided vehicle 10 is a stand-alone system, including: a vehicle core controller, a laser rangefinder, a motor and a mechanical chassis, etc. The SLAM vehicle is responsible for the transportation of materials. The dispatching management system 20 is connected to the SLAM laser unmanned guided vehicle 10 through the TCP / IP protocol (i.e., the TCP / IP local area network 30). The dispatching management system 20 is responsible for intervening in multiple SLAM laser unmanned guided vehicles, issuing instructions to obtain the location coordinates and sites of the unmanned vehicles in real time, making judgments, and issuing commands to direct the transportation. When multiple vehicles are dispatched, traffic control is required for the vehicles to prevent collisions between multiple vehicles.

[0085] 1. Same-direction control method

[0086] The same-direction control method is used to solve the problem of vehicle rear-end collision, so that the vehicle can keep following the vehicle within the set safety range. The same-direction control method includes the following steps:

[0087] (1) Set the parameters: vehicle x-axis laser obstacle avoidance distance Lx, vehicle y-axis laser obstacle avoidance distance Ly, vehicle front and rear safety distance La (i.e., the safety distance between two unmanned vehicles), vehicle rotation radius LR, vehicle x-axis straight-line safety action distance Lx1, vehicle y-axis straight-line safety action distance Ly1, all in meters. For example, Lx = 0.8m, Ly = 0.4m, La = 2m, Lx1 = 0.1m, Ly1 = 0.1m, Vehicle parameters such as Figure 3 As shown in FIG. 1 , the virtual straight action range is the area range determined by the safe action space model.

[0088] (2) Before navigating, the vehicle performs path planning, takes the optimal path as the vehicle's set path, and obtains a set of path sites (LM1, LM2, LM3, ..., LMi), where LM1 represents the starting point and LMi represents the end point, with a total of i sites.

[0089] (3) Determine the direction of the vehicle at each station in the path station set and mark the action. If the vehicle is moving straight at the station, it is marked as 0; if the vehicle is rotating at the station, it is marked as 1.

[0090] Specifically, by using the site name, the two-dimensional coordinates (X LM1 , Y LM1 ), (X LM2 , Y LM2 ),…,(X LMi , Y LMi ). The starting point LM1 and the end point LMi are both marked as straight (0). Starting from the second station, the function relationship is obtained by connecting the previous station and the next station. If the coordinates of the station do not satisfy the function relationship, it is marked as rotation (1). If the coordinates of the station satisfy the function relationship, it is marked as straight (0). For example, if you want to determine the vehicle action mark of station LM2, if LM2 is on the line connecting LM1 and LM3, it means that the direction of the vehicle head has not changed, and LM2 is marked as straight. If LM2 is not on the line connecting LM1 and LM3, it means that the direction of the vehicle head has changed, and LM2 is marked as rotation.

[0091] (4) The dispatch management system 20 sends a command to the vehicle in real time to obtain the current two-dimensional coordinates (X, Y) of the vehicle, and calculates the square of the distance between the current coordinates of the vehicle and each station in the path station set by the formula: L LMp 2 =(XX LMp ) 2 +(YY LMp ) 2, 1≤p≤i, and obtain the distance square set (L) of each site in the current coordinate distance path site set (LM1, LM2, LM3, ..., LMi) LM1 2 , L LM2 2 , …, L LMp 2 , …, L LMi 2 ), sort the distance square set (such as bubble sort), and find the minimum distance square value L LMk 2 , 1≤k≤i, the station corresponding to this value is the station where the vehicle is currently located. For example, if L LM2 2 If the minimum square distance is the value, the vehicle is determined to be at station LM2. This step is a real-time calculation, which continuously updates the vehicle's current station information.

[0092] (5) Obtain the current station LMk of the vehicle through step (4), whose coordinates are (X LMk , Y LMk ).

[0093] Starting from the current site LMk, the square of the distance is accumulated for each site to calculate the L value: Calculate L = (X LMk+1 –X LMk ) 2 +(Y LMk+1 –Y LMk ) 2 +(X LMk+2 –X LMk+1 ) 2 +(Y LMk+2 –Y LMk+1 ) 2 +…, the stations used to calculate L are the stations in the vehicle's set path, specifically the current station LMk and the stations after it. Find the station that satisfies L≥La 2 The minimum L value is calculated, and the site used to calculate the minimum L value is used as the site included in the vehicle safety distance.

[0094] For example, when L ≥ La 2 When L is the smallest, stop accumulating. At this time, the sites accumulated by L include LMk, LMk+1, ..., LMk+b, that is, the set of sites within the safe distance of the vehicle is (LMk, LMk+1, ..., LMk+b).

[0095] (6) Obtain the two-dimensional coordinates of the site set (LMk, LMk+1, ..., LMk+b): (X LMk , Y LMk ), (X LMk+1 , YLMk+1 ),…,(X LMk+b , Y LMk+b ). Combining step (1) with step (3), according to the coordinates of each site in the site set (LMk, LMk+1, ..., LMk+b) and the vehicle action mark, a vehicle safety action space model corresponding to each site is established.

[0096] For example, when the station LMk+1 is the straight line mark 0, establish (X LMk+1 , Y LMk+1 ) is the center point, and the coordinates of the four vertices are (X LMk+1 –Lx1–Lx,Y LMk+1 –Ly1–Ly), (X LMk+1 –Lx1–Lx,Y LMk+1 +Ly1+Ly), (X LMk+1 +Lx1+Lx,Y LMk+1 +Ly1+Ly), (X LMk+1 +Lx1+Lx,Y LMk+1 When the site LMk+1 is the rotation mark 1, the rectangular model with (X LMk+1 , Y LMk+1 ) is the center point, and the coordinates of the four vertices are (X LMk+1 –LR,Y LMk+1 –LR), (X LMk+1 –LR,Y LMk+1 +LR), (X LMk+1 +LR,Y LMk+1 +LR), (X LMk+1 +LR,Y LMk+1 –LR). Thus, the corresponding safety action space model of each site in the site set (LMk, LMk+1, …, LMk+b) can be obtained.

[0097] (7) Based on the safety action space model obtained in step (6), the following judgment is made in real time: when there are other vehicles in the safety action space model of the vehicle, the parking action is performed. For example, the vertex coordinates of the vehicle safety action space model are: (X 1 , Y 1 ), (X 1 , Y 2 ), (X 2 , Y 2 ) and (X 2 , Y 1 ), if the current coordinates of other vehicles (X 0 , Y 0 ) satisfies X 1 ≤X 0 ≤X 2 With Y1 ≤Y 0 ≤Y 2 , the vehicle stops, otherwise the vehicle drives normally. It should be noted that all safety action space models corresponding to all sites in the site set (LMk, LMk+1, ..., LMk+b) are judged.

[0098] Using the same-direction control method, when vehicles are traveling towards each other on different paths, if the distance between vehicles and roads is narrow, the vehicle safety action space model will include the coordinates of each other's vehicles, causing both vehicles to stop and not move. The above anomaly can be resolved by the following steps.

[0099] 1) Determine the path site set (LM1, LM2, LM3, ..., LMi) of the vehicle. Among all the sites on the map, remove the path site set (LM1, LM2, LM3, ..., LMi) to obtain the site set A, and obtain the site coordinate set B corresponding to the site set A.

[0100] 2) All the sites corresponding to the coordinates in the vehicle safety action space model in the coordinate set B constitute the site set C. Specifically, the vertex coordinates of the vehicle safety action space model are: (X 1 , Y 1 ), (X 1 , Y 2 ), (X 2 , Y 2 ) and (X 2 , Y 1 ), when the site coordinates (X', Y') in the coordinate set B satisfy X 1 ≤X'≤X 2 With Y 1 ≤Y'≤Y 2 When (X', Y') is added to the site set C, the site corresponding to (X', Y') is added to the site set C.

