Unmanned vehicle control method and device and operation system
By acquiring and adjusting the safe driving destination of unmanned vehicles, combined with priority queues and real-time monitoring, the problem of path conflicts in collaborative operations of multiple unmanned vehicles was solved, enabling safe and efficient operation of unmanned vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD
- Filing Date
- 2023-03-08
- Publication Date
- 2026-07-03
AI Technical Summary
In unmanned transportation systems in mines, multiple unmanned vehicles working together can easily conflict with each other's path resources, leading to vehicle collisions and path congestion, which affects operational safety and efficiency.
By acquiring alternative safe driving destinations for autonomous vehicles and determining that their driving will not conflict with other autonomous vehicles, the new safe driving destination is identified and sent to the autonomous vehicles to instruct them to move to the new safe location. By combining priority queues and real-time location monitoring, the driving path is dynamically adjusted to avoid collisions.
This enabled unmanned vehicles to drive in an orderly manner within the work area, avoiding collisions and path blockages, and ensuring the safety and efficiency of the operation.
Smart Images
Figure CN116125993B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of traffic control, and in particular to a method, apparatus and operating system for controlling unmanned vehicles. Background Technology
[0002] The operational map used in unmanned transportation systems in mines is divided into driving areas, loading areas, and unloading areas, with the loading and unloading areas collectively referred to as the work area. Autonomous driving of unmanned vehicles involves numerous key technologies such as execution control, environmental perception, high-precision positioning, decision-making and planning, and operational scheduling.
[0003] In scenarios where multiple unmanned vehicles work together in a work area, the path resources of multiple unmanned vehicles are prone to conflict, resulting in problems such as vehicle collisions or path congestion, which affect the work safety and efficiency in the work area. Summary of the Invention
[0004] This disclosure proposes an unmanned vehicle control method applicable to the collaborative operation of multiple unmanned vehicles in a work area, ensuring that the unmanned vehicles drive in an orderly manner in the work area and guaranteeing the work efficiency in the work area without causing safety accidents such as collisions.
[0005] This disclosure provides an unmanned vehicle control method according to some embodiments, including:
[0006] Obtain the first alternative safe driving destination for the driverless vehicle;
[0007] If it is determined that the first unmanned vehicle's journey based on the alternative safe driving destination does not conflict with other unmanned vehicles, the alternative safe driving destination will be determined as the new safe driving destination.
[0008] The new safe driving destination is sent to the first unmanned vehicle to instruct it to move to the new safe driving destination.
[0009] In some embodiments, obtaining alternative safe driving destinations for the first autonomous vehicle includes:
[0010] When the location of the first autonomous vehicle is updated, obtain alternative safe driving destinations for the first autonomous vehicle; or,
[0011] If the previous candidate safe driving destination is not determined as a safe driving destination, obtain the next candidate safe driving destination for the first unmanned vehicle; or,
[0012] Starting from the current location of the first unmanned vehicle, search forward along the target driving path of the first unmanned vehicle, and take one of the points in the target driving path as the alternative safe driving destination.
[0013] In some embodiments, determining that the first autonomous vehicle's journey based on a candidate safe destination does not conflict with other autonomous vehicles includes:
[0014] Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle;
[0015] Perform the first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;
[0016] The second judgment is performed to determine whether there is a conflict between the alternative safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle. Wherein: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than that of the first unmanned vehicle.
[0017] If the first and second judgment results are not conflicting, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles.
[0018] In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: expanding the area based on the current location of the first unmanned vehicle and the alternative safe driving endpoint, and using the expanded area as the alternative safe driving area of the first unmanned vehicle.
[0019] In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: expanding laterally and longitudinally based on the current position of the first unmanned vehicle and the alternative safe driving endpoint according to preset expansion factors, and using the expanded area as the alternative safe driving area of the first unmanned vehicle.
[0020] In some embodiments, determining the alternative safe parking area of the first driverless vehicle includes: expanding the alternative safe driving destination of the first driverless vehicle and using the expanded area as the alternative safe parking area of the first driverless vehicle.
[0021] In some embodiments, determining the alternative safe parking area of the first unmanned vehicle includes: expanding laterally and longitudinally based on the alternative safe driving endpoint of the first unmanned vehicle according to preset expansion factors, and using the expanded area as the alternative safe parking area of the first unmanned vehicle.
[0022] In some embodiments, the alternative safe parking area of the first driverless vehicle is a subset of the alternative safe driving area of the first driverless vehicle.
[0023] In some embodiments, the safe driving area of the second unmanned vehicle is an area obtained by expanding the current location and safe driving destination of the second unmanned vehicle.
[0024] In some embodiments, the safe driving zone of the second unmanned vehicle is an area obtained by expanding laterally and longitudinally based on the current position and safe driving endpoint of the second unmanned vehicle according to preset expansion factors.
[0025] In some embodiments, the waiting area of the third unmanned vehicle is an area obtained by expanding the current location of the third unmanned vehicle and the mission endpoint.
[0026] In some embodiments, the waiting area of the third unmanned vehicle is an area obtained by expanding laterally and longitudinally based on the current position of the third unmanned vehicle and the mission endpoint according to preset expansion factors.
[0027] In some embodiments, the expanded region is a strip-shaped region.
[0028] In some embodiments, the extended factors include at least one of positioning error, vehicle body profile, parking error, and safety margin.
[0029] In some embodiments, whether there is a conflict between the candidate safe driving area of the first unmanned vehicle and the safe driving area of the second unmanned vehicle is determined by whether the candidate safe driving area of the first unmanned vehicle overlaps with the safe driving area of the second unmanned vehicle.
[0030] In some embodiments, whether there is a conflict between the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle is determined by whether the candidate safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle.
[0031] In some embodiments, the method further includes: determining the priority of the unmanned vehicle according to the priority queue, wherein the sorting method of the priority queue includes: the priority of the unmanned vehicle in the exit queue is higher than the priority of the unmanned vehicle in the operation queue, the priority of the unmanned vehicle in the operation queue is higher than the priority of the unmanned vehicle in the entry queue, and the priority of the unmanned vehicle that enters the queue first in the same queue is higher than the priority of the unmanned vehicle that enters the queue later.
[0032] In some embodiments, the method further includes dynamically adding the unmanned vehicle to an entry queue, a work queue, or an exit queue based on the status of the unmanned vehicle performing the task.
