A Avoidance Method for a Mobile Charging Robot

Abstract

This application relates to the field of computer motion control, and particularly to an avoidance method for a mobile charging robot, which comprises the following steps: S100, obtaining road condition information on the first lane where the mobile charging robot is located; S200, if there is a moving vehicle in front of the mobile charging robot, then enter S300; S300, if the moving direction of the first vehicle is the same as the moving direction of the mobile charging robot, then enter S400; S400, if d1 > D1, then enter S500; S500, if there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot, then enter S600; S600, if the moving direction of the second vehicle is the same as the moving direction of the mobile charging robot, then enter S700; S700, obtaining the motion strategy executed by the mobile charging robot. The present invention improves the passing efficiency of vehicles in the garage.

Description

Technical Field

[0001] The present invention relates to the field of computer motion control, and particularly to a method for a mobile charging robot to avoid obstacles. Background Art

[0002] Existing mobile charging robots need to charge electric vehicles in a garage. During the process of autonomously moving to different target points, it is inevitable for the mobile charging robot to meet other vehicles in the garage when converging. However, currently, when the mobile charging robot encounters the situation of converging with other vehicles in the garage, it cannot effectively avoid in space, resulting in the above-mentioned other vehicles being blocked by the robot in the lane, causing a waste of time, low traffic efficiency of the vehicles in the garage, and bringing a bad experience to users. Summary of the Invention

[0003] The object of the present invention is to provide a method for a mobile charging robot to avoid obstacles, which can improve the traffic efficiency of the vehicles in the garage and enhance the user experience.

[0004] According to the present invention, there is provided a method for a mobile charging robot to avoid obstacles, including the following steps:

[0005] S100, obtaining road condition information on the first lane where the mobile charging robot is located; the road condition information includes whether there are vehicles and the position information of each vehicle when there are vehicles.

[0006] S200, judging whether there is a moving vehicle in front of the mobile charging robot according to the road condition information. If there is, enter S300.

[0007] S300, judging the moving direction of the first vehicle in front of the mobile charging robot. If the moving direction of the first vehicle is the same as that of the mobile charging robot, enter S400.

[0008] S400, obtaining the distance d1 between the mobile charging robot and the first vehicle. If d1 ≤ D1, controlling the mobile charging robot to execute the first braking and parking strategy. The mobile charging robot moves in a straight line during the execution of the first braking and parking strategy, and the mobile charging robot stays on the first lane after executing the first braking and parking strategy. D1 is the first distance threshold, and D1 is greater than the braking distance of the mobile charging robot; otherwise, enter S500.

[0009] S500, judging whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information. If there is no moving vehicle, continue to move according to the preset planned route; otherwise, enter S600.

[0010] S600, determine the moving direction of the second vehicle behind the mobile charging robot. If the moving direction of the second vehicle is opposite to that of the mobile charging robot, continue to move along the preset planned route; otherwise, enter S700.

[0011] S700, input (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) into the target database A for matching, and obtain the motion strategy executed by the mobile charging robot according to the matching result. The motion strategy includes a strategy of continuing to move along the preset planned route or a second braking and stopping strategy. During the execution of the second braking and stopping strategy, the mobile charging robot moves in a curve, and after the mobile charging robot finishes executing the second braking and stopping strategy, it has driven out of the first lane or stays within the first lane area at a third distance threshold D3 from the right boundary line of the first lane; A = {a1, a2, …, a N}, a n is the data of the nth working condition, the value range of n is from 1 to N, N is the number of working conditions included in A, a n = (a n,1 , a n,2 , a n,3 ), a n,1 = (d n,Tn , v n,Tn , Δv n,Tn ), a n,2 = (d n,Tn-1 , v n,Tn-1 , Δv n,Tn-1 ), a n,3 is the label of a n , a n,3 = 0 or 1; d t and d t-1 are the distances between the mobile charging robot and the second vehicle corresponding to the current moment t and the previous moment t - 1 respectively, v t and v t-1 are the moving speeds of the mobile charging robot corresponding to t and t - 1 respectively, Δv t and Δv t-1 are the relative moving speeds between the mobile charging robot and the second vehicle corresponding to t and t - 1 respectively; d n,Tn and d n,Tn-1 are the distances corresponding to Tn and Tn - 1 respectively, Tn is the moment corresponding to the nth working condition in A, Tn - 1 is the previous moment of Tn, v n,Tn and v n,Tn-1 are the moving speeds corresponding to Tn and Tn - 1 respectively, Δv n,Tnand Δv n,Tn-1 They are the relative moving speeds corresponding to Tn and Tn-1 respectively.

