Road engineering vehicle and its motion trajectory planning method and system

Abstract

The present application provides a road engineering vehicle, its motion trajectory planning method and system. By obtaining the pheromones of multiple coordinate points on the target path, and determining the termination coordinate point of the current road engineering vehicle on the target path according to the pheromones of the multiple coordinate points, that is, determining the motion range of the current road engineering vehicle on the target path. Moreover, by obtaining the current coordinate point and the current heading angle of the current road engineering vehicle, and combining the current coordinate point, the current heading angle and the termination coordinate point to determine the motion trajectory of the current road engineering vehicle on the target path, the above information can be obtained in real time and the motion trajectory of the current road engineering vehicle can be adjusted in real time, so as to realize the automatic operation of the current road engineering vehicle, which not only reduces the labor cost and improves the work efficiency, but also can accurately plan the motion trajectory to ensure the effect of road construction.

Description

Technical Field

[0001] This application relates to the technical field of road engineering, and particularly relates to a road engineering vehicle, a method and a system for planning its movement trajectory. Background Art

[0002] When road engineering vehicles (such as pavers, rollers, milling machines, screed machines, etc.) are actually operating, usually multiple vehicles work together in a coordinated manner. It is necessary to accurately calculate the driving paths of each road engineering vehicle to guide unmanned paving, initial compaction and other operations to complete precise construction. In the past manual compaction process, since people could not sense the precise position of the road engineering vehicle on the road design drawing, the actual driving path of the road engineering vehicle was not smooth enough. In addition, when a fleet of road engineering vehicles consisting of multiple vehicles was operating in parallel in the past, maintaining the lap distance between adjacent road engineering vehicles mainly relied on the experience of the driver, and it was difficult to achieve the effect of continuous precise lapping. The longer the manual paving and rolling were, the greater the cumulative deviation was. Therefore, it was difficult for road engineering vehicles driven manually to achieve the effect of continuous precise driving. Summary of the Invention

[0003] In order to solve the above technical problems, this application is proposed. Embodiments of this application provide a road engineering vehicle, a method and a system for planning its movement trajectory, realizing the automatic movement of the road engineering vehicle.

[0004] According to one aspect of this application, a method for planning the movement trajectory of a road engineering vehicle is provided, including: obtaining target path information; where the target path information includes the pheromones of multiple coordinate points on the target path, and the pheromones include position information and completion information; obtaining the current coordinate point and the current heading angle of the current road engineering vehicle; calculating the termination coordinate point on the target path according to the pheromones; and determining the movement trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate point.

[0005] In one embodiment, after determining the movement trajectory of the current road engineering vehicle on the target path, the method for planning the movement trajectory of the road engineering vehicle further includes: when the completion degree of the current target path is greater than a preset completion degree threshold, obtaining the completion degrees of adjacent paths of the current target path; when at least one of the completion degrees of the adjacent paths is less than the completion degree threshold, selecting the path with the smallest completion degree among the adjacent paths as the new target path; and the current road engineering vehicle changing lanes from the current target path to the new target path.

[0006] In one embodiment, the multiple coordinate points include the coordinate points of the front road construction vehicle located in front of the current road construction vehicle on the target path; wherein, calculating the termination coordinate point on the target path according to the pheromone includes: when the distance between the coordinate point of the front road construction vehicle and the current coordinate point is greater than or equal to a preset safety distance, calculating an advance termination coordinate point according to the coordinate point of the front road construction vehicle, the current coordinate point and the safety distance; wherein the advance termination coordinate point is the termination coordinate point.

[0007] In one embodiment, calculating the advance termination coordinate point according to the coordinate point of the front road construction vehicle, the current coordinate point and the safety distance includes: when the distance between the coordinate point of the front road construction vehicle and the current road construction vehicle is greater than or equal to the safety distance, selecting the coordinate points in the multiple coordinate points whose distance from the coordinate point of the front road construction vehicle is greater than or equal to the safety distance as the advance termination coordinate point.

[0008] In one embodiment, calculating the termination coordinate point on the target path according to the pheromone includes: when the distance between the coordinate point of the front road construction vehicle and the current road construction vehicle is less than the safety distance, calculating a retreat termination coordinate point; wherein the retreat termination coordinate point is the termination coordinate point.

[0009] In one embodiment, calculating the retreat termination coordinate point includes: obtaining multiple qualified coordinate points in the multiple coordinate points whose completion degree is greater than a preset completion degree threshold; and selecting one of the multiple qualified coordinate points as the retreat termination coordinate point.

[0010] In one embodiment, selecting one of the multiple qualified coordinate points as the retreat termination coordinate point includes: when the shortest distance between the multiple qualified coordinate points and the current road construction vehicle is greater than a preset distance threshold, selecting the qualified coordinate point corresponding to the shortest distance as the retreat termination coordinate point.

[0011] In one embodiment, selecting one of the multiple qualified coordinate points as the retreat termination coordinate point includes: when the shortest distance between the multiple qualified coordinate points and the current road construction vehicle is less than or equal to the distance threshold, selecting the qualified coordinate point whose distance from the current road construction vehicle is greater than or equal to the distance threshold as the retreat termination coordinate point.

[0012] According to one aspect of the present application, a motion trajectory planning system for a road engineering vehicle is provided, including: a target path information acquisition module for acquiring target path information; wherein the target path information includes pheromones of multiple coordinate points on the target path, and the pheromones include position information and completion information; a vehicle information acquisition module for acquiring the current coordinate point and the current heading angle of the current road engineering vehicle; a termination coordinate point calculation module for calculating the termination coordinate point on the target path according to the pheromones; and a motion trajectory determination module for determining the motion trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate point.