[0033] In some embodiments, dynamically adding unmanned vehicles to an entry queue, a work queue, or an exit queue includes:
[0034] When the autonomous vehicle passes the entrance point and is about to enter the work area, add the autonomous vehicle to the entrance queue of that work area; or,
[0035] When an autonomous vehicle is performing a task, remove it from the entry queue of that work area and add it to the work area's task queue; or...
[0036] When the autonomous vehicle finishes its task, it is removed from the work queue of that work area and added to the work area's outgoing queue; or,
[0037] When the unmanned vehicle has completely left the work area, it will be removed from the departure queue of that work area.
[0038] In some embodiments, one or more of the following are also included:
[0039] If the initial judgment results are conflicting, the safe driving endpoint of the first driverless vehicle will not be updated.
[0040] If the second determination result is in conflict, a new alternative safe driving destination for the first unmanned vehicle is obtained, and it is determined whether the driving of the first unmanned vehicle based on the new alternative safe driving destination conflicts with other unmanned vehicles in accordance with the method of claim 3.
[0041] In some embodiments, the method further includes: obtaining the target driving path of the unmanned vehicle assigned to the work point within the same work area, wherein the target driving path includes a set of points for the entry path from the entry point to the work point and the exit path from the work point to the exit point.
[0042] In some embodiments, the method further includes: monitoring anomalies in the real-time location of the autonomous vehicle based on the vehicle's target driving path.
[0043] In some embodiments, the method further includes: if the real-time location of the unmanned vehicle is detected to be outside a preset range of the unmanned vehicle's target driving path, issuing a stop command to the abnormal unmanned vehicle or other unmanned vehicles in the same work area.
[0044] This disclosure provides some embodiments of an unmanned vehicle control device, including:
[0045] Memory; and
[0046] A processor coupled to the memory is configured to execute an autonomous vehicle control method based on instructions stored in the memory.
[0047] Some embodiments of this disclosure propose a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of an unmanned vehicle control method.
[0048] This disclosure provides an operating system in some embodiments, including:
[0049] At least one driverless car, and,
[0050] The unmanned vehicle control device is configured to execute unmanned vehicle control methods.
[0051] This disclosure provides some embodiments of an unmanned vehicle control device, including:
[0052] The determination module is configured to: obtain the alternative safe driving destination of the first unmanned vehicle; and determine the alternative safe driving destination as the new safe driving destination if it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles.
[0053] The distribution module is configured to distribute the new safe driving destination to the first unmanned vehicle, instructing the first unmanned vehicle to move to the new safe driving destination.
[0054] In some embodiments, the determining module is configured to:
[0055] When the location of the first autonomous vehicle is updated, obtain alternative safe driving destinations for the first autonomous vehicle; or,
[0056] If the previous candidate safe driving destination is not determined as a safe driving destination, obtain the next candidate safe driving destination for the first unmanned vehicle; or,
[0057] Starting from the current position of the first unmanned vehicle, search forward along the target driving path of the first unmanned vehicle, and take one of the points in the target driving path as the alternative safe driving destination;
[0058] or,
[0059] Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle;
[0060] Perform the first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;
[0061] The second judgment is performed to determine whether there is a conflict between the alternative safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle. Wherein: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than that of the first unmanned vehicle.
[0062] If the first and second judgment results are not conflicting, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles.
[0063] In some embodiments, the system further includes a queue management module configured to manage a priority queue for determining the priority of unmanned vehicles, wherein the sorting method of the priority queue includes: unmanned vehicles in the exit queue have a higher priority than unmanned vehicles in the work queue, unmanned vehicles in the work queue have a higher priority than unmanned vehicles in the entry queue, and unmanned vehicles that enter the queue earlier have a higher priority than unmanned vehicles that enter the queue later; and unmanned vehicles are dynamically added to the entry queue, work queue, or exit queue according to the status of the unmanned vehicles performing tasks.
[0064] In some embodiments, the system further includes a path acquisition module configured to acquire the target driving path of unmanned vehicles assigned to work points within the same work area, wherein the target driving path includes a set of points for an entry path from an entry point to a work point and an exit path from a work point to an exit point.
[0065] In some embodiments, the system further includes an anomaly monitoring module configured to monitor anomalies in the real-time location of the autonomous vehicle based on the vehicle's target driving path. Attached Figure Description
[0066] The accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. This disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings.
[0067] Obviously, the accompanying drawings described below are merely some embodiments of this disclosure. Those skilled in the art can obtain other drawings based on these drawings without any creative effort.
[0068] Figure 1 A schematic diagram of an unmanned vehicle control device according to some embodiments of the present disclosure is shown.
[0069] Figure 2 This diagram illustrates a target driving path, (alternative) safe driving area, (alternative) safe parking area, and waiting area according to some embodiments of this disclosure.
[0070] Figure 3 A schematic diagram illustrating an unmanned vehicle control method according to some embodiments of the present disclosure is shown.
[0071] Figure 4a , 4b Figures 4c show a schematic diagram illustrating an application example 1 of the unmanned vehicle control method according to some embodiments of the present disclosure.
[0072] Figure 5a , 5b Figure 5c shows a schematic diagram illustrating an application example 2 of the unmanned vehicle control method according to some embodiments of the present disclosure.
[0073] Figure 6 A schematic diagram illustrating an application example 3 of the unmanned vehicle control method according to some embodiments of the present disclosure is shown.
[0074] Figure 7 A schematic diagram of the structure of an unmanned vehicle control device according to some embodiments of the present disclosure is shown.
[0075] Figure 8 A schematic diagram of an operating system according to some embodiments of the present disclosure is shown. Detailed Implementation
[0076] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.
[0077] Unless otherwise stated, the terms "first," "second," etc., used in this disclosure are used to distinguish different objects and are not used to indicate size or sequence.
[0078] Figure 1 A schematic diagram of an unmanned vehicle control device according to some embodiments of the present disclosure is shown.
[0079] like Figure 1 As shown, the unmanned vehicle control device 100 in this embodiment includes: a determination module 130 and a distribution module 140. If necessary, it may also include: a path acquisition module 110, a queue management module 120, and an anomaly monitoring module 150.
[0080] The path acquisition module 110 is configured to acquire the target driving path of the unmanned vehicle that has been assigned to the work point in the same work area. The target driving path includes a set of points for the entry path from the entry point to the work point and the exit path from the work point to the exit point.