[0101] 3) Perform the following judgment in real time: determine whether the current coordinates of other vehicles are within the safe action space model of the vehicle. If so, continue to determine whether the current site of the other vehicle belongs to site set C. If so, it means that the paths of the two unmanned vehicles are different and do not conflict. For example, if they are traveling in opposite directions on different paths or in the same direction on different paths, the vehicle will not be stopped and will be controlled to continue traveling. This step is an optimization of the above step (7), adding the judgment on site set C.

[0102] like Figure 4 As shown, it is a specific flow chart of the unmanned vehicle scheduling method, which includes the following steps:

[0103] S401, load parameters Lx, Ly, Lx1, Ly1, La and LR.

[0104] S402, obtaining a set route of the vehicle and the sites included in the set route.

[0105] S403, determine the movement of the vehicle at each station and mark it.

[0106] S404: If the action mark of the current station of the vehicle is rotation, an equilateral rectangular area with the coordinates of the current station as the center and the side lengths of the x-axis and y-axis directions being 2×LR is constructed as a safe action space model.

[0107] S405: If the action mark of the current station where the vehicle is located is straight ahead, a rectangular area with the coordinates of the current station as the center and the side length in the x-axis direction is 2×(Lx+Lx1) and the side length in the y-axis direction is 2×(Ly+Ly1) is constructed as a safe action space model.

[0108] S406, the vehicle's safety action space model changes as the vehicle moves.

[0109] S407, determine whether there are other vehicles located in the safe action space model of the vehicle, if so, proceed to S408, if not, proceed to S409.

[0110] S408, control the vehicle to stop.

[0111] S409, control the vehicle to move forward.

[0112] 2. Intersection control method

[0113] The intersection control method is used to solve the problem of vehicle collision at the intersection and ensure that vehicles pass through the intersection in an orderly manner. The intersection control method includes the following steps:

[0114] (1) Set the model parameters of the intersection involved in the map. Take the cross intersection as an example, set the model parameters L1 and L2, the unit is m, for example, L1 = 0.6m, L2 = 1.8m. The cross virtual area model is a symmetrical structure. The coordinates of the 12 contour points can be obtained according to the values ​​of L1 and L2. For details about L1 and L2, see Figure 5 .

[0115] (2) According to the road planner, obtain the set paths of n vehicles and the stations included in the set paths. For example, the set of path stations of the first vehicle is (LM11, LM12, LM13, ..., LM1j), where LM11 represents the starting point of the first vehicle, LM1j represents the end point of the first vehicle, and the set path of the first vehicle contains a total of j stations.

[0116] (3) Determine the cross site by traversal. Specifically, if there is a site included in at least two set paths, and the previous site of the site in the at least two set paths is different, then the site is determined to be a cross site and the cross site is placed in the cross site set D.

[0117] (4) For each cross-site in the cross-site set D, take the coordinates (X0, Y0) of the cross-site as the center and construct the following Figure 5 The cross-shaped virtual area model shown, wherein X1=X0-L1; X2=X0+L1; X3=X0+L2; X4=X0-L2; Y1=Y0+L1; Y2=Y0+L2; Y3=Y0-L1; Y4=Y0-L2.

[0118] (5) Obtain all site sets E planned on the map through map information, obtain the coordinates of all sites in the site set E, find sites in the virtual area model from the site set E, and form a site set F. Specifically, if the coordinates (X, Y) of a site satisfy X1≤X≤X2 and Y3≤Y≤Y1, or satisfy X4≤X≤X1 and Y3≤Y≤Y1, or satisfy X2≤X≤X3 and Y3≤Y≤Y1, or satisfy X1≤X≤X2 and Y4≤Y≤Y3, or satisfy X1≤X≤X2 and Y1≤Y≤Y2, then it is determined that the site falls within the virtual area model constructed in step (4).