[0012] Compared with the prior art, the present invention has obvious beneficial effects. By means of the above technical solution, the avoidance method of the mobile charging robot provided by the present invention can achieve quite remarkable technological progressiveness and practicality, and has wide utilization value in the industry. It has at least the following beneficial effects:

[0013] The present invention obtains the road condition information on the first lane where the mobile charging robot is located. The road condition information includes whether there are running vehicles in front of and behind the mobile charging robot, and the distances between the running vehicles and the mobile charging robot when there are running vehicles. The present invention formulates different motion strategies for the mobile charging robot according to different road condition information, enabling the mobile charging robot to continue moving along the preset planned route in some specific situations and perform effective spatial avoidance in other specific situations. The present invention takes into account both the running efficiency of the mobile charging robot itself and the passing efficiency of other vehicles in the garage, minimizes the occurrence of situations that affect the passing of other vehicles as much as possible, improves the passing efficiency of the vehicles in the garage, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 It is a flowchart of the avoidance method of the mobile charging robot provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0017] According to the present invention, as Figure 1 shown, the avoidance method of the mobile charging robot includes:

[0018] S100, obtaining the road condition information on the first lane where the mobile charging robot is located; the road condition information includes whether there are vehicles and the position information of each vehicle when there are vehicles.

[0019] Optionally, the environmental perception sensor of the mobile charging robot is used to obtain the road condition information on the first lane where it is located. The environmental perception sensor includes a lidar sensor and / or a camera; or the road condition information on the first lane where the mobile charging robot is located is obtained by means of real-time communication between the mobile charging robot and the garage management center. It should be understood that the garage management center can obtain the road condition information on the first lane where the mobile charging robot is located by cameras installed at multiple positions in the garage. Those skilled in the art know that any method for obtaining road condition information in the prior art falls within the protection scope of the present invention.

[0020] Optionally, the position information of the vehicle refers to the coordinates in a two-dimensional plane coordinate system, including the x-axis coordinate and the y-axis coordinate; based on the coordinates of the mobile charging robot and the coordinates of the vehicle, the distance between the mobile charging robot and the vehicle can be obtained. Optionally, the Euclidean distance algorithm is used to obtain the distance between the mobile charging robot and the vehicle. Optionally, the coordinates of the mobile charging robot are the coordinates of the center of the mobile charging robot or the coordinates of a specific position on the mobile charging robot or the average value of the coordinates of all positions on the chassis of the mobile charging robot; the coordinates of the vehicle are the coordinates of the center of the vehicle or the coordinates of a specific position on the vehicle or the average value of the coordinates of all positions on the chassis of the vehicle.

[0021] Optionally, the chassis of the mobile charging robot of the present invention is a four-steering-wheel chassis, and the mobile charging robot can perform linear motion, curve motion, etc. Optionally, when the mobile charging robot performs curve motion, it conforms to the Ackermann running model.

[0022] S200. Determine whether there is a moving vehicle in front of the mobile charging robot according to the road condition information. If so, enter S300.

[0023] Optionally, if there is a vehicle in front of the mobile charging robot, it is determined whether the vehicle is a moving vehicle by whether the coordinates of the vehicle at the historical moment and the current moment have changed. Optionally, the historical moment is the previous moment of the current moment or the historical moment is the previous N moments of the current moment, N≥2. It should be understood that the time difference between the current moment and the previous moment is the sampling time interval, and the present invention obtains relevant data according to this sampling time interval.

[0024] According to the present invention, in S200, if there is a stationary vehicle in front of the mobile charging robot, an obstacle avoidance strategy is executed when the distance between the mobile charging robot and the stationary vehicle is less than the fifth distance threshold D5. Those skilled in the art know that any obstacle avoidance strategy of the mobile charging robot in the prior art falls within the protection scope of the present invention. The setting of the fifth distance threshold D5 can refer to the existing obstacle avoidance strategies of mobile charging robots.

[0025] According to the present invention, in S200, if there is no vehicle in front of the mobile charging robot, the following steps are executed:

[0026] S210, determine whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information. If there is no moving vehicle, continue to move according to the preset planned route; otherwise, enter S220.