[0081] The target driving path of an autonomous vehicle is, for example, a driving path pre-planned for a specific task of the autonomous vehicle. The target driving path can be represented by a set of points arranged at preset intervals (i.e., a point set).
[0082] Taking unmanned transportation in mining areas as an example, the operation map used by the unmanned transportation system in mines is divided into driving area, loading area and unloading area, among which the loading area and unloading area are collectively referred to as the work area.
[0083] The queue management module 120 is configured to: manage priority queues to determine the priority of unmanned vehicles; and dynamically add unmanned vehicles to the entry queue, operation queue, or exit queue according to the status of the unmanned vehicles performing tasks.
[0084] The priority queue sorting method includes: the priority of unmanned vehicles in the departure queue is higher than that of unmanned vehicles in the operation queue, the priority of unmanned vehicles in the operation queue is higher than that of unmanned vehicles in the arrival queue, and the priority of unmanned vehicles that enter the queue first in the same queue is higher than that of unmanned vehicles that enter the queue later (i.e., first-in-first-out strategy).
[0085] For example, if driverless car A is entering the parking lot and is in the entry queue, then driverless cars with higher priority than driverless car A include those ahead of driverless car A in the entry queue, those in the work queue, and those in the exit queue. As another example, if driverless car B is exiting the parking lot and is in the exit queue, then driverless cars with higher priority than driverless car B include those ahead of driverless car B in the exit queue.
[0086] The dynamic addition of unmanned vehicles (UAVs) to entry, work, or exit queues includes: adding an UAV to the entry queue of a work area when it passes an entry point and is about to enter; removing an UAV from the entry queue and adding it to the work queue when it is performing a work task; removing an UAV from the work queue and adding it to the exit queue when its work task is completed; and removing an UAV from the exit queue when it has completely left the work area. Thus, UAVs are dynamically added to the appropriate queue based on their task execution status.
[0087] The determination module 130 is configured to: obtain the alternative safe driving destination of the first unmanned vehicle; and determine the alternative safe driving destination as the new safe driving destination if it is determined that the driving of the first unmanned vehicle based on the alternative safe driving destination does not conflict with other unmanned vehicles.
[0088] Since the determination module 130 can usually determine the safe driving destination of the unmanned vehicle in real time based on the real-time location of the unmanned vehicle, the determination module 130 is also called the real-time determination module 130.
[0089] The determining module 130 is configured to: determine the current position of any first unmanned vehicle in its target driving path based on the current position of any monitored first unmanned vehicle. For example, the current position of the first unmanned vehicle is projected onto the target driving path of the first unmanned vehicle, and the point corresponding to the projection point in the target driving path is the current position of the first unmanned vehicle.
[0090] The determining module 130 is configured to: when the location of the first unmanned vehicle is detected to be updated, obtain the alternative safe driving destination of the first unmanned vehicle; or, when the previous alternative safe driving destination is not determined as a safe driving destination, obtain the next alternative safe driving destination of the first unmanned vehicle.
[0091] The determining module 130 is configured to: search forward along the target driving path of the first unmanned vehicle from its current position, and select one of the points in the searched target driving path as a candidate safe driving destination. For example, the point in the target driving path that is closest to the current position or the previous candidate safe driving destination in the forward direction can be selected as a candidate safe driving destination, but this is not limited to the example given.
[0092] In some embodiments, the determining module 130 is configured to: determine whether the first autonomous vehicle's journey based on a candidate safe driving destination conflicts with other autonomous vehicles, including:
[0093] Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle;
[0094] Perform a first judgment to determine whether the candidate safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle. For example, determine whether the candidate safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle by judging whether they overlap.
[0095] The second judgment is performed to determine whether the candidate safe parking area of the first unmanned vehicle conflicts with the waiting area of the third unmanned vehicle. For example, the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle overlap to determine whether they conflict.
[0096] If both the first and second judgment results are not conflicting, it is determined that the first autonomous vehicle's travel based on the alternative safe travel destination does not conflict with other autonomous vehicles; otherwise, it is determined that the first autonomous vehicle conflicts with other autonomous vehicles. If the first judgment result is a conflict, the safe travel destination of the first autonomous vehicle is not updated, for example, it is not updated within a preset time. If the second judgment result is a conflict, a new alternative safe travel destination for the first autonomous vehicle is obtained, and it is determined whether the first autonomous vehicle's travel based on the new alternative safe travel destination conflicts with other autonomous vehicles according to the aforementioned method.
[0097] Among them, the first, second, and third driverless vehicles are located in the same work area, with the third vehicle having higher priority than the first. That is, the second vehicle is any other driverless vehicle in the same work area besides the first, and the third vehicle is any driverless vehicle in the same work area with higher priority than the first. The priority of the driverless vehicles is determined based on the aforementioned priority queue.
[0098] In some embodiments, the determining module 130 is configured to: determine the candidate safe driving area of the first unmanned vehicle by: expanding (outward) based on the current position of the first unmanned vehicle and the candidate safe driving endpoint, and using the expanded area as the candidate safe driving area of the first unmanned vehicle.
[0099] In some embodiments, the determining module 130 is configured to: perform lateral and longitudinal expansion based on the current position of the first unmanned vehicle and the candidate safe driving endpoint according to preset expansion factors, and use the expanded area as the candidate safe driving area of the first unmanned vehicle. Wherein: the expanded area is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0100] In some embodiments, the determining module 130 is configured to: determine the alternative safe parking area of the first unmanned vehicle by: expanding (outward) based on the alternative safe driving endpoint of the first unmanned vehicle, and using the expanded area as the alternative safe parking area of the first unmanned vehicle.
[0101] In some embodiments, the determining module 130 is configured to: expand laterally and longitudinally based on the candidate safe driving endpoint of the first unmanned vehicle according to preset expansion factors, and use the expanded area as the candidate safe parking area of the first unmanned vehicle. Wherein: the expanded area is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0102] In some embodiments, the alternative safe parking area of the first driverless vehicle is a subset of the alternative safe driving area of the first driverless vehicle.
[0103] The safe driving zone of the second unmanned vehicle is the area obtained by expanding (outward) based on the current position and safe driving destination of the second unmanned vehicle.
[0104] The safe driving zone of the second unmanned vehicle is an area obtained by expanding laterally and longitudinally based on the current position and safe driving endpoint of the second unmanned vehicle according to preset expansion factors. The expanded area is a strip-shaped region; the expansion factors include at least one of: positioning error, vehicle body outline, parking error, and safety margin.