[0013] The pheromones of multiple coordinate points on the target path are acquired through the target path information acquisition module, and the termination coordinate point calculation module determines the termination coordinate point of the current road engineering vehicle on the target path according to the pheromones of the multiple coordinate points, that is, determines the motion range of the current road engineering vehicle on the target path. Moreover, the current coordinate point and the current heading angle of the current road engineering vehicle are acquired through the vehicle information acquisition module, and the motion trajectory determination module combines the current coordinate point, the current heading angle, and the termination coordinate point to determine the motion trajectory of the current road engineering vehicle on the target path, so that the above information can be known in real time and the motion trajectory of the current road engineering vehicle can be adjusted in real time, thereby realizing the automated work of the current road engineering vehicle, not only reducing the labor cost and improving the work efficiency, but also accurately planning the motion trajectory to ensure the effect of road construction.

[0014] According to one aspect of the present application, a computer-readable storage medium is provided, and the storage medium stores a computer program for executing the motion trajectory planning method of the road engineering vehicle described in any one of the above.

[0015] According to one aspect of the present application, a road engineering vehicle is provided, including: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute the motion trajectory planning method of the road engineering vehicle described in any one of the above. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 It is a flowchart showing the motion trajectory planning method of a road engineering vehicle provided by an exemplary embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the planning result of a method for planning the motion trajectory of a road engineering vehicle provided by an exemplary embodiment of the present application.

[0019] Figure 3 It is a schematic flowchart of a method for planning the motion trajectory of a road engineering vehicle provided by another exemplary embodiment of the present application.

[0020] Figure 4 It is a schematic flowchart of a method for calculating the reverse termination coordinate point provided by an exemplary embodiment of the present application.

[0021] Figure 5 It is a schematic flowchart of a method for calculating the reverse termination coordinate point provided by another exemplary embodiment of the present application.

[0022] Figure 6 It is a schematic flowchart of a method for planning the motion trajectory of a road engineering vehicle provided by another exemplary embodiment of the present application.

[0023] Figure 7 It is a schematic flowchart of a method for planning the motion trajectory of a road engineering vehicle provided by another exemplary embodiment of the present application.

[0024] Figure 8 It is a schematic diagram of the lane-changing planning result of a method for planning the motion trajectory of a road engineering vehicle provided by an exemplary embodiment of the present application.

[0025] Figure 9 It is a schematic flowchart of a method for determining collision-free lane change provided by an exemplary embodiment of the present application.

[0026] Figure 10 It is a schematic diagram of the collision-free lane-changing planning result of a method for planning the motion trajectory of a road engineering vehicle provided by an exemplary embodiment of the present application.

[0027] Figure 11 It is a schematic flowchart of a method for obtaining a target path provided by an exemplary embodiment of the present application.

[0028] Figure 12 It is a schematic diagram of the structure of a motion trajectory planning system for a road engineering vehicle provided by an exemplary embodiment of the present application.

[0029] Figure 13 It is a schematic diagram of the structure of a motion trajectory planning system for a road engineering vehicle provided by another exemplary embodiment of the present application.

[0030] Figure 14 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0031] Next, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0032] Application Overview

[0033] During the process of manual road construction, since the road engineering vehicle in front (such as a paver) is continuously advancing dynamically forward, it is very difficult for the driver to ensure that when the road engineering vehicle (such as a roller) follows the vehicle in front, the number of construction passes of multiple road engineering vehicles at a certain position (such as the number of rolling passes of the roller) and the subsequent vibration sequence exactly meet the construction process requirements. In addition, the paving and compaction construction process requires a large number of equipment such as pavers and rollers. Each piece of equipment not only requires a highly skilled professional driver, but also requires the driver to be highly concentrated throughout the process. In a harsh construction environment, it causes great harm to the driver's physical health.

[0034] Compared with the manual paving and compaction construction process, the roller fleet that completes the compaction construction through motion trajectory planning and scheduling has three main advantages: First, it can ensure that the construction process at any position meets the process requirements; Second, it can improve the construction efficiency of the entire fleet; Third, it can reduce the dependence on professional drivers during construction, thereby reducing the health harm suffered by the driver during construction.

[0035] In order to achieve the automated driving of road engineering vehicles in the present application, by acquiring the pheromones of multiple coordinate points on the target path, and determining the termination coordinate point of the current road engineering vehicle on the target path according to the pheromones of the multiple coordinate points, that is, determining the movement range of the current road engineering vehicle on the target path. And, by acquiring the current coordinate point and the current heading angle of the current road engineering vehicle, and combining the current coordinate point, the current heading angle and the termination coordinate point to determine the movement trajectory of the current road engineering vehicle on the target path, the above information can be obtained in real time and the movement trajectory of the current road engineering vehicle can be adjusted in real time, so as to achieve the automated operation of the current road engineering vehicle, which not only reduces the labor cost and improves the work efficiency, but also can accurately plan the movement trajectory to ensure the effect of road construction.

[0036] Next, the specific implementation manners of the road engineering vehicle and its motion trajectory planning method and system provided by the embodiments of the present application will be specifically described with reference to the accompanying drawings.

[0037] Exemplary Method

[0038] Figure 1It is a schematic flowchart of a method for planning the motion trajectory of a road engineering vehicle provided by an exemplary embodiment of the present application. As Figure 1 shown, the method for planning the motion trajectory of the road engineering vehicle includes the following steps:

[0039] Step 110: Obtain target path information.