[0119] (6) Real-time detection: When the next stop of a vehicle belongs to the stop set F, send instructions to other vehicles to obtain the current coordinates (X5, Y5) of other vehicles. According to the previously constructed virtual area model, if there are other vehicles whose current coordinates satisfy X1≤X5≤X2 and Y3≤Y5≤Y1, or X4≤X5≤X1 and Y3≤Y5≤Y1, or X2≤X5≤X3 and Y3≤Y5≤Y1, or X1≤X5≤X2 and Y4≤Y5≤Y3, or X1≤X5≤X2 and Y1≤Y5≤Y2, it means that other vehicles are within the virtual area model. Send an instruction to the vehicle that is about to enter the virtual area model to stop. If there are no other vehicles within the virtual area model, send an instruction to let the vehicle that is about to enter the virtual area model pass.

[0120] When the above intersection control method is adopted, sometimes multiple vehicles are in the virtual area model, resulting in no movement of the vehicles within the model range. This problem can be solved through the following exception handling. Specifically, when a vehicle enters the virtual area model, the scheduling management system 20 obtains the current time as the entry time of the vehicle and saves it. If at least two vehicles are simultaneously in the virtual area model, the entry times of all the vehicles in the virtual area model are sorted, and the vehicle that first enters the virtual area model passes first. According to the principle of first in, first out, instructions are sent to make each vehicle pass through the intersection in turn to avoid collisions.

[0121] As Figure 6 shown, the following is the specific flowchart of the unmanned vehicle scheduling method applicable to intersections, including the following steps:

[0122] S601, obtain the path stops of n vehicles.

[0123] S602, traverse and detect to determine all the intersection stops.

[0124] S603, for each intersection stop, construct a cross-shaped virtual area model with the coordinates of the intersection stop as the center.

[0125] S604, determine whether there are other vehicles in the virtual area model. If so, enter S605; if not, enter S606.

[0126] S605, control the vehicle about to enter the virtual area model to stop, and control the vehicles in the virtual area model to drive out in turn according to the entry time.

[0127] S606, control the vehicle about to enter the virtual area model to continue moving forward.

[0128] 3. Manually set conflict points

[0129] Considering that the distance between individual stops is relatively close, that is, the distance between two stops is less than the vehicle's safe movement distance (such as Lx1, Ly1 or LR). When multiple vehicles are running, the stops with the above relatively close distance may not belong to the conflict points determined according to the model, which may cause vehicle movement interference. This embodiment solves this problem by artificially constructing conflict relationships.

[0130] Establish a data table. Specifically, among all the stops planned on the map, the stops whose distance h between stops satisfies the following conditions are used as a pair of conflict stops: h < Lx1 or h < Ly1 or h < LR. Store all the conflict stops to obtain a data table. In the data table, Am represents the mth pair of conflict stops.

[0131] For example, at a certain station LMr∈Am in the set of station paths (LM1, LM2, LM3, ..., LMi) of vehicle Q, when the next station of vehicle Q is LMr, it is determined whether there are other vehicles at another station in Am or heading to another station in Am. If so, vehicle Q is controlled to stop. If no other vehicle is at another station in Am or heading to another station in Am, vehicle Q is controlled to pass.

[0132] This embodiment provides an unmanned vehicle scheduling optimization control, which is applied to the traffic control scheduling of laser SLAM unmanned guided vehicles to solve the problem of vehicle motion interference and maintain a safe distance. With the vehicle as the center, a linear dynamic model (i.e., a safe action space model) is established when the vehicle is driving, so that the vehicle maintains a safe fixed distance when driving to prevent vehicles from rear-ending in the same direction. For intersections, a virtual area model is constructed based on the vehicle's set path to prevent motion interference when the vehicle passes through the intersection, so that the vehicles pass in order. Based on the straight-ahead and rotation models, it is predicted whether the next action of the vehicle will interfere, and the vehicle stops and waits in advance to avoid collisions in vehicle movement. It avoids the problem of interference and collision when the vehicle is driving on a complex route planned to save road space, overcomes the difficulty of path planning in narrow spaces, and improves the utilization rate of workshop space and road planning utilization.