[0105] The waiting area for the third unmanned vehicle is the area obtained by expanding (outward) based on the current location of the third unmanned vehicle and the mission endpoint.
[0106] The waiting area for the third unmanned vehicle is a region obtained by expanding laterally and longitudinally based on the current position and mission endpoint of the third unmanned vehicle according to preset expansion factors. The expanded region is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body outline, parking error, and safety margin.
[0107] The sending module 140 is configured to send a new safe driving destination to the first unmanned vehicle, instructing the first unmanned vehicle to move to the new safe driving destination. The first unmanned vehicle moves to the new safe driving destination and stops based on the instruction.
[0108] As the autonomous vehicle's position changes, its travel path is dynamically updated. This ensures that the autonomous vehicle moves forward along the target travel path, and the safe travel destination moves forward synchronously, preventing collisions and congestion caused by vehicles blocking each other's travel paths within the work area. The autonomous vehicle stops at the last received safe travel destination (i.e., the mission endpoint).
[0109] If an autonomous vehicle does not receive a new safe driving destination instruction, it needs to stop and wait until the latest safe driving destination is received. This can effectively avoid collisions caused by the autonomous vehicle not receiving a stop instruction, even in the event of a communication failure or other emergencies.
[0110] The anomaly monitoring module 150 is configured to monitor the real-time location of the unmanned vehicle (UAV) based on its target travel path. If the monitored real-time location of the UAV is outside the preset range of its target travel path, a stop command is issued to the UAV or other UAVs in the same work area. This maximizes operational safety within the work area.
[0111] Figure 2 This diagram illustrates a target driving path, (alternative) safe driving area, (alternative) safe parking area, and waiting area according to some embodiments of this disclosure.
[0112] Figure 2 An example of a set of points for a target driving path is shown, where the first point in the set is the starting point of the task and the last point in the set is the ending point of the task.
[0113] Figure 2 An example of an alternative safe driving zone is shown, which is expanded laterally and longitudinally based on the current position of the autonomous vehicle and the alternative safe driving endpoint. The resulting strip area is the alternative safe driving zone of the autonomous vehicle.
[0114] Figure 2An example of an alternative safe parking area is shown, which is extended laterally and longitudinally based on the alternative safe driving endpoint of the autonomous vehicle. The resulting strip area is the alternative safe parking area of the autonomous vehicle.
[0115] Figure 2 An example of a waiting area is shown, which is expanded horizontally and vertically based on the current position of the autonomous vehicle and the mission endpoint. The resulting strip-shaped area is the waiting area.
[0116] Figure 3 A schematic diagram illustrating an unmanned vehicle control method according to some embodiments of the present disclosure is shown.
[0117] like Figure 3 As shown, the unmanned vehicle control method includes steps 310-390, wherein steps 310-320 can be executed in advance, and the unmanned vehicle control process executes steps 330-390.
[0118] In step 310, the target driving path of the unmanned vehicle assigned to the work point in the same work area is obtained. The target driving path includes a set of points: the entry path from the entry point to the work point and the exit path from the work point to the exit point.
[0119] The target driving path of an autonomous vehicle is, for example, a driving path pre-planned for a specific task of the autonomous vehicle. The target driving path can be represented by a set of points arranged at preset intervals (i.e., a point set).
[0120] In step 320, a priority queue is managed to determine the priority of unmanned vehicles; based on the status of the unmanned vehicles performing tasks, the unmanned vehicles are dynamically added to the entry queue, operation queue, or exit queue.
[0121] In some embodiments, the priority queue sorting method includes: the priority of unmanned vehicles in the exit queue is higher than that of unmanned vehicles in the work queue, the priority of unmanned vehicles in the work queue is higher than that of unmanned vehicles in the entry queue, and the priority of unmanned vehicles that enter the queue first in the same queue is higher than that of unmanned vehicles that enter the queue later (i.e., first-in-first-out strategy).
[0122] In some embodiments, dynamically adding an unmanned vehicle to an entry queue, a work queue, or an exit queue includes: adding the unmanned vehicle to the entry queue of the work area when it passes an entry point and is about to enter; or removing the unmanned vehicle from the entry queue and adding it to the work queue when it is performing a work task; or removing the unmanned vehicle from the work queue and adding it to the exit queue when its work task is completed; or removing the unmanned vehicle from the exit queue when it has completely left the work area. Thus, the unmanned vehicle is dynamically added to the corresponding queue based on its task execution status.
[0123] In step 330, the current position of the first unmanned vehicle in its target driving path is determined.
[0124] In some embodiments, the current position of a first autonomous vehicle on its target driving path is determined based on the current position of any of the first autonomous vehicles detected. For example, the current position of the first autonomous vehicle is projected onto the target driving path of the first autonomous vehicle, and the point corresponding to the projection point on the target driving path is the current position of the first autonomous vehicle.
[0125] In step 340, the alternative safe driving destinations for the first unmanned vehicle are obtained.
[0126] In some embodiments, when the location of the first unmanned vehicle is detected to be updated, alternative safe driving destinations for the first unmanned vehicle are obtained.
[0127] In some embodiments, when the previous alternative safe driving destination is not determined as a safe driving destination, the next alternative safe driving destination of the first unmanned vehicle is obtained.
[0128] In some embodiments, the search proceeds forward along the target driving path of the first autonomous vehicle from its current location, and one of the points along the searched target driving path is selected as a candidate safe driving destination. For example, the point on the target driving path that is closest to the current location in the forward direction is selected as a candidate safe driving destination, but this is not limited to the examples given.
[0129] In step 350, the alternative safe driving area and alternative safe parking area of the first unmanned vehicle are determined based on the alternative safe driving destination of the first unmanned vehicle.
[0130] In some embodiments, determining the alternative safe driving area of the first unmanned vehicle includes: expanding (outward) based on the current location of the first unmanned vehicle and the alternative safe driving endpoint, and using the expanded area as the alternative safe driving area of the first unmanned vehicle.
[0131] In some embodiments, determining the candidate safe driving area of the first unmanned vehicle includes: expanding laterally and longitudinally based on the current position of the first unmanned vehicle and the candidate safe driving endpoint according to preset expansion factors, and using the expanded area as the candidate safe driving area of the first unmanned vehicle. Wherein: the expanded area is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0132] In some embodiments, determining the alternative safe parking area of the first driverless vehicle includes: expanding (outward) based on the alternative safe driving endpoint of the first driverless vehicle, and using the expanded area as the alternative safe parking area of the first driverless vehicle.