[0040] The target path is the path that the current road engineering vehicle (such as a roller) is about to travel, and the current road engineering vehicle can be located on the target path. The target path information includes the pheromones of multiple coordinate points on the target path, and the pheromones include position information and completion information. That is, the target path information includes the position information and completion information of multiple coordinate points on the target path, where the completion information may include the cumulative rolling times and the degree of compaction; in one embodiment, the completion degree is obtained by weighted summation of the cumulative rolling times and the degree of compaction. In a further embodiment, the weight of the degree of compaction is 0, and the weight of the cumulative rolling times is 1. Since for a general asphalt pavement, when the cumulative rolling times reach a certain number, the change in the degree of compaction is too small, and the degree of compaction collected by the actual sensor is discontinuous and inaccurate, therefore, for the convenience of calculation and to ensure a certain accuracy, only the cumulative rolling times can be considered.

[0041] Step 120: Obtain the current coordinate point and the current heading angle of the current road engineering vehicle.

[0042] Since the position and heading angle of the current road engineering vehicle will change during the working process, therefore, by obtaining the current coordinate point and the current heading angle of the current road engineering vehicle in real time, the working state of the current road engineering vehicle can be obtained in real time to adjust the motion trajectory of the current road engineering vehicle in real time.

[0043] Step 130: Calculate the termination coordinate point on the target path according to the pheromones.

[0044] After obtaining the pheromones, that is, knowing the completion information of multiple coordinate points on the target path, therefore, the section that still needs to be rolled on the target path can be determined according to the completion information of each coordinate point, that is, the termination coordinate point of the section that needs to be rolled on the target path is determined to determine the current working section.

[0045] Step 140: Determine the motion trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate point.

[0046] After obtaining the current coordinate point, the current heading angle, and the termination coordinate point, that is, knowing the current position, the current state, and the end position (termination coordinate point) of the movement of the current road engineering vehicle, the motion trajectory of the current road engineering vehicle can be determined.

[0047] A method for planning the motion trajectory of a road engineering vehicle provided by this application. By obtaining the pheromones of multiple coordinate points on the target path and determining the termination coordinate point of the current road engineering vehicle on the target path according to the pheromones of the multiple coordinate points, that is, determining the motion range of the current road engineering vehicle on the target path. And, by obtaining the current coordinate point and the current heading angle of the current road engineering vehicle, combining the current coordinate point, the current heading angle and the termination coordinate point to determine the motion trajectory of the current road engineering vehicle on the target path, the above information can be obtained in real time and the motion trajectory of the current road engineering vehicle can be adjusted in real time, so as to realize the automated work of the current road engineering vehicle, which not only reduces the labor cost and improves the work efficiency, but also can accurately plan the motion trajectory to ensure the effect of road construction.

[0048] In one embodiment, the multiple coordinate points include the coordinate points where the front road engineering vehicle (such as a paver) located in front of the current road engineering vehicle on the target path; that is, the position coordinate points of the front road engineering vehicle (the road engineering vehicle closest to the current road engineering vehicle) on the target path (such as the R1 path shown in Figure 2 are obtained (such as the P1 point shown in Figure 2 ). Among them, the specific implementation manner of the above step 130 may include: when the distance between the coordinate point where the front road engineering vehicle is located and the current coordinate point is greater than or equal to a preset safety distance, according to the coordinate point where the front road engineering vehicle on the target path is located, the current coordinate point and the safety distance, calculate the forward termination coordinate point (that is, the termination coordinate point). By presetting a safety distance (such as the distance d1 shown in Figure 2 ), calculate the forward termination coordinate point (such as the C2 point shown in Figure 2 , for example, the adjacent position of the screed of the paver) according to the safety distance and the coordinate point where the front road engineering vehicle on the target path is located, so as to ensure that the distance between the current road engineering vehicle and the front road engineering vehicle is always greater than or equal to the safety distance during the working process, and avoid safety accidents such as collisions between the current road engineering vehicle and the front road engineering vehicle.

[0049] Correspondingly, in one embodiment, the specific implementation manner of step 140 may include: determining the forward trajectory of the current road engineering vehicle on the target path according to the current coordinate point (such as the C1 point shown in Figure 2 ), the current heading angle, and the forward termination coordinate point. Based on the current coordinate point and the current heading angle of the current road engineering vehicle, as well as the forward termination coordinate point, determine the forward trajectory of the current road engineering vehicle on the target path, that is, according to the initial position and the initial forward direction of the current road engineering vehicle, as well as the forward end position, multiple coordinate points between the current road engineering vehicle and the forward termination coordinate point can be obtained, and the forward trajectory of the current road engineering vehicle is obtained with these multiple coordinate points.

[0050] In a further embodiment, the specific implementation manner of the above step 130 may include: when the distance between the coordinate point where the road construction vehicle in front on the target path and the current roller is greater than or equal to the safety distance, select the coordinate points among the multiple coordinate points whose distance from the coordinate point where the road construction vehicle in front on the target path is greater than or equal to the safety distance as the forward termination coordinate points; when the distance between the coordinate point where the road construction vehicle in front on the target path and the current road construction vehicle is less than the safety distance, calculate the backward termination coordinate point (i.e., the termination coordinate point). When the distance between the coordinate point where the road construction vehicle in front is located and the current road construction vehicle is greater than or equal to the safety distance, it means that the distance between the current road construction vehicle and the road construction vehicle in front is relatively far. At this time, directly select the coordinate points among the multiple coordinate points whose distance from the coordinate point where the road construction vehicle in front is located is greater than or equal to the safety distance as the forward termination coordinate points. That is to say, as long as the distance between the forward termination coordinate point and the coordinate point where the road construction vehicle in front is located is at least equal to the safety distance, the safety of the current road construction vehicle and the road construction vehicle in front during the working process can be ensured. When the distance between the road construction vehicle in front on the target path and the current road construction vehicle is less than the safety distance, the roller cannot move forward to work to avoid collision with the road construction vehicle in front. At this time, calculate the backward termination coordinate point (such as Figure 2 the C0 point shown, for example, the position near the construction compliance position) to obtain the backward path.