[0027] S220, determine the moving direction of the second vehicle behind the mobile charging robot. If the moving direction of the second vehicle is opposite to the moving direction of the mobile charging robot, continue to move according to the preset planned route; otherwise, enter S230.

[0028] S230, input (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) into the target database A for matching, and obtain the motion strategy executed by the mobile charging robot according to the matching result. The motion strategy includes a strategy of continuing to move according to the preset planned route or a second braking and stopping strategy; d t and d t-1 are the distances between the mobile charging robot and the second vehicle corresponding to the current moment t and the previous moment t - 1 respectively, v t and v t-1 are the moving speeds of the mobile charging robot corresponding to t and t - 1 respectively, and Δv t and Δv t-1 are the relative moving speeds between the mobile charging robot and the second vehicle corresponding to t and t - 1 respectively.

[0029] S300, determine the moving direction of the first vehicle in front of the mobile charging robot. If the moving direction of the first vehicle is the same as the moving direction of the mobile charging robot, enter S400.

[0030] Optionally, the moving direction of the first vehicle is determined by the change of the coordinates of the first vehicle. In the present invention, the moving direction of the first vehicle is the direction from the coordinate point corresponding to the previous moment of the first vehicle to the coordinate point corresponding to the first vehicle at the current moment, denoted as the first direction; the moving direction of the mobile charging robot is the direction from the coordinate corresponding to the previous moment of the mobile charging robot to the coordinate corresponding to the mobile charging robot at the current moment, denoted as the second direction. If the included angle between the first direction and the second direction is closer to 180°, it is determined that the moving directions of the first vehicle and the mobile charging robot are opposite; if the included angle between the first direction and the second direction is closer to 0°, it is determined that the moving directions of the first vehicle and the mobile charging robot are the same.

[0031] According to the present invention, in S300, if the moving direction of the first vehicle is opposite to that of the mobile charging robot, the second braking and stopping strategy is executed.

[0032] S400, obtain the distance d1 between the mobile charging robot and the first vehicle. If d1 ≤ D1, control the mobile charging robot to execute the first braking and stopping strategy. During the execution of the first braking and stopping strategy, the mobile charging robot moves in a straight line, and after the mobile charging robot finishes executing the first braking and stopping strategy, it stays on the first lane. D1 is the first distance threshold, and D1 is greater than the braking distance of the mobile charging robot; otherwise, enter S500.

[0033] Preferably, D1 is the sum of the braking distance of the mobile charging robot and the preset safety distance threshold D0. Optionally, the preset safety distance threshold D0 is 0.2 meters - 0.5 meters. Thus, the mobile charging robot can keep a safe distance from the first vehicle and avoid the mobile charging robot hitting the first vehicle.

[0034] According to the present invention, in S400, if d1 ≤ D1, control the mobile charging robot to execute the first braking and stopping strategy, and judge whether there is a moving vehicle within the fourth distance threshold D4 behind the mobile charging robot; if there is a moving vehicle, after the mobile charging robot finishes executing the first braking and stopping strategy, drive out of the first lane in the first direction, and the first direction is the direction perpendicular to the extension direction of the first lane and to the right.

[0035] As an embodiment, the chassis of the mobile charging robot of the present invention is a four-steering-wheel chassis. During the execution of the first braking and stopping strategy, the orientations of the four wheels of the chassis are the same as the extension direction of the first lane. When the mobile charging robot drives out of the first lane in the first direction, the orientations of the four wheels of the chassis are the first direction.

[0036] Preferably, in the present invention, the fourth distance threshold D4 is positively correlated with the maximum moving speed v of the vehicle in the garage max 、the braking time t0 of the mobile charging robot, and the time t1 for the mobile charging robot to drive out of the first lane from the stationary state. The maximum moving speed v of the vehicle in the garage max is an empirical value. As an embodiment, D4 = v max (t0 + t1) + D0.

[0037] S500, judge whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information. If there is no moving vehicle, continue to move according to the preset planned route; otherwise, enter S600.

[0038] Preferably, in S500, before determining whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information, it is also determined whether there is a vehicle audio warning signal behind the mobile charging robot. If there is, the mobile charging robot is controlled to execute the second braking and stopping strategy; if not, it is determined whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information.