[0133] In some embodiments, determining the candidate safe parking area for the first unmanned vehicle includes: expanding laterally and longitudinally based on the candidate safe driving endpoint of the first unmanned vehicle according to preset expansion factors, and using the expanded area as the candidate safe parking area for the first unmanned vehicle. Wherein: the expanded area is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0134] In some embodiments, the alternative safe parking area of the first driverless vehicle is a subset of the alternative safe driving area of the first driverless vehicle.
[0135] In step 360, the safe driving area of the second unmanned vehicle and the waiting driving area of the third unmanned vehicle are obtained.
[0136] In some embodiments, the first, second, and third autonomous vehicles are located in the same work area, with the third vehicle having higher priority than the first. That is, the second vehicle is any other autonomous vehicle in the same work area besides the first, and the third vehicle is any autonomous vehicle in the same work area with higher priority than the first. The priority of the autonomous vehicles is determined according to the aforementioned priority queue.
[0137] In some embodiments, the safe driving area of the second unmanned vehicle is an area obtained by expanding (outward) based on the current location and safe driving destination of the second unmanned vehicle.
[0138] In some embodiments, the safe driving area of the second unmanned vehicle is an area obtained by expanding laterally and longitudinally based on the current position and safe driving endpoint of the second unmanned vehicle according to preset expansion factors. Wherein: the expanded area is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0139] In some embodiments, the waiting area of the third unmanned vehicle is an area obtained by expanding (outward) based on the current position of the third unmanned vehicle and the mission endpoint.
[0140] In some embodiments, the waiting area for the third unmanned vehicle is a region obtained by lateral and longitudinal expansion based on the current position and mission endpoint of the third unmanned vehicle according to preset expansion factors. Wherein: the expanded region is a strip-shaped area; the expansion factors include at least one of: positioning error, vehicle body contour, parking error, and safety margin.
[0141] In step 370, a first judgment is performed to determine whether the candidate safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle.
[0142] For example, by determining whether the alternative safe driving area of the first unmanned vehicle overlaps with the safe driving area of the second unmanned vehicle, it can be determined whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle.
[0143] In step 380, a second judgment is performed to determine whether there is a conflict between the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle.
[0144] For example, by determining whether the candidate safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle, it can be determined whether there is a conflict between the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle.
[0145] If the first judgment result and the second judgment result are not conflicting, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles. If it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles, the alternative safe driving destination is determined as the new safe driving destination, and then step 390 is executed.
[0146] If the first judgment result is conflicting, the safe driving endpoint of the first unmanned vehicle will not be updated. For example, the safe driving endpoint of the first unmanned vehicle will not be updated within a preset time, and then the process will end.
[0147] If the second judgment result is a conflict, continue to obtain a new alternative safe driving destination for the first unmanned vehicle, and continue to determine whether the first unmanned vehicle's driving based on the new alternative safe driving destination conflicts with other unmanned vehicles, that is, continue to execute step 340 and subsequent steps.
[0148] In step 390, a new safe driving destination is sent to the first autonomous vehicle to instruct it to move to the new safe driving destination. The first autonomous vehicle moves to the new safe driving destination and stops based on the instruction.
[0149] As the autonomous vehicle's position changes, its travel path is dynamically updated. This ensures that the autonomous vehicle moves forward along the target travel path, and the safe travel destination moves forward synchronously, preventing collisions and congestion caused by vehicles blocking each other's travel paths within the work area. The autonomous vehicle stops at the last received safe travel destination (i.e., the mission endpoint).
[0150] If an autonomous vehicle does not receive a new safe driving destination instruction, it needs to stop and wait until the latest safe driving destination is received. This can effectively avoid collisions caused by the autonomous vehicle not receiving a stop instruction, even in the event of a communication failure or other emergencies.
[0151] Based on the target travel path of the autonomous vehicles, the system monitors for anomalies in their real-time location. If a vehicle's real-time location is detected to be outside the preset range of its target travel path, a stop command is issued to the abnormal vehicle or other vehicles in the same work area. This maximizes operational safety within the work area.
[0152] This disclosure proposes an unmanned vehicle control method applicable to the collaborative operation of multiple unmanned vehicles in a work area, ensuring that the unmanned vehicles drive in an orderly manner in the work area and guaranteeing the work efficiency in the work area without causing safety accidents such as collisions.
[0153] Here are some application examples.
[0154] Application Example 1
[0155] Unmanned vehicles A and B travel according to the mission path (target travel path) and receive information about the safe destination.
[0156] like Figure 4a As shown, unmanned vehicles A and B enter the site in sequence. When unmanned vehicle A arrives at the loading point at time t, unmanned vehicle B is driving on the entry path to perform the entry task.
[0157] At time t+1, the autonomous vehicle control device calculates alternative safe driving destinations for autonomous vehicle B.
[0158] like Figure 4b As shown, the unmanned vehicle control device continues to search forward along the safe driving destination at time t. When it reaches point P1, since the candidate safe driving destination is P1, the candidate safe parking area of unmanned vehicle B overlaps with the waiting area of unmanned vehicle A with higher priority, so the condition for issuing a safe driving destination is not met. Therefore, it continues to search forward for the next candidate safe driving destination.
[0159] like Figure 4cAs shown, the unmanned vehicle control device searches for the reversing point P2. When P2 is the alternative safe driving destination, the alternative safe driving area of unmanned vehicle B does not overlap with the safe driving area of unmanned vehicle A, and the alternative safe parking area of unmanned vehicle B does not overlap with the waiting area of unmanned vehicle A. The safe driving conditions are met, so the alternative safe driving destination P2 is taken as the new safe driving destination and the new safe driving destination P2 is sent to unmanned vehicle B.
[0160] Subsequently, after waiting at reversing point P2 for unmanned vehicle A to complete the loading task and leave the site, unmanned vehicle B reverses to the work point to complete the loading task without colliding with unmanned vehicle A and without affecting unmanned vehicle A's departure.
[0161] Multiple unmanned vehicles work together in the same work area, and the unmanned vehicles drive in an orderly manner within the work area, ensuring the efficiency of the work area without causing collisions or other safety accidents.
[0162] Application Example 2
[0163] Unmanned vehicles A and B travel according to the mission path (target travel path) and receive information about the safe destination.