[0051] Correspondingly, in an embodiment, the specific implementation manner of step 140 may include: determining the backward trajectory of the current road construction vehicle on the target path according to the current coordinate point, the current heading angle, and the backward termination coordinate point. Specifically, the backward trajectory can be obtained in the following way: obtain multiple unqualified coordinate points among the multiple coordinate points located between the compliance coordinate point and the current road construction vehicle; and determine the backward trajectory according to the multiple unqualified coordinate points. By obtaining multiple unqualified coordinate points located between the compliance coordinate point and the current road construction vehicle, and obtaining the backward trajectory with these multiple unqualified coordinate points.

[0052] Figure 3 is a flowchart showing a method for planning the movement trajectory of a road construction vehicle provided by another exemplary embodiment of the present application. As Figure 3 shown, after step 140, the method for planning the movement trajectory of the above road construction vehicle may further include:

[0053] Step 150: When the completion degree of the current target path is greater than a preset completion degree threshold, obtain the completion degree of the adjacent path of the current target path.

[0054] When the completion degree of the current target path is greater than a preset completion degree threshold (e.g., 100%), it indicates that the construction operation of the current target path (e.g., the rolling operation of a roller) has been completed. At this time, a new target path needs to be selected for construction operations. By obtaining the completion degrees of the adjacent paths of the current target path, it is possible to know whether the construction operations of these adjacent paths have been completed.

[0055] Step 160: When at least one of the completion degrees of the adjacent paths is less than the completion degree threshold, select the path with the smallest completion degree among the adjacent paths as the new target path.

[0056] If at least one of the completion degrees of the adjacent paths is less than the completion degree threshold, that is, at least one of the adjacent paths has not completed the construction operation. At this time, select the path with the smallest completion degree to give priority to the construction operation, that is, select the path with the smallest completion degree as the new target path.

[0057] Step 170: The current road engineering vehicle changes lanes from the current target path to the new target path.

[0058] After determining the new target path, the current road engineering vehicle changes lanes from the current target path to the new target path to perform construction operations on the new target path.

[0059] After the current road engineering vehicle completes the work on this movement trajectory, calculate the construction progress of the target path. When the construction progress of the current target path has not reached 100%, that is, the target path has not completed the work. At this time, execute the above steps again to re-obtain the movement direction and movement trajectory. When the construction progress of the current target path reaches 100%, detect whether there is a path in the other driving paths of the current road engineering vehicle that has not completed the rolling work. If so, use this path as the new target path, and execute the steps of the above movement trajectory planning method for this new target path to obtain the movement trajectory of the current road engineering vehicle on the new target path. And, after each rolling work is performed according to the movement trajectory, the pheromones of each coordinate point on the target path can be updated to ensure the timeliness and accuracy of the data in the subsequent movement trajectory planning.

[0060] Figure 4 It is a schematic flow chart of a method for calculating the reverse termination coordinate point provided by an exemplary embodiment of the present application. As Figure 4 shown, calculating the reverse termination coordinate point may include the following steps:

[0061] Step 210: Obtain multiple qualified coordinate points with a completion degree greater than a preset completion degree threshold among multiple coordinate points.

[0062] By setting a completion threshold, when the completion degree of a coordinate point is greater than the completion threshold, it indicates that the work at this coordinate point has been completed, that is, the coordinate points that have completed the work (i.e., qualified coordinate points) behind the current road engineering vehicle are obtained through the completion threshold.

[0063] Step 220: Select one of the qualified coordinate points among multiple qualified coordinate points as the backward termination coordinate point.

[0064] By selecting one of the qualified coordinate points among multiple qualified coordinate points as the backward termination coordinate point, it ensures that the end point of the backward movement of the current road engineering vehicle is a qualified coordinate point, so as to ensure that all unqualified coordinate points behind can be constructed when the current road engineering vehicle moves backward for construction.

[0065] Figure 5 It is a schematic flow chart of a method for calculating the backward termination coordinate point provided by another exemplary embodiment of the present application. As Figure 5 shown, the above step 220 may include:

[0066] Step 221: When the shortest distance between multiple qualified coordinate points and the current road engineering vehicle is greater than a preset distance threshold, select the qualified coordinate point corresponding to this shortest distance as the backward termination coordinate point.

[0067] By presetting a distance threshold (for example, the minimum distance required for the current road engineering vehicle to change lanes, that is, the lane-changing distance), when the shortest distance between the qualified coordinate point and the current road engineering vehicle is greater than this distance threshold, it indicates that there is still a long section to be constructed behind the current road engineering vehicle. At this time, the qualified coordinate point corresponding to the shortest distance (i.e., the qualified coordinate point closest to the current road engineering vehicle) can be selected as the backward termination coordinate point to avoid repeated construction of the qualified coordinate point.

[0068] In one embodiment, as Figure 5 shown, the above step 220 may further include:

[0069] Step 222: When the shortest distance between multiple qualified coordinate points and the current road engineering vehicle is less than or equal to the distance threshold, select the qualified coordinate point whose distance from the current road engineering vehicle is greater than or equal to the distance threshold as the backward termination coordinate point.

[0070] When the shortest distance between the qualified coordinate point and the current road engineering vehicle is less than or equal to this distance threshold, it indicates that the section to be rolled behind the current road engineering vehicle is short. At this time, the qualified coordinate point whose distance from the current road engineering vehicle is greater than or equal to this distance threshold can be selected as the backward termination coordinate point to ensure the length of the backward path of the current road engineering vehicle.