[0039] Optionally, a microphone provided on the mobile charging robot is used to obtain whether there is a vehicle audio warning signal (i.e., vehicle honking sound) behind the mobile charging robot; those skilled in the art know that any vehicle honking detection method in the prior art falls within the protection scope of the present invention. The present invention regards the vehicle audio warning signal as a signal for the vehicle behind the mobile charging robot to warn the mobile charging robot to quickly leave, and directly executes the second braking and stopping strategy after obtaining the vehicle audio warning signal, without judging whether to avoid according to the distance between the vehicle behind and the mobile charging robot, which is more intelligent and improves the experience of the user of the vehicle behind.

[0040] Preferably, in the present invention, the second distance threshold D2 is positively correlated with the maximum moving speed v of the vehicle in the garage max and the time t2 required for the mobile charging robot to execute the second braking and stopping strategy. As an embodiment, D2 = v max *t2 + D0.

[0041] S600, determine the moving direction of the second vehicle behind the mobile charging robot. If the moving direction of the second vehicle is opposite to the moving direction of the mobile charging robot, continue to move according to the preset planned route; otherwise, enter S700.

[0042] Optionally, the moving direction of the second vehicle is determined by the change of the coordinates of the second vehicle. In the present invention, the moving direction of the second vehicle is the direction from the coordinate point corresponding to the second vehicle at the previous moment to the coordinate point corresponding to the second vehicle at the current moment, denoted as the third direction; the moving direction of the mobile charging robot is the direction from the coordinate point corresponding to the mobile charging robot at the previous moment to the coordinate point corresponding to the mobile charging robot at the current moment, denoted as the second direction. If the angle between the third direction and the second direction is closer to 180°, it is determined that the moving directions of the second vehicle and the mobile charging robot are opposite; if the angle between the third direction and the second direction is closer to 0°, it is determined that the moving directions of the second vehicle and the mobile charging robot are the same.

[0043] S700, (d t , v t , Δv t ) and (d t-1 , v t-1 , Δvt-1 ) It is input into the target database A for matching, and according to the matching result, the motion strategy executed by the mobile charging robot is obtained. The motion strategy includes a strategy of continuing to move along a preset planned route or a second braking and stopping strategy. During the execution of the second braking and stopping strategy, the mobile charging robot moves in a curve, and after the mobile charging robot executes the second braking and stopping strategy, it has driven out of the first lane or stays within the first lane area at a third distance threshold D3 from the right boundary line of the first lane.

[0044] According to the present invention, A = {a1, a2, …, a N}, a n is the data of the nth working condition, the value range of n is from 1 to N, N is the number of working conditions included in A, a n = (a n,1 , a n,2 , a n,3 ), a n,1 = (d n,Tn , v n,Tn , Δv n,Tn ), a n,2 = (d n,Tn-1 , v n,Tn-1 , Δv n,Tn-1 ), a n,3 is the label of a n , a n,3 = 0 or 1; d t and d t-1 are the distances between the mobile charging robot and the second vehicle corresponding to the current moment t and the previous moment t - 1 respectively, v t and v t-1 are the moving speeds of the mobile charging robot corresponding to t and t - 1 respectively, Δv t and Δv t-1 are the relative moving speeds of the mobile charging robot and the second vehicle corresponding to t and t - 1 respectively; d n,Tn and d n,Tn-1 are the distances corresponding to Tn and Tn - 1 respectively, Tn is the moment corresponding to the nth working condition in A, Tn - 1 is the previous moment of Tn, v n,Tn and v n,Tn-1 are the moving speeds corresponding to Tn and Tn - 1 respectively, Δv n,Tn and Δv n,Tn-1 are the relative moving speeds corresponding to Tn and Tn - 1 respectively.

[0045] The target database A of the present invention is a pre-constructed database, which includes information on distances (i.e., the distances between the mobile charging robot and the vehicle behind it), moving speeds (i.e., the moving speeds of the mobile charging robot), and relative moving speeds (i.e., the moving speeds of the mobile charging robot relative to the vehicle behind it) under various working conditions. It also includes labels corresponding to each working condition. If the label is 0, it means that the mobile charging robot can continue to move along the preset planned route under this working condition without immediate avoidance. If the label is 1, it means that the mobile charging robot needs to immediately execute the second braking and stopping strategy, otherwise it will affect the passage of the vehicle behind it. The target database of the present invention is manually constructed. Under the premise of considering both the operating efficiency of the mobile charging robot itself and the passage efficiency of other vehicles in the garage, a reasonable analysis and judgment are made on the various working conditions stored in it, and finally the labels corresponding to the working conditions are obtained.