[0133] Embodiment 3

[0134] Based on the same inventive concept, this embodiment provides an unmanned vehicle dispatching device, which can be used to implement the unmanned vehicle dispatching method described in the above embodiment. The unmanned vehicle dispatching device can be implemented by software and / or hardware, and the unmanned vehicle dispatching device can generally be integrated into a terminal, such as a computer.

[0135] Figure 7 is a structural block diagram of the unmanned vehicle dispatching device provided in the third embodiment of the present invention, such as Figure 7 As shown, the unmanned vehicle dispatching device includes:

[0136] A determination module 71, configured to determine an intersection site according to set paths of at least two unmanned vehicles;

[0137] A construction module 72, used to construct a virtual area model with the coordinates of the intersection site as the center;

[0138] The control module 73 is used to control the unmanned vehicle that is about to enter the virtual area model to stop if the next stop of the unmanned vehicle is within the virtual area model and the current coordinates of other unmanned vehicles are within the virtual area model.

[0139] Optionally, the determination module 71 includes:

[0140] An acquisition unit, used to respectively acquire the set path of each unmanned vehicle;

[0141] A first determining unit, configured to determine the sites included in each set path according to the sites planned on the map;

[0142] The second determination unit is used to determine that a site is a cross site if there is a site included in at least two set paths and the previous site of the site in the at least two set paths is different.

[0143] Optionally, building block 72 includes:

[0144] A third determining unit, configured to determine, for each intersection site, the type of intersection corresponding to the intersection site, and determine preset model parameters corresponding to the intersection type;

[0145] The construction unit is used to construct the virtual area model according to the preset model parameters with the coordinates of the intersection site as the center.

[0146] Optionally, the shape of the virtual area model is T-shaped, Y-shaped or cross-shaped.

[0147] Optionally, the unmanned vehicle dispatching device further includes:

[0148] A recording module, configured to record the entry time when the unmanned vehicle enters the virtual area model after constructing the virtual area model with the coordinates of the intersection site as the center;

[0149] The first control module is used to control the at least two unmanned vehicles to travel according to the first-in-first-out principle according to their respective entry times if there are at least two unmanned vehicles in the virtual area model at the same time.

[0150] Optionally, the unmanned vehicle dispatching device further includes:

[0151] A conflict site determination module is used to determine at least one pair of conflict sites among all sites planned on the map, and store the determined at least one pair of conflict sites, wherein each pair of conflict sites satisfies at least one of the following conditions: the distance between the two sites is less than a preset x-axis straight-ahead safe action distance, the distance between the two sites is less than a preset y-axis straight-ahead safe action distance, and the distance between the two sites is less than a preset vehicle rotation action radius;

[0152] A judgment module, for judging whether another unmanned vehicle is at another station in the conflicting station or is heading to another station in the conflicting station if the next station of the target unmanned vehicle is a conflicting station;

[0153] The second control module is used to control the target unmanned vehicle to stop if yes; and, if no, control the target unmanned vehicle to continue driving.

[0154] Optionally, the unmanned vehicle dispatching device may further include:

[0155] A safe site determination module is used to determine the sites within the safe distance of the target unmanned vehicle in real time according to the current site of the target unmanned vehicle;

[0156] A model building module, for building a safety action space model corresponding to each station included in the safety distance;

[0157] The third control module is used to control the target unmanned vehicle to stop if the current coordinates of other unmanned vehicles are within the safe action space model.

[0158] Optionally, the safe site determination module includes:

[0159] A fourth determination unit, used to determine in real time the current location of the target unmanned vehicle;

[0160] The fifth determination unit is used to determine the stations included in the safety distance of the target unmanned vehicle based on the coordinates of the current station, the coordinates of the station after the current station in the set path of the target unmanned vehicle according to the forward direction, and the preset safety distance between unmanned vehicles.