[0071] Figure 6It is a schematic flow chart of a method for planning the motion trajectory of a road engineering vehicle provided by another exemplary embodiment of the present application. As Figure 6 shown, the method for planning the motion trajectory of the above road engineering vehicle may further include:

[0072] Step 180: Determine the motion direction of the current road engineering vehicle.

[0073] In one embodiment, the specific implementation of step 180 may include: when the length of the forward trajectory is greater than a preset length threshold (for example, the minimum planned length of the current road engineering vehicle), determining the motion direction of the current road engineering vehicle as the forward direction; and when the length of the forward trajectory is less than or equal to the length threshold, determining the motion direction of the current road engineering vehicle as the reverse direction. By setting the length threshold, when the length of the forward trajectory is greater than the threshold, it indicates that the current road engineering vehicle can move forward a longer distance, and at this time, it is preferred to move forward; when the length of the forward trajectory is less than or equal to the threshold, it indicates that the current road engineering vehicle can move forward a shorter distance, and at this time, in order to avoid collision between the current road engineering vehicle and the road engineering vehicle in front, the motion direction of the current road engineering vehicle is selected as the reverse direction.

[0074] After determining the motion direction and the corresponding motion trajectory of the current road engineering vehicle, the current road engineering vehicle can work according to the motion direction and motion trajectory. The specific working method may be: setting the construction method of the current road engineering vehicle (taking a roller as an example) according to the construction requirements, including static pressure (single rolling), small vibration (small vibration while rolling), large vibration (large vibration while rolling), and the vibration method may also include: front wheel single vibration, rear wheel single vibration, front wheel and rear wheel simultaneous vibration.

[0075] Figure 7 It is a schematic flow chart of a method for planning the motion trajectory of a road engineering vehicle provided by another exemplary embodiment of the present application. As Figure 7 shown, the method for planning the motion trajectory of the road engineering vehicle may include the following steps:

[0076] Step 610: Obtain the path information of the current road engineering vehicle.

[0077] Obtain the partition information of the current road engineering vehicle and the planned path information in the partition.

[0078] Step 620: Obtain the current coordinate point and the current heading angle of the current road engineering vehicle.

[0079] The specific implementation of step 620 may be similar to step 120 in the above embodiment, and will not be elaborated here.

[0080] Step 630: Calculate the next collision-free target path.

[0081] That is, to obtain the information of the target path. The specific implementation manner of step 630 can be similar to that of step 110 in the above embodiment, and will not be elaborated here.

[0082] Step 640: Calculate the forward termination coordinate point on the target path, and obtain the forward trajectory according to the forward termination coordinate point.

[0083] The specific implementation manner of step 640 can be similar to the method for calculating the forward trajectory in the above embodiment, and will not be elaborated here.

[0084] Step 650: Determine whether the length of the forward trajectory is greater than the length threshold. If so, go to step 660; otherwise, go to step 670.

[0085] Step 660: Update the pheromone of the coordinate points in the motion trajectory.

[0086] Step 670: Calculate the backward termination coordinate point on the target path, and obtain the backward trajectory according to the backward termination coordinate point.

[0087] The specific implementation manner of step 670 can be similar to the method for calculating the backward trajectory in the above embodiment, and will not be elaborated here.

[0088] Step 680: Determine the motion direction of the current road construction vehicle.

[0089] That is, to obtain the information of the target path. The specific implementation manner of step 680 can be similar to that of step 180 in the above embodiment, and will not be elaborated here.

[0090] Step 690: Set the vibration mode of the current road construction vehicle.

[0091] Step 6100: Output the motion trajectory of the current road construction vehicle.

[0092] Step 6110: Determine whether the overall construction progress has reached 100%. If so, end; otherwise, go to step 620.

[0093] When the current road construction vehicle is not on the target path, for example, the path where the current road construction vehicle is located is adjacent to the target path (such as the path R2 shown Figure 8 ), the current road construction vehicle needs to change lanes to the new target path. The current road construction vehicle needs to consider its lane-changing distance during the lane-changing process. The lane-changing distance refers to the distance between the start position when the current road construction vehicle starts to change lanes and the end position when it completes the lane-changing along the extension direction of the target path. In this embodiment, the current road construction vehicle only changes lanes when moving forward.

[0094] After completing the lane change, the current road construction vehicle is located on the new target path, and the steps of the above-mentioned motion trajectory planning method can be executed to obtain the motion trajectory of the current road construction vehicle on the new target path. In one embodiment, when the distance between the coordinate point where the road construction vehicle in front on the new target path and the current road construction vehicle after completing the lane change is less than the safety distance, the coordinate point with the lowest completion degree among multiple coordinate points is selected as the backward termination coordinate point. Since there may be a situation where the distance between the current road construction vehicle and the road construction vehicle in front on the new target path is less than the safety distance when the current road construction vehicle changes lanes, at this time, the coordinate point with the lowest completion degree can be selected as the backward end coordinate point to obtain the backward path of the current road construction vehicle and achieve backward movement, thereby avoiding the collision risk between the current road construction vehicle and the road construction vehicle in front on the target path. In one embodiment, the current road construction vehicle can only move forward to change lanes and cannot move backward to change lanes to improve safety.

[0095] In one embodiment, before the current road construction vehicle changes lanes, it is necessary to determine that there will be no collision between the current road construction vehicle and the adjacent road construction vehicles. As Figure 9 shown, the specific determination method may include the following steps:

[0096] Step 810: Obtain the coordinate points of the adjacent road construction vehicles.