[0046] In the present invention, D3 is related to the width w1 of the first lane and the preset vehicle width threshold w2, and the preset vehicle width threshold w2 is the maximum width of existing vehicle models. In the present invention, w0 < D3 < w1 - w2, where w0 is the width of the mobile charging robot.

[0047] In the present invention, d t can be obtained from the coordinates of the mobile charging robot at the current moment and the coordinates of the mobile charging robot at the previous moment; v t can be obtained according to d t and the sampling time interval. It should be understood that the sampling time interval is equal to the difference between the current moment and the previous moment; Δv t is the difference between v t and the running speed of the second vehicle. It should be understood that the running speed of the second vehicle can be obtained from the displacement of the second vehicle between the previous moment and the current moment and the sampling time interval, and this displacement can be obtained from the coordinates of the second vehicle at the current moment and the previous moment. The obtaining methods of d t-1 , v t-1 and Δv t-1 are similar to the obtaining methods of d t , v t and Δv t , and will not be elaborated here.

[0048] According to the present invention, (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) are input into the target database for matching, and the motion strategy executed by the mobile charging robot is judged according to the matching result, including:

[0049] S710, traverse A to obtain (d t , vt , Δv t ), and a n,1 's similarity b n . If b n ≥b0, then append a n to B, obtaining or B = {a'1, a'2,..., a' M}}, where a' m is the data of the m-th working condition appended to B, a' m = (a' m,1 , a' m,2 , a' m,3 ), a' m,1 = (d' m,Tm , v' m,Tm , Δv' m,Tm ), a' m,2 = (d' m,Tm-1 , v' m,Tm-1 , Δv' m,Tm-1 ), a' m,3 is the label of a' m , a' m,3 = 0 or 1; d' m,Tm and d' m,Tm-1 are the distances corresponding to Tm and Tm - 1 respectively, Tm is the moment corresponding to the m-th working condition in B, Tm - 1 is the previous moment of Tm, v' m,Tm and v' m,Tm-1 are the moving speeds corresponding to Tm and Tm - 1 respectively, Δv' m,Tm and Δv' m,Tm-1 are the relative moving speeds corresponding to Tm and Tm - 1 respectively; the value range of m is from 1 to M, M is the number of data of the working conditions appended to B; the initial value of B is Null, and b0 is the first similarity threshold.

[0050] According to the present invention, if b n ≥b0, it indicates that the n-th working condition in A is relatively similar to the working condition of the mobile charging robot at the current moment; if M = 1, it indicates that there is only 1 working condition in A that is relatively similar to the working condition of the mobile charging robot at the current moment; if M≥2, it indicates that there are multiple working conditions in A that are all relatively similar to the working condition of the mobile charging robot at the current moment; if then it indicates that there is no working condition in A that is relatively similar to the working condition of the mobile charging robot at the current moment. Optionally, b0≥0.8.

[0051] Optionally, use cosine similarity to obtain b n . Those skilled in the art know that any method for calculating the similarity of vectors in the prior art falls within the protection scope of the present invention.

[0052] S720, if then control the mobile charging robot to execute the second braking and parking strategy; if B = {a’1, a’2, …, a’ M}, then enter S730.

[0053] The present invention directly controls the mobile charging robot to execute the second braking and parking strategy at time, mainly considering not affecting the passage of the second vehicle, and improving the experience of the second vehicle user. Preferably, in case, the mobile charging robot saves the data of (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ), and then manually tags the data, and then uses the labeled data to update the target database A; thus, the target database A is updated, and the number of working conditions included in the updated A is increasing, and the mobile charging robot can better avoid based on the updated A.

[0054] S730, traverse B, and obtain the similarity c m,Tm between ((d’ m,Tm , v’ m,Tm ), (d’ m,Tm-1 , v’ m,Tm-1 , Δv’ m,Tm-1 ) and ((d t , v t , Δv t ), (d t-1 , v t-1 , Δv t-1 ), and append c m to C, and the initialization of C is Null. m

[0055] The present invention further obtains c m , which can more accurately determine whether the working condition in A is the same as the working condition of the mobile charging robot at the current moment, and improves the accuracy of the avoidance method of the present invention.

[0056] Optionally, use the cosine similarity to obtain c m . Those skilled in the art know that any vector similarity calculation method in the prior art falls within the protection scope of the present invention.