[0161] Optionally, the fourth determining unit includes:

[0162] An acquisition subunit, used to acquire the current coordinates of the target unmanned vehicle in real time;

[0163] A calculation subunit, used to respectively calculate the distance between the current coordinates and the coordinates of each station in the set path of the target unmanned vehicle;

[0164] A determination subunit is used to select a site corresponding to the minimum distance as the current site of the target unmanned vehicle.

[0165] Optionally, the fifth determining unit is specifically configured to:

[0166] Starting from the current site, the L value is calculated by accumulating the square of the distance to each site:

[0167] When we find a solution that satisfies L≥La 2 When the minimum L value is reached, the accumulation is stopped, and the station used to calculate the minimum L value is used as the station included in the safe distance of the target unmanned vehicle;

[0168] Wherein, La represents the preset safe distance between unmanned vehicles; LMk represents the current location of the target unmanned vehicle, (X LMk , Y LMk ) represents the coordinates of the current location of the target unmanned vehicle; (X LMk+s , Y LMk+s ) represents the coordinates of the sth station after the current station in the set path of the target unmanned vehicle according to the forward direction; the value of u determines the number of stations used to calculate the L value, and the value of u increases by one for each accumulated station, u is a positive integer, 1≤u≤ik, and i represents the total number of stations included in the set path of the target unmanned vehicle.

[0169] Optionally, model building modules include:

[0170] a sixth determining unit, configured to determine, for each station included in the safety distance, a model parameter according to a vehicle action mark of the station;

[0171] The model building unit is used to build a safety action space model corresponding to the site according to the model parameters.

[0172] Optionally, the sixth determining unit is specifically configured to:

[0173] If the vehicle action mark of the station is straight, the model parameters are determined as: a rectangle centered on the station coordinates, and the side length of the rectangle in the x-axis direction is: twice the sum of the x-axis laser obstacle avoidance distance and the x-axis straight-ahead safety action distance, and the side length of the rectangle in the y-axis direction is: twice the sum of the y-axis laser obstacle avoidance distance and the y-axis straight-ahead safety action distance;

[0174] If the vehicle action mark of the station is rotation, the model parameters are determined as: a rectangle centered on the coordinates of the station, and the side lengths of the rectangle in the x-axis and y-axis directions are both twice the radius of the vehicle rotation action.

[0175] Optionally, the unmanned vehicle dispatching device further includes:

[0176] A path determination module, used to determine a set path for the target unmanned vehicle according to the starting point and the end point of the target unmanned vehicle before the safety site determination module determines the sites included in the safety distance of the target unmanned vehicle in real time according to the current site of the target unmanned vehicle;

[0177] A site determination module, used to determine the sites included in the set path according to the sites planned on the map;

[0178] The marking module is used to mark the vehicle actions of each station included in the set path.

[0179] Optionally, the tagging module includes:

[0180] A first marking unit, used for marking the vehicle actions at the starting point and the end point in the set path as straight;

[0181] An acquisition unit, used to acquire the coordinates of each site in the set path;

[0182] A judging unit, configured to judge, for each station in the set path except the starting point and the end point, whether the coordinates of the station are located on a line connecting a previous station and a next station in the set path;

[0183] A second marking unit is used to mark the vehicle action of the station as going straight if the vehicle is on the connecting line;

[0184] The third marking unit is used to mark the vehicle action of the station as rotation if the vehicle is not on the connecting line.

[0185] Optionally, the unmanned vehicle dispatching device further includes:

[0186] A removal module is used to remove the sites included in the set path of the target unmanned vehicle from all the sites planned on the map after the model construction module constructs the safety action space model corresponding to each site within the safety distance, so as to obtain a first site set;

[0187] A set determination module, configured to determine sites in the first site set that are within the safety action space model, to obtain a second site set;

[0188] The fourth control module is used to control the target unmanned vehicle to continue driving if the current coordinates of other unmanned vehicles are within the safe action space model and the current site of the other unmanned vehicles belongs to the second site set.

[0189] The above-mentioned unmanned vehicle dispatching device can execute the unmanned vehicle dispatching method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the unmanned vehicle dispatching method provided by the embodiment of the present invention.