[0097] When the current road construction vehicle needs to change lanes, the coordinate points of the adjacent road construction vehicles on one side in the lane change direction can be obtained according to the lane change direction of the current road construction vehicle. For example, when the current road construction vehicle needs to change lanes to the right, only the collision situation between the current road construction vehicle and the road construction vehicle on the right needs to be considered. At this time, only the coordinate points of the adjacent road construction vehicles on the right side of the current road construction vehicle need to be obtained.

[0098] Step 820: Calculate the lateral distance between the current road construction vehicle and the coordinate points of the adjacent road construction vehicles when the current road construction vehicle is located on the target path.

[0099] The lateral distance refers to the distance in the lateral direction perpendicular to the extension direction of the target path (such as Figure 10 the distance d2 shown), and by calculating the lateral distance between the current road construction vehicle and the coordinate points of the adjacent road construction vehicles when the current road construction vehicle is located on the target path, the interval distance between the current road construction vehicle and the adjacent road construction vehicles after the lane change is predicted.

[0100] Step 830: Determine whether the lateral distance is greater than or equal to the sum of the lateral safety distance of the current road construction vehicle and the lateral safety distance of the adjacent road construction vehicle. If so, go to step 840; otherwise, go to step 850.

[0101] Each road engineering vehicle has a corresponding lateral safety distance (such as the distance d3 shown in Figure 10 ). The current road engineering vehicle needs to maintain a gap greater than the lateral safety distance from other adjacent equipment or machines to prevent accidents. Usually, the lateral safety distance of the current road engineering vehicle is equal to that of the adjacent road engineering vehicle.

[0102] Step 840: Determine that there will be no collision between the current road engineering vehicle and the adjacent road engineering vehicle.

[0103] When the lateral distance between the current road engineering vehicle and the adjacent road engineering vehicle is greater than or equal to the sum of the lateral safety distances of the current road engineering vehicle and the adjacent road engineering vehicle when the current road engineering vehicle is on the target path, it indicates that the current road engineering vehicle can also ensure a large enough gap from the adjacent road engineering vehicle after changing lanes to the target path. At this time, it can be determined that there will be no collision between the current road engineering vehicle and the adjacent road engineering vehicle, and the lane change can be executed.

[0104] Step 850: Determine that there will be a collision between the current road engineering vehicle and the adjacent road engineering vehicle.

[0105] Step 860: Pause the lane change operation of the current road engineering vehicle.

[0106] When the lateral distance is less than the sum of the lateral safety distances of the current road engineering vehicle and the adjacent road engineering vehicle, at this time, it is necessary to pause the lane change of the current road engineering vehicle to avoid safety accidents.

[0107] Figure 11 is a schematic flowchart of a method for obtaining a target path provided by an exemplary embodiment of the present application. As shown in Figure 11 , the above step 110 may include the following sub-steps:

[0108] Step 111: Obtain road design data.

[0109] The road design data includes multiple left boundary coordinate points on the left side of the road and multiple right boundary coordinate points on the right side of the road.

[0110] Step 112: Obtain the coordinate information and heading angle of at least one road engineering vehicle.

[0111] The coordinate information of the road engineering vehicle is obtained based on the coordinate system in the navigation system. For example, the north-south direction is the horizontal axis direction and the east-west direction is the vertical axis direction.

[0112] Step 113: Obtain the driving path of each road construction vehicle according to the road design data, the coordinate information and heading angle of at least one road construction vehicle, and the process parameters of at least one road construction vehicle.

[0113] Step 114: Divide the road into at least one zone corresponding to each roller respectively according to the number of rollers and the road design data.

[0114] Step 115: Obtain the driving path of each roller according to the road design data, the boundary lines of at least one zone, the coordinate information and heading angle of each roller, and the process parameters of each roller.

[0115] It should be understood that embodiments of the present application may select other methods for obtaining the target path according to the requirements of the actual application scenario, as long as the selected method can obtain the target path. Embodiments of the present application do not limit the specific method for obtaining the target path.

[0116] Exemplary Apparatus

[0117] Figure 12 It is a schematic structural diagram of a motion trajectory planning system for road construction vehicles provided by an exemplary embodiment of the present application. As Figure 12 shown, the motion trajectory planning system 70 includes: a target path information acquisition module 71 for acquiring target path information; where the target path information includes the pheromones of multiple coordinate points on the target path, and the pheromones include position information and completion information; a vehicle information acquisition module 72 for acquiring the current coordinate point and current heading angle of the current road construction vehicle; a termination coordinate point calculation module 73 for calculating the termination coordinate point on the target path according to the pheromones; and a motion trajectory determination module 74 for determining the motion trajectory of the current road construction vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate point.

[0118] A motion trajectory planning system for a road engineering vehicle provided by the present application obtains the pheromones of multiple coordinate points on a target path through a target path information acquisition module 71, and a termination coordinate point calculation module 73 determines the termination coordinate point of the current road engineering vehicle on the target path according to the pheromones of the multiple coordinate points, that is, determines the motion range of the current road engineering vehicle on the target path. Moreover, a vehicle information acquisition module 72 acquires the current coordinate point and the current heading angle of the current road engineering vehicle, and a motion trajectory determination module 74 determines the motion trajectory of the current road engineering vehicle on the target path by combining the current coordinate point, the current heading angle, and the termination coordinate point, and can obtain the above information in real time and adjust the motion trajectory of the current road engineering vehicle in real time, so as to realize the automated operation of the current road engineering vehicle, which not only reduces the labor cost and improves the work efficiency, but also can accurately plan the motion trajectory to ensure the effect of road construction.