[0164] like Figure 5a As shown, unmanned vehicles A and B enter the site in sequence. When A arrives at the loading point at time t, unmanned vehicle B drives along the entry path to perform the entry task. The safe destination of unmanned vehicle B is point P1.
[0165] like Figure 5b As shown, driverless car B moves forward. At time t+1, the driverless car control device updates the safe driving destination for the driverless car. None of the alternative safe driving destinations before point P1 meet the safety conditions. If the alternative safe driving destination is the reversing point P2, point P2 is close to the exit path, causing a conflict between driverless car B's alternative safe parking area and driverless car A's waiting path. That is, driverless car B waiting at reversing point P2 will affect driverless car A's exit, and if driverless car A cannot exit, driverless car B cannot operate, resulting in task congestion. Therefore, driverless car B should stop and wait on the entry path at a position that does not interfere with driverless car A's exit, thus achieving queuing within the site. Therefore, at time t+1, the driverless car control device does not issue a new safe driving destination to driverless car B; that is, driverless car B's safe driving destination at this time is still point P1.
[0166] like Figure 5c As shown, driverless vehicle B moves forward to point P1 and stops to wait until driverless vehicle A completes the loading operation, leaves the site, and drives out of the conflict area. Only then does driverless vehicle B continue to move forward.
[0167] Application Example 3
[0168] like Figure 6As shown, taking multi-vehicle unloading as an example, unmanned vehicles A and B enter the site in sequence. When unmanned vehicle A is about to leave after completing the unloading operation, unmanned vehicle B is entering the site and driving into the conflict area. Since the exit route of unmanned vehicle A conflicts with the entry route of unmanned vehicle B, unmanned vehicle A needs to stop and wait at the unloading point. After unmanned vehicle B passes through the conflict area, unmanned vehicle A leaves the site, thus realizing the multi-vehicle collaborative unloading task.
[0169] The unmanned vehicle control method disclosed in this embodiment is applicable to the collaborative operation of multiple unmanned vehicles within a work area, such as collaborative unloading operations, collaborative loading operations, and collaborative loading and unloading operations. Loading operations include unilateral loading operations and bilateral loading operations.
[0170] Figure 7 A schematic diagram of the structure of an unmanned vehicle control device according to some embodiments of the present disclosure is shown.
[0171] like Figure 7 As shown, the unmanned vehicle control device 700 of this embodiment includes a memory 710 and a processor 720 coupled to the memory 710. The processor 720 is configured to execute the unmanned vehicle control method in each embodiment based on instructions stored in the memory 710.
[0172] The device 700 may also include an input / output interface 730, a network interface 740, a storage interface 750, etc. These interfaces 730, 740, 750, as well as the memory 710 and the processor 720, can be connected, for example, via a bus 760.
[0173] The memory 710 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, the operating system, application programs, boot loader, and other programs.
[0174] The processor 720 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates, or transistors, or other discrete hardware components.
[0175] The input / output interface 730 provides a connection interface for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interface 740 provides a connection interface for various networked devices. The storage interface 750 provides a connection interface for external storage devices such as SD cards and USB flash drives. The bus 760 can use any bus architecture from a variety of bus structures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.
[0176] Figure 8 A schematic diagram of an operating system according to some embodiments of the present disclosure is shown.
[0177] like Figure 8 As shown, the operating system 800 includes at least one unmanned vehicle 810 and an unmanned vehicle control device 820, configured to perform the unmanned vehicle control methods in the various embodiments.
[0178] This disclosure provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the unmanned vehicle control method in various embodiments.
[0179] (1) A method for controlling an unmanned vehicle, comprising:
[0180] Obtain the first alternative safe driving destination for the driverless vehicle;
[0181] If it is determined that the first unmanned vehicle's journey based on the alternative safe driving destination does not conflict with other unmanned vehicles, the alternative safe driving destination will be determined as the new safe driving destination.
[0182] The new safe driving destination is sent to the first unmanned vehicle to instruct it to move to the new safe driving destination.
[0183] (2) According to (1), the alternative safe driving destinations for the first unmanned vehicle include:
[0184] When the location of the first autonomous vehicle is updated, obtain alternative safe driving destinations for the first autonomous vehicle; or,
[0185] If the previous candidate safe driving destination is not determined as a safe driving destination, obtain the next candidate safe driving destination for the first unmanned vehicle; or,
[0186] Starting from the current location of the first unmanned vehicle, search forward along the target driving path of the first unmanned vehicle, and take one of the points in the target driving path as the alternative safe driving destination.
[0187] (3) Determining, based on (1) or (2), that the first unmanned vehicle's travel to the alternative safe driving destination does not conflict with other unmanned vehicles includes:
[0188] Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle;
[0189] Perform the first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle;
[0190] The second judgment is performed to determine whether there is a conflict between the alternative safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle. Wherein: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than that of the first unmanned vehicle.
[0191] If the first and second judgment results are not conflicting, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles.
[0192] (4) According to (3), the alternative safe driving area of the first unmanned vehicle is determined by: expanding the area based on the current location of the first unmanned vehicle and the alternative safe driving endpoint, and using the expanded area as the alternative safe driving area of the first unmanned vehicle.
[0193] (5) According to (3) or (4), the alternative safe driving area of the first unmanned vehicle is determined by: based on the current position of the first unmanned vehicle and the alternative safe driving endpoint, the vehicle is extended laterally and longitudinally, and the area obtained by the extension is used as the alternative safe driving area of the first unmanned vehicle.
[0194] (6) According to any one of (3)-(5), the alternative safe parking area of the first unmanned vehicle includes: expanding the alternative safe driving endpoint of the first unmanned vehicle and taking the expanded area as the alternative safe parking area of the first unmanned vehicle.
[0195] (7) According to any one of (3)-(6), the alternative safe parking area of the first unmanned vehicle includes: based on the alternative safe driving endpoint of the first unmanned vehicle, the vehicle is extended laterally and longitudinally according to the preset extension factors, and the area obtained by the extension is used as the alternative safe parking area of the first unmanned vehicle.
[0196] (8) According to any one of (3)-(7), the alternative safe parking area of the first unmanned vehicle is a subset of the alternative safe driving area of the first unmanned vehicle.
[0197] (9) According to any one of (3)-(8), the safe driving area of the second unmanned vehicle is the area obtained by expanding the current position and safe driving destination of the second unmanned vehicle.
[0198] (10) According to any one of (3)-(9), the safe driving area of the second unmanned vehicle is the area obtained by lateral and longitudinal expansion based on the current position and safe driving endpoint of the second unmanned vehicle according to the preset expansion factors.
[0199] (11) According to any one of (3)-(10), the waiting area of the third unmanned vehicle is an area obtained by expanding the current position point of the third unmanned vehicle and the mission endpoint.
[0200] (12) According to any one of (3)-(11), the waiting area of the third unmanned vehicle is the area obtained by horizontal and vertical expansion based on the current position point and the end point of the task of the third unmanned vehicle according to the preset expansion factors.
[0201] (13) According to any one of (5)-(12), the expanded area is a strip area; or, the expansion factors include at least one of: positioning error, vehicle body outline, parking error and safety margin.
[0202] (14) According to any one of (3)-(13): determine whether the candidate safe driving area of the first unmanned vehicle and the safe driving area of the second unmanned vehicle conflict by judging whether they overlap; or,
[0203] The determination of whether there is a conflict between the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle is made by judging whether the candidate safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle.
[0204] (15) According to any one of (3)-(14): the priority of the unmanned vehicle is determined according to the priority queue, wherein the sorting method of the priority queue includes: the priority of the unmanned vehicle in the exit queue is higher than the priority of the unmanned vehicle in the operation queue, the priority of the unmanned vehicle in the operation queue is higher than the priority of the unmanned vehicle in the entry queue, and the priority of the unmanned vehicle that enters the queue first in the same queue is higher than the priority of the unmanned vehicle that enters the queue later.
[0205] (16) According to any one of (3)-(15): Based on the state of the unmanned vehicle performing the task, dynamically add the unmanned vehicle to the entry queue, operation queue or exit queue.
[0206] (17) According to any one of (3)-(16): Dynamically adding unmanned vehicles to the entry queue, operation queue, or exit queue includes:
[0207] When the autonomous vehicle passes the entrance point and is about to enter the work area, add the autonomous vehicle to the entrance queue of that work area; or,
[0208] When an autonomous vehicle is performing a task, remove it from the entry queue of that work area and add it to the work area's task queue; or...
[0209] When the autonomous vehicle finishes its task, it is removed from the work queue of that work area and added to the work area's outgoing queue; or,
[0210] When the unmanned vehicle has completely left the work area, it will be removed from the departure queue of that work area.
[0211] (18) According to any one of (3)-(17), it also includes one or more of the following:
[0212] If the initial judgment results are conflicting, the safe driving endpoint of the first driverless vehicle will not be updated.
[0213] If the second determination result is in conflict, a new alternative safe driving destination for the first unmanned vehicle is obtained, and it is determined whether the driving of the first unmanned vehicle based on the new alternative safe driving destination conflicts with other unmanned vehicles in accordance with the method of claim 3.
[0214] (19) According to any one of (1)-(18), it further includes: obtaining the target driving path of the unmanned vehicle assigned to the work point in the same work area, the target driving path including: the entry path from the entry point to the work point and the exit path from the work point to the exit point.
[0215] (20) According to any one of (1)-(19), it also includes: monitoring the anomalies in the real-time location of the unmanned vehicle according to the target driving path of the unmanned vehicle.
[0216] (21) According to any one of (1)-(20), it further includes: if the real-time location of the unmanned vehicle is detected to be outside the preset range of the target driving path of the unmanned vehicle, a stop instruction is issued to the abnormal unmanned vehicle or other unmanned vehicles in the same work area.
[0217] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more non-transitory computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer program code.
[0218] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0219] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0220] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0221] The above description is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.
Claims
1. A method for controlling an unmanned vehicle, the method comprising: include: Obtain the first alternative safe driving destination for the driverless vehicle; If it is determined that the first unmanned vehicle's journey based on the alternative safe driving destination does not conflict with other unmanned vehicles, the alternative safe driving destination will be determined as the new safe driving destination. The new safe driving destination is sent to the first autonomous vehicle to instruct it to move to the new safe driving destination. Among these, determining that the first autonomous vehicle's journey to the alternative safe destination does not conflict with other autonomous vehicles includes: Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle; Perform the first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle; The second judgment is performed to determine whether there is a conflict between the alternative safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle. Wherein: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than that of the first unmanned vehicle. If the first and second judgment results are not conflicting, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles.
2. The method of claim 1, wherein, The alternative safe driving destinations for the first driverless car include: When the location of the first autonomous vehicle is updated, obtain alternative safe driving destinations for the first autonomous vehicle; or, If the previous candidate safe driving destination is not determined as a safe driving destination, obtain the next candidate safe driving destination for the first unmanned vehicle; or, Starting from the current location of the first unmanned vehicle, search forward along the target driving path of the first unmanned vehicle, and take one of the points in the target driving path as the alternative safe driving destination.
3. The method of claim 1, wherein, The candidate safe driving areas for the first driverless vehicle include: Based on the current location of the first unmanned vehicle and the alternative safe driving destination, the area is expanded and used as the alternative safe driving zone for the first unmanned vehicle.
4. The method of claim 3, wherein, The candidate safe driving areas for the first driverless vehicle include: Based on preset expansion factors, the first unmanned vehicle is expanded laterally and longitudinally based on its current location and the alternative safe driving endpoint, and the expanded area is used as the alternative safe driving zone for the first unmanned vehicle.
5. The method of claim 1, wherein, The candidate safe parking areas for the first driverless vehicle include: Based on the alternative safe driving endpoint of the first unmanned vehicle, the area is expanded and used as the alternative safe parking area for the first unmanned vehicle.
6. The method of claim 5, wherein, The candidate safe parking areas for the first driverless vehicle include: Based on preset expansion factors, the first unmanned vehicle is expanded laterally and longitudinally, using the alternative safe driving endpoint as a basis, and the expanded area is used as the alternative safe parking area for the first unmanned vehicle.
7. The method according to any one of claims 1 to 6, characterized in that, The alternative safe parking area for the first driverless car is a subset of the alternative safe driving area for the first driverless car.
8. The method of claim 1, wherein, The safe driving zone of the second unmanned vehicle is an area obtained by expanding the current position and safe driving destination of the second unmanned vehicle.
9. The method of claim 8, wherein, The safe driving zone of the second unmanned vehicle is an area obtained by expanding laterally and longitudinally based on the current position and safe driving endpoint of the second unmanned vehicle according to preset expansion factors.