[0057] S740, if max(C) < c0, then control the mobile charging robot to execute the second braking and parking strategy; if max(C) ≥ c0, then enter S750.

[0058] Optionally, c0≥0.9. When max(C)<c0 in the present invention, it is determined that the operating conditions in A are all different from the operating conditions of the mobile charging robot at the current moment. At this time, the mobile charging robot is controlled to directly execute the second braking and parking strategy, mainly considering not affecting the passage of the second vehicle, thus improving the experience of the second vehicle user.

[0059] S750, obtain the label of the operating condition corresponding to max(C). If the label of the operating condition corresponding to max(C) is 0, control the mobile charging robot to continue moving along the preset planned route; if the label of the operating condition corresponding to max(C) is 1, control the mobile charging robot to execute the second braking and parking strategy.

[0060] The present invention uses the label of the operating condition corresponding to max(C) as the basis for how the mobile charging robot will move next, taking into account both the operating efficiency of the mobile charging robot itself and the passage efficiency of other vehicles in the garage, minimizing the occurrence of situations that affect the passage of other vehicles as much as possible, improving the passage efficiency of vehicles in the garage, and enhancing the user experience.

[0061] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and not for limiting the scope of the present invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A method for a mobile charging robot to avoid obstacles, characterized in that, It includes the following steps: S100. Obtain the road condition information on the first lane where the mobile charging robot is located. The road condition information includes whether there are vehicles and the position information of each vehicle when there are vehicles. S200. Determine whether there is a moving vehicle in front of the mobile charging robot according to the road condition information. If there is, enter S300. S300. Determine the moving direction of the first vehicle in front of the mobile charging robot. If the moving direction of the first vehicle is the same as that of the mobile charging robot, enter S400. S400. Obtain the distance d1 between the mobile charging robot and the first vehicle. If d1 ≤ D1, control the mobile charging robot to execute the first braking and parking strategy. The mobile charging robot moves in a straight line during the execution of the first braking and parking strategy, and the mobile charging robot stays on the first lane after executing the first braking and parking strategy. D1 is the first distance threshold, and D1 is greater than the braking distance of the mobile charging robot. Otherwise, enter S500. S500. Determine whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information. If there is no moving vehicle, continue to move according to the preset planned route. Otherwise, enter S600. S600. Determine the moving direction of the second vehicle behind the mobile charging robot. If the moving direction of the second vehicle is opposite to that of the mobile charging robot, continue to move according to the preset planned route. Otherwise, enter S700. S700, input (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) into the target database A for matching, and obtain the motion strategy executed by the mobile charging robot according to the matching result. The motion strategy includes a continue-moving strategy along a preset planned route or a second braking and stopping strategy. During the execution of the second braking and stopping strategy, the mobile charging robot moves in a curve, and after the mobile charging robot finishes executing the second braking and stopping strategy, it has driven out of the first lane or stays within the first lane area within a third distance threshold D3 from the right boundary line of the first lane; A = {a1, a2, …, a N}, a n is the data of the nth working condition, the value range of n is from 1 to N, N is the number of working conditions included in A, a n = (a n,1 , a n,2 , a n,3 ), a n,1 = (d n,Tn , v n,Tn , Δv n,Tn ), a n,2 = (d n,Tn-1 , v n,Tn-1 , Δv n,Tn-1 ), a n,3 is the label of a n , a n,3 = 0 or 1; d t and d t-1 are the distances between the mobile charging robot and the second vehicle corresponding to the current moment t and the previous moment t - 1 respectively, v t and v t-1 are the moving speeds of the mobile charging robot corresponding to t and t - 1 respectively, Δv t and Δv t-1 are the relative moving speeds between the mobile charging robot and the second vehicle corresponding to t and t - 1 respectively; d n,Tn and d n,Tn-1 are the distances corresponding to Tn and Tn - 1 respectively, Tn is the moment corresponding to the nth working condition in A, Tn - 1 is the previous moment of Tn, v n,Tn and v n,Tn-1 are the moving speeds corresponding to Tn and Tn - 1 respectively, Δv n,Tn and Δv n,Tn-1 They are the relative motion speeds corresponding to Tn and Tn-1 respectively; among them, if the label is 0, it indicates that the mobile charging robot can continue to move along the preset planned route under this working condition and does not need to avoid immediately; if the label is 1, it indicates that the mobile charging robot needs to immediately execute the second braking and stopping strategy, otherwise it will affect the movement of the following vehicles.

2. The method according to claim 1, characterized in that, In the S700, (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) are input into the target database for matching, and the motion strategy executed by the mobile charging robot is judged according to the matching result, including: S710, traverse A to obtain (d t , v t , Δv t ) and the similarity b n,1 with a n . If b n ≥ b0, then append a n to B, obtaining B = ∅ or B = {a’1, a’2, …, a’ M}}, where a’ m is the data of the m-th working condition appended to B, and a’ m = (a’ m,1 , a’ m,2 , a’ m,3 ), a’ m,1 = (d’ m,Tm , v’ m,Tm , Δv’ m,Tm ), a’ m,2 = (d’ m,Tm-1 , v’ m,Tm-1 , Δv’ m,Tm-1 ), a’ m,3 is the label of a’ m , and a’ m,3 = 0 or 1; d’ m,Tm and d’ m,Tm-1 are the distances corresponding to Tm and Tm - 1 respectively, where Tm is the moment corresponding to the m-th working condition in B, and Tm - 1 is the previous moment of Tm. v’ m,Tm and v’ m,Tm-1 are the moving speeds corresponding to Tm and Tm - 1 respectively, and Δv’ m,Tm and Δv’ m,Tm-1 are the relative moving speeds corresponding to Tm and Tm - 1 respectively; the value range of m is from 1 to M, where M is the number of data of the working conditions appended to B; the initial value of B is Null, and b0 is the first similarity threshold; S720, if B = ∅, then control the mobile charging robot to execute the second braking and parking strategy; if B = {a’1, a’2, …, a’ M}, then proceed to S730; S730 traverses B to obtain ((d’ m,Tm , v’ m,Tm , Δv’ m,Tm ), (d’ m,Tm-1 , v’ m,Tm-1 , Δv’ m,Tm-1 )) and the similarity c t , v t , Δv t ), (d t-1 , v t-1 , Δv t-1 )) between ((d m and append c m to C, where the initialization of C is Null; S740. If max(C) < c0, control the mobile charging robot to execute the second braking and parking strategy. If max(C) ≥ c0, enter S750. S750. Obtain the label of the working condition corresponding to max(C). If the label of the working condition corresponding to max(C) is 0, control the mobile charging robot to continue to move according to the preset planned route. If the label of the working condition corresponding to max(C) is 1, control the mobile charging robot to execute the second braking and parking strategy.

3. The method according to claim 1, characterized in that, In S400, if d1 ≤ D1, control the mobile charging robot to execute the first braking and parking strategy, and determine whether there is a moving vehicle within the fourth distance threshold D4 behind the mobile charging robot. If there is a moving vehicle, after the mobile charging robot executes the first braking and parking strategy, drive out of the first lane in the first direction. The first direction is the direction perpendicular to the extension direction of the first lane and to the right.

4. The method according to claim 1, characterized in that, In S500, before determining whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information, it is also determined whether there is a vehicle audio warning signal behind the mobile charging robot. If there is, control the mobile charging robot to execute the second braking and parking strategy. If not, determine whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information.

5. The method according to claim 1, characterized in that, In S200, if there is no vehicle in front of the mobile charging robot, perform the following steps: S210. Determine whether there is a moving vehicle within the second distance threshold D2 behind the mobile charging robot according to the road condition information. If there is no moving vehicle, continue to move along the preset planned route; Otherwise, enter S220; S220. Determine the moving direction of the second vehicle behind the mobile charging robot. If the moving direction of the second vehicle is opposite to the moving direction of the mobile charging robot, continue to move along the preset planned route; otherwise, enter S230; S230, input (d t , v t , Δv t ) and (d t-1 , v t-1 , Δv t-1 ) into the target database A for matching, and obtain the motion strategy executed by the mobile charging robot according to the matching result. The motion strategy includes a strategy of continuing to move along a preset planned route or a second braking and stopping strategy.

6. The method according to claim 1, characterized in that, In S300, if the moving direction of the first vehicle is opposite to the moving direction of the mobile charging robot, execute the second braking and stopping strategy.

7. The method according to claim 2, characterized in that, Obtain b using cosine similarity n and c m .

8. The method according to claim 1, characterized in that, In S200, if there is a stationary vehicle in front of the mobile charging robot, execute the obstacle avoidance strategy when the distance between the mobile charging robot and the stationary vehicle is less than the fifth distance threshold D5.

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