[0119] In one embodiment, the multiple coordinate points include the coordinate points where the front road engineering vehicle located in front of the current road engineering vehicle on the target path is located; that is, the position coordinate points of the front road engineering vehicle (the road engineering vehicle closest to the current road engineering vehicle) on the target path are obtained. Among them, the termination coordinate point calculation module 73 can be further configured to: when the distance between the coordinate point where the front road engineering vehicle is located and the current coordinate point is greater than or equal to a preset safety distance, calculate the forward termination coordinate point according to the coordinate point where the front road engineering vehicle on the target path is located, the current coordinate point, and the preset safety distance. The motion trajectory determination module 74 can be further configured to: determine the forward motion trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the forward termination coordinate point.

[0120] In a further embodiment, the termination coordinate point calculation module 73 can be further configured to: when the distance between the coordinate point where the front road engineering vehicle on the target path is located and the current road engineering vehicle is greater than or equal to the safety distance, select the coordinate points among the multiple coordinate points whose distance from the coordinate point where the front road engineering vehicle on the target path is located is greater than or equal to the safety distance as the forward termination coordinate points; when the distance between the coordinate point where the front road engineering vehicle on the target path is located and the current road engineering vehicle is less than the safety distance, calculate the backward termination coordinate point. The motion trajectory determination module 74 can be further configured to: determine the backward motion trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the backward termination coordinate point.

[0121] Figure 13 It is a schematic structural diagram of a motion trajectory planning system for a road engineering vehicle provided by another exemplary embodiment of the present application. As Figure 13As shown, the termination coordinate calculation module 73 may include: a qualified coordinate acquisition unit 731, configured to acquire multiple qualified coordinate points with a completion degree greater than a preset completion degree threshold among multiple coordinate points; a backward termination coordinate selection unit 732, configured to select one of the multiple qualified coordinate points as the backward termination coordinate point.

[0122] In one embodiment, the backward termination coordinate selection unit 732 may be further configured to: when the shortest distance between the multiple qualified coordinate points and the current road construction vehicle is greater than a preset distance threshold, select the qualified coordinate point corresponding to the shortest distance as the backward termination coordinate point; when the shortest distance between the multiple qualified coordinate points and the current road construction vehicle is less than or equal to the distance threshold, select the qualified coordinate point with a distance greater than or equal to the distance threshold from the current road construction vehicle as the backward termination coordinate point.

[0123] In one embodiment, as Figure 13 shown, the motion trajectory planning system 70 may include: a motion direction determination module 75, configured to determine the motion direction of the current road construction vehicle. The motion direction determination module 75 may be configured to: when the length of the forward trajectory is greater than a preset length threshold (e.g., the minimum planned length of the current road construction vehicle), determine the motion direction of the current road construction vehicle as the forward direction; and when the length of the forward trajectory is less than or equal to the length threshold, determine the motion direction of the current road construction vehicle as the backward direction.

[0124] In one embodiment, as Figure 13 shown, the motion trajectory planning system 70 may further include: a lane change module 76, configured to determine that there will be no collision between the current road construction vehicle and adjacent road construction vehicles. The lane change module 76 may be configured to: acquire the coordinate points of adjacent road construction vehicles; calculate the lateral distance between the coordinate points of the adjacent road construction vehicles when the current road construction vehicle is located on the target path; when the lateral distance is greater than or equal to the sum of the lateral safety distance of the current road construction vehicle and the lateral safety distance of the adjacent road construction vehicle, determine that there will be no collision between the current road construction vehicle and the adjacent road construction vehicle.

[0125] In one embodiment, the lane change module 76 may be further configured to: when the completion degree of the current target path is greater than a preset completion degree threshold, acquire the completion degrees of adjacent paths of the current target path; when at least one of the completion degrees of the adjacent paths is less than the completion degree threshold, select the path with the minimum completion degree among the adjacent paths as the new target path; and the current road construction vehicle changes lanes from the current target path to the new target path.

[0126] In one embodiment, as Figure 13As shown, the target path information acquisition module 71 may include the following sub-units: a road data acquisition unit 711 for acquiring road design data, where the road design data includes a plurality of left boundary coordinate points on the left side of the road and a plurality of right boundary coordinate points on the right side of the road; a vehicle information acquisition unit 712 for acquiring the coordinate information and heading angle of a road construction vehicle; a driving path calculation unit 713 for obtaining the driving path of each road construction vehicle according to the road design data, the coordinate information and heading angle of the road construction vehicle, and the process parameters of the road construction vehicle, where the process parameters of the road construction vehicle include the width of the road construction vehicle and the overlapping distance between adjacent road construction vehicles; a zoning unit 714 for dividing the road into at least one zone corresponding to each road construction vehicle respectively according to the number of road construction vehicles and the road design data. The driving path calculation unit 713 is further configured to: obtain the driving path of each roller according to the road design data, the boundary lines of at least one zone, and the process parameters of each roller.

[0127] Exemplary Electronic Device

[0128] Next, reference Figure 14 is made to describe the electronic structure of a road construction vehicle according to an embodiment of the present application. The road construction vehicle may include any one or both of a first device and a second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the input signals collected from them.

[0129] Figure 14 The block diagram of the electronic structure of a road construction vehicle according to an embodiment of the present application is illustrated.

[0130] As Figure 14 shown, the road construction vehicle 10 includes one or more processors 11 and a memory 12.

[0131] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the road construction vehicle 10 to perform desired functions.

[0132] The memory 12 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 11 may run the program instructions to implement the motion trajectory planning method of the road construction vehicle according to various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage media.

[0133] In one example, the road construction vehicle 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0134] For example, when the electronic device is the first device or the second device, the input device 13 may be a camera for capturing input signals of images. When the electronic device is a stand-alone device, the input device 13 may be a communication network connector for receiving the collected input signals from the first device and the second device.

[0135] In addition, the input device 13 may further include, for example, a keyboard, a mouse, and so on.