10. The method of claim 1, wherein, The waiting area for the third unmanned vehicle is an area obtained by expanding the current location of the third unmanned vehicle and the mission endpoint.
11. The method of claim 10, wherein, The waiting area for the third unmanned vehicle is an area obtained by expanding horizontally and vertically based on the current position of the third unmanned vehicle and the mission endpoint, according to preset expansion factors.
12. The method of claim 4 or 6 or 9 or 11, wherein, The expanded region is a strip-shaped region; or, The extended factors include at least one of the following: positioning error, vehicle body profile, parking error, and safety margin.
13. The method according to claim 1, characterized in that, The conflict between the candidate safe driving area of the first unmanned vehicle and the safe driving area of the second unmanned vehicle is determined by whether the candidate safe driving area of the first unmanned vehicle overlaps with the safe driving area of the second unmanned vehicle. or, The determination of whether there is a conflict between the candidate safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle is made by judging whether the candidate safe parking area of the first unmanned vehicle overlaps with the waiting area of the third unmanned vehicle.
14. The method of claim 1, wherein, Also includes: The priority of autonomous vehicles is determined based on the priority queue. The priority queue sorting method includes: the priority of unmanned vehicles in the departure queue is higher than that of unmanned vehicles in the operation queue, the priority of unmanned vehicles in the operation queue is higher than that of unmanned vehicles in the arrival queue, and the priority of unmanned vehicles that enter the queue first is higher than that of unmanned vehicles that enter the queue later in the same queue.
15. The method of claim 14, wherein, Also includes: Based on the status of the autonomous vehicle performing the task, the autonomous vehicle will be dynamically added to the entry queue, operation queue, or exit queue.
16. The method of claim 15, wherein, Dynamically adding autonomous vehicles to the entry queue, operation queue, or exit queue includes: When the autonomous vehicle passes the entrance point and is about to enter the work area, add the autonomous vehicle to the entrance queue of that work area; or, When an autonomous vehicle is performing a task, remove it from the entry queue of that work area and add it to the work area's task queue; or... When the autonomous vehicle finishes its task, it is removed from the work queue of that work area and added to the work area's outgoing queue; or, When the unmanned vehicle has completely left the work area, it will be removed from the departure queue of that work area.
17. The method of claim 1, wherein, It also includes one or more of the following: If the initial judgment results are conflicting, the safe driving endpoint of the first driverless vehicle will not be updated. If the second determination result is in conflict, a new alternative safe driving destination for the first unmanned vehicle is obtained, and it is determined whether the driving of the first unmanned vehicle based on the new alternative safe driving destination conflicts with other unmanned vehicles in accordance with the method of claim 3.
18. The method of claim 2, wherein, Also includes: Obtain the target driving path of the unmanned vehicle that has been assigned to a work point within the same work area. The target driving path includes the point set of the entry path from the entry point to the work point and the exit path from the work point to the exit point.
19. The method of claim 18, wherein, Also includes: Based on the target driving path of the autonomous vehicle, anomalies in the real-time location of the autonomous vehicle are monitored.
20. The method of claim 19, wherein, Also includes: If the real-time location of the unmanned vehicle is detected to be outside the preset range of the unmanned vehicle's target driving path, a stop command is issued to the abnormal unmanned vehicle or other unmanned vehicles in the same work area.
21. An unmanned vehicle control device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to perform the method of any one of claims 1-20 based on instructions stored in the memory.
22. A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any one of claims 1-20.
23. An operating system, comprising: At least one driverless car, and, An unmanned vehicle control device is configured to perform the method according to any one of claims 1-20.
24. An unmanned vehicle control device characterized by comprising: include: The determination module is configured to: obtain the alternative safe driving destinations of the first unmanned vehicle; If it is determined that the first autonomous vehicle's journey based on the alternative safe driving destination does not conflict with other autonomous vehicles, the alternative safe driving destination will be designated as the new safe driving destination; wherein determining that the first autonomous vehicle's journey based on the alternative safe driving destination does not conflict with other autonomous vehicles includes: Based on the alternative safe driving destination of the first unmanned vehicle, determine the alternative safe driving area and alternative safe parking area of the first unmanned vehicle; Perform the first judgment to determine whether the alternative safe driving area of the first unmanned vehicle conflicts with the safe driving area of the second unmanned vehicle; The second judgment is performed to determine whether there is a conflict between the alternative safe parking area of the first unmanned vehicle and the waiting area of the third unmanned vehicle. Wherein: the first unmanned vehicle, the second unmanned vehicle, and the third unmanned vehicle are in the same work area, and the priority of the third unmanned vehicle is higher than that of the first unmanned vehicle. If both the first and second judgment results are not contradictory, it is determined that the first unmanned vehicle's driving based on the alternative safe driving destination does not conflict with other unmanned vehicles. The distribution module is configured to distribute the new safe driving destination to the first unmanned vehicle, instructing the first unmanned vehicle to move to the new safe driving destination.
25. The apparatus of claim 24, wherein, The determining module is configured as follows: When the location of the first autonomous vehicle is updated, obtain alternative safe driving destinations for the first autonomous vehicle; or, If the previous alternative safe driving destination is not determined as a safe driving destination, obtain the next alternative safe driving destination for the first unmanned vehicle; or, Starting from the current location of the first unmanned vehicle, search forward along the target driving path of the first unmanned vehicle, and take one of the points in the target driving path as the alternative safe driving destination.
26. The apparatus of claim 25, wherein, Also includes: The queue management module is configured to manage priority queues to determine the priority of unmanned vehicles. The priority queue sorting method includes: unmanned vehicles in the departure queue have higher priority than unmanned vehicles in the work queue; unmanned vehicles in the work queue have higher priority than unmanned vehicles in the arrival queue; and unmanned vehicles that enter the queue earlier have higher priority than unmanned vehicles that enter the queue later. Unmanned vehicles are dynamically added to the arrival queue, work queue, or departure queue based on their task execution status.
27. The apparatus of claim 25, wherein, Also includes: The path acquisition module is configured to acquire the target driving path of unmanned vehicles assigned to work points within the same work area. The target driving path includes a set of points for the entry path from the entry point to the work point and the exit path from the work point to the exit point.
28. The apparatus of claim 27, wherein, Also includes: The anomaly monitoring module is configured to monitor anomalies in the real-time location of the autonomous vehicle based on its target driving path.