[0190] Embodiment 4

[0191] This embodiment provides an unmanned vehicle dispatching system, comprising: the unmanned vehicle dispatching device described in the above embodiment and at least two unmanned vehicles.

[0192] Embodiment 5

[0193] This embodiment provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the unmanned vehicle dispatching method described in the above embodiment when executing the computer program.

[0194] Embodiment 6

[0195] This embodiment provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the unmanned vehicle scheduling method described in the above embodiment are implemented.

[0196] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dispatching an unmanned vehicle, characterized in that: include: Determine an intersection site based on set paths of at least two unmanned vehicles; Constructing a virtual area model with the coordinates of the intersection site as the center; If the next stop of the unmanned vehicle is within the virtual area model, and the current coordinates of other unmanned vehicles are within the virtual area model, the unmanned vehicle that is about to enter the virtual area model is controlled to stop; Determine at least one pair of conflicting sites among all sites planned on the map, and store the determined at least one pair of conflicting sites, wherein each pair of conflicting sites satisfies at least one of the following conditions: the distance between the two sites is less than a preset x-axis straight-ahead safe action distance, the distance between the two sites is less than a preset y-axis straight-ahead safe action distance, and the distance between the two sites is less than a preset vehicle rotation action radius; If the next station of the target unmanned vehicle is a conflict station, determine whether there are other unmanned vehicles at another station in the conflict station or heading towards another station in the conflict station; if so, control the target unmanned vehicle to stop; if not, control the target unmanned vehicle to continue driving.

2. The method according to claim 1, characterized in that Based on the set paths of at least two unmanned vehicles, the intersection site is determined, including: Obtain the set paths of each unmanned vehicle respectively; According to the sites planned on the map, determine the sites included in each set path; If there is a site included in at least two set paths, and the previous site of the site in the at least two set paths is different, then the site is determined to be a cross site.

3. The method according to claim 1, characterized in that Taking the coordinates of the intersection site as the center, a virtual area model is constructed, including: For each intersection site, determine the intersection type corresponding to the intersection site, and determine the preset model parameters corresponding to the intersection type; The virtual area model is constructed according to the preset model parameters with the coordinates of the intersection site as the center.

4. The method according to claim 1, characterized in that: The shape of the virtual area model is T-shaped, Y-shaped or cross-shaped.

5. The method according to any one of claims 1 to 4, characterized in that After constructing a virtual area model with the coordinates of the intersection site as the center, the following steps are also included: When the unmanned vehicle enters the virtual area model, the entry time is recorded; If there are at least two unmanned vehicles in the virtual area model at the same time, the at least two unmanned vehicles are controlled to travel according to the first-in-first-out principle based on their respective entry times.

6. An unmanned vehicle dispatching device, characterized in that: include: A determination module, for determining an intersection site according to set paths of at least two unmanned vehicles; A construction module, used to construct a virtual area model with the coordinates of the intersection site as the center; A control module, configured to control the unmanned vehicle that is about to enter the virtual area model to stop if the next stop of the unmanned vehicle is within the virtual area model and the current coordinates of other unmanned vehicles are within the virtual area model; A conflict site determination module is used to determine at least one pair of conflict sites among all sites planned on the map, and store the determined at least one pair of conflict sites, wherein each pair of conflict sites satisfies at least one of the following conditions: the distance between the two sites is less than a preset x-axis straight-ahead safe action distance, the distance between the two sites is less than a preset y-axis straight-ahead safe action distance, and the distance between the two sites is less than a preset vehicle rotation action radius; A judgment module, for judging whether another unmanned vehicle is at another station in the conflicting station or is heading to another station in the conflicting station if the next station of the target unmanned vehicle is a conflicting station; The second control module is used to control the target unmanned vehicle to stop if yes; and, if no, control the target unmanned vehicle to continue driving.

7. An unmanned vehicle dispatching system, characterized in that: include: The unmanned vehicle dispatching device as described in claim 6 and at least two unmanned vehicles.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.

9. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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