[0136] The output device 14 may output various information to the outside, including the determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0137] Of course, for simplicity, Figure 14 only some of the components related to the present application in the road construction vehicle 10 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the road construction vehicle 10 may further include any other appropriate components.

[0138] Exemplary Computer Program Product and Computer Readable Storage Medium

[0139] In addition to the above methods and devices, the embodiments of the present application may also be computer program products, which include computer program instructions that, when run by a processor, cause the processor to execute the steps in the motion trajectory planning method of the road construction vehicle according to various embodiments of the present application described in the "Exemplary Method" section of this specification.

[0140] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0141] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the method for planning the movement trajectory of a road engineering vehicle according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0142] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable 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.

[0143] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and easy understanding, and not for limitation. The above details do not limit the present application to necessarily implement with the above specific details.

[0144] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "having," etc. are open-ended terms that mean "including but not limited to" and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0145] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0146] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0147] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A method for planning the motion trajectory of a road engineering vehicle, characterized in that, Including: Obtain target path information; Wherein the target path information includes pheromones of multiple coordinate points on the target path, the pheromones include position information and completion information, and the multiple coordinate points include the coordinate points where the front road engineering vehicle located in front of the current road engineering vehicle on the target path; Obtain the current coordinate point and the current heading angle of the current road engineering vehicle; Calculate the termination coordinate point on the target path according to the pheromones; Calculating the termination coordinate point on the target path according to the pheromones includes: When the distance between the coordinate point where the front road engineering vehicle is located and the current road engineering vehicle is less than the safety distance, calculate the reverse termination coordinate point; wherein the reverse termination coordinate point is the termination coordinate point; The calculating the reverse termination coordinate point includes: Obtain multiple qualified coordinate points among the multiple coordinate points with a completion greater than a preset completion threshold; and Select one of the multiple qualified coordinate points as the reverse termination coordinate point; And Determine the movement trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate point.

2. The method for planning the motion trajectory of a road engineering vehicle according to claim 1, characterized in that, After determining the movement trajectory of the current road engineering vehicle on the target path, it further includes: When the completion of the current target path is greater than a preset completion threshold, obtain the completion of the adjacent path of the current target path; When at least one of the completions of the adjacent paths is less than the completion threshold, select the path with the minimum completion among the adjacent paths as the new target path; and The current road engineering vehicle changes lanes from the current target path to the new target path.

3. The method for planning the movement trajectory of a road engineering vehicle according to claim 1, characterized in that, Wherein, The calculating the termination coordinate point on the target path according to the pheromones includes: When the distance between the coordinate point where the front road engineering vehicle is located and the current coordinate point is greater than or equal to a preset safety distance, calculate the forward termination coordinate point according to the coordinate point where the front road engineering vehicle is located, the current coordinate point, and the safety distance; wherein the forward termination coordinate point is the termination coordinate point.

4. The method for planning the motion trajectory of a road engineering vehicle according to claim 3, wherein, The calculating the forward termination coordinate point according to the coordinate point where the front road engineering vehicle is located, the current coordinate point, and the safety distance includes: When the distance between the coordinate point where the front road engineering vehicle is located and the current road engineering vehicle is greater than or equal to the safety distance, select the coordinate point among the multiple coordinate points whose distance from the coordinate point where the front road engineering vehicle is located is greater than or equal to the safety distance as the forward termination coordinate point.

5. The method for planning the motion trajectory of a road engineering vehicle according to claim 1, characterized in that, The selecting one of the multiple qualified coordinate points as the reverse termination coordinate point includes: When the shortest distance between the multiple qualified coordinate points and the current road engineering vehicle is greater than a preset distance threshold, select the qualified coordinate point corresponding to the shortest distance as the reverse termination coordinate point.

6. The method for planning the movement trajectory of a road engineering vehicle according to claim 1, characterized in that, The selecting one of the multiple qualified coordinate points as the reverse termination coordinate point includes: When the shortest distance between the multiple qualified coordinate points and the current road engineering vehicle is less than or equal to the distance threshold, select the qualified coordinate points whose distance from the current road engineering vehicle is greater than or equal to the distance threshold as the backward termination coordinate points.

7. A motion trajectory planning system for a road engineering vehicle, characterized in that, It includes: A target path information acquisition module, configured to acquire target path information; Wherein the target path information includes the pheromones of multiple coordinate points on the target path, the pheromones include position information and completion information, and the multiple coordinate points include the coordinate points where the forward road engineering vehicle in front of the current road engineering vehicle on the target path is located; A vehicle information acquisition module, configured to acquire the current coordinate point and the current heading angle of the current road engineering vehicle; A termination coordinate point calculation module, configured to calculate the termination coordinate points on the target path according to the pheromones; The termination coordinate point calculation module is configured to: when the distance between the coordinate point where the forward road engineering vehicle is located and the current road engineering vehicle is less than the safety distance, calculate the backward termination coordinate points; Wherein the backward termination coordinate points are the termination coordinate points; The termination coordinate point calculation module includes: a qualified coordinate acquisition unit, configured to acquire multiple qualified coordinate points whose completion is greater than a preset completion threshold among the multiple coordinate points; a backward termination coordinate selection unit, configured to select one of the multiple qualified coordinate points as the backward termination coordinate point; And A motion trajectory determination module, configured to determine the motion trajectory of the current road engineering vehicle on the target path according to the current coordinate point, the current heading angle, and the termination coordinate points.

8. A road engineering vehicle, characterized in that, It includes: A processor; A memory for storing executable instructions of the processor; The processor is configured to execute the motion trajectory planning method for a road engineering vehicle according to any one of claims 1-6 above.

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