Towing vehicle walking control method, device and electronic equipment

Abstract

In the embodiment of the present application, a walking control method of a tractor is provided, which comprises: acquiring planning trajectory attributes of the tractor and road attribute information, the road attribute information comprising high-precision map information of calibrated road information; determining a perception area based on the road attribute information, wherein the perception area is an area in which the tractor perceives whether there is an obstacle within the range from the vehicle body to the road boundary; adjusting the boundary of the perception area based on the planning trajectory attributes of the tractor; controlling the tractor to detect obstacles based on the adjusted perception area to determine a detection result of the obstacles; and controlling the tractor to walk based on the detection result and the planning trajectory attributes of the tractor. On the one hand, the technical problem of misdetected obstacles outside the road when the vehicle turns, resulting in the vehicle stopping by mistake, is avoided. On the other hand, the technical problem of possible collision between the board vehicle and the obstacle due to missed detection is solved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically to a method, apparatus, and electronic device for controlling the movement of a tractor. Background Technology

[0002] A tractor unit is a vehicle used to tow a trailer carrying cargo, and it is commonly used in medium- and long-distance freight transportation. Currently, the demand for long-distance transportation is increasing, and using autonomous tractor units can significantly improve driver safety and substantially reduce logistics costs.

[0003] Current methods for controlling the movement of autonomous tractors involve planning the tractor's path and then navigating along that path. During the journey, an onboard identification device is used to sense road information. This onboard identification device is particularly used to detect obstacles that may be randomly distributed in the road ahead of the vehicle. After determining the road information, the onboard computing unit analyzes and processes the information to obtain road condition information, thereby ensuring safety during autonomous driving.

[0004] However, the aforementioned tractor's travel control method has two problems during the tractor's movement. On the one hand, when the vehicle turns, it may falsely detect obstacles outside the road, causing the vehicle to stop erroneously. On the other hand, when the tractor moves forward with the flatbed and turns with the flatbed, the flatbed and the tractor head do not travel on the same trajectory. This may result in the tractor head being able to pass normally, but a collision may occur due to the flatbed and the obstacle being missed. The reason is that the existing tractor's travel control method has a perception blind spot due to the different positional and trajectory relationships between the flatbed and the vehicle, leading to missed detections.

[0005] Therefore, there is an urgent need to propose a tractor travel control method to at least solve the technical problems of false detection and / or missed detection that may exist in the existing tractor travel control methods. Summary of the Invention

[0006] This application provides a method, apparatus, and electronic device for controlling the movement of a tractor, in order to at least solve the technical problems existing in the related art.

[0007] According to one aspect of the embodiments of this application, a method for controlling the movement of a tractor is provided. The method includes: acquiring the planned trajectory attributes and road attribute information of the tractor, wherein the road attribute information includes high-precision map information with calibrated road information; determining a perception area based on the road attribute information, wherein the perception area is the area within which the tractor senses whether there are obstacles from the vehicle body to the road boundary; adjusting the boundary of the perception area based on the planned trajectory attributes of the tractor; controlling the tractor to detect obstacles based on the adjusted perception area to determine the detection result of the obstacles; and controlling the movement of the tractor based on the detection result and the planned trajectory attributes of the tractor.

[0008] Optionally, the planned trajectory attributes of the tractor vehicle include at least a historical trajectory fitted by multiple trajectory points or multiple trajectory lines. Adjusting the boundary of the sensing area based on the planned trajectory attributes of the tractor vehicle includes: determining the directional and positional relationships between each previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line based on the planned trajectory attributes; if the directional relationship is inconsistent with the direction of the road centerline, then correcting the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line based on the directional and positional relationships between the previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line.

[0009] Optionally, the sensing area includes a first boundary and a second boundary distributed on both sides of the road centerline. The step of correcting the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line includes: if the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line is towards the first boundary side of the road centerline, then based on the angle between the subsequent trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary are adjusted to be biased towards the first boundary.

[0010] Optionally, the step of correcting the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line further includes: if the directional and positional relationship between the next trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line is toward the second boundary side of the road centerline, then based on the angle between the next trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary are adjusted to be biased toward the second boundary.

[0011] Optionally, the tractor state includes a state with a flatbed trailer installed and a state without a flatbed trailer installed; the method further includes: if the tractor state is a state with a flatbed trailer installed, then acquiring the flatbed trailer trajectory information of the tractor; and correcting the boundary of the sensing area based on the directional and positional relationship between the flatbed trailer trajectory information and the tractor trajectory information.

[0012] Optionally, obtaining the tractor's flatbed vehicle trajectory information includes: obtaining at least one set of wheel track widths of the flatbed vehicle; and determining the flatbed vehicle trajectory information based on the wheel track widths.

[0013] Optionally, obtaining the trajectory information of the tractor and the flatbed truck includes: obtaining the relative positional relationship between the tractor and the flatbed truck; and determining the trajectory information of the flatbed truck based on the relative positional relationship.

[0014] Optionally, obtaining the trajectory information of the tractor and the flatbed truck includes: obtaining the connection relationship between the tractor and the flatbed truck; and determining the trajectory information of the flatbed truck based on the connection relationship.

[0015] According to another aspect of this application, a tractor-trailer travel control device is provided, comprising: an attribute acquisition module for acquiring the tractor-trailer's planned trajectory attributes and road attribute information, wherein the road attribute information includes high-precision map information with calibrated road information; a region determination module for determining a perception region based on the road attribute information, wherein the perception region is the area from the tractor-trailer's body to the road boundary where obstacles exist; a region adjustment module for adjusting the boundary of the perception region based on the tractor-trailer's planned trajectory attributes; a detection module for controlling the tractor-trailer to detect obstacles based on the adjusted perception region, thereby determining the detection result of the obstacles; and a travel control module for controlling the tractor-trailer's travel based on the detection result and the tractor-trailer's planned trajectory attributes.

[0016] According to another aspect of this application, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the tractor travel control method as described in any of the preceding claims.

[0017] This application provides a method for controlling the movement of a tractor unit. The method includes: acquiring the planned trajectory attributes and road attribute information of the tractor unit, wherein the road attribute information includes high-precision map information with calibrated road information; determining a perception area based on the road attribute information, wherein the perception area is the area within which the tractor unit senses whether there are obstacles from the vehicle body to the road boundary; adjusting the boundary of the perception area based on the planned trajectory attributes of the tractor unit; controlling the tractor unit to detect obstacles based on the adjusted perception area to determine the detection result of the obstacles; and controlling the movement of the tractor unit based on the detection result and the planned trajectory attributes of the tractor unit. On the one hand, this avoids the technical problem of falsely detecting obstacles outside the road when the vehicle is turning, causing the vehicle to stop erroneously; on the other hand, it solves the technical problem that the front of the vehicle can pass normally, but the flatbed truck and the obstacle collide due to missed detection. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the hardware environment of an optional tractor travel control method according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic flowchart of an optional tractor travel control method according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of a tractor travel control device according to an embodiment of this application;

[0023] Figure 4 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] According to one aspect of the embodiments of this application, a method for controlling the movement of a tractor is provided. The method includes: acquiring the planned trajectory attributes and road attribute information of the tractor, wherein the road attribute information includes high-precision map information with calibrated road information; determining a perception area based on the road attribute information, wherein the perception area is the area within which the tractor senses whether there are obstacles from the vehicle body to the road boundary; adjusting the boundary of the perception area based on the planned trajectory attributes of the tractor; controlling the tractor to detect obstacles based on the adjusted perception area to determine the detection result of the obstacles; and controlling the movement of the tractor based on the detection result and the planned trajectory attributes of the tractor.

[0027] In this embodiment, the above-described tractor travel control method can be applied to, for example... Figure 1 The hardware environment shown consists of terminal 102 and server 104. For example... Figure 1As shown, server 104 is connected to terminal 102 via a network and can provide services to the terminal or clients installed on the terminal. It can set up a database on the server or independently of the server to provide data storage services for server 104, and can also be used to handle cloud services. The aforementioned network includes, but is not limited to, wide area networks (WANs), metropolitan area networks (MANs), or local area networks (LANs). Terminal 102 is not limited to PCs, mobile phones, tablets, etc. The tractor's movement control method of this embodiment can be executed by server 104, by terminal 102, or by both server 104 and terminal 102. The tractor's movement control method of this embodiment can also be executed by a client installed on terminal 102.

[0028] Taking the method for controlling the movement of the tractor in this embodiment, which is executed by terminal 102 and / or server 104, as an example, Figure 2 This is a schematic flowchart of an optional tractor travel control method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0029] S202. Obtain the planned trajectory attributes and road attribute information of the tractor, wherein the road attribute information includes high-precision map information of the calibrated roads;

[0030] As described in the background section of this application, current methods for controlling the movement of autonomous tractors involve planning the tractor's path and then navigating along that path. During the journey, an onboard identification device is used to perceive road information. To achieve autonomous driving, the planned trajectory attributes and road attribute information of the tractor are acquired. The road attribute information includes high-precision map information with calibrated road information. On one hand, the planned trajectory attributes can be based on the tractor's historical path while traveling on a fixed road segment, or on a predicted path determined by the high-precision map information with calibrated road information; this is not a limitation. It is understood that, as an optional implementation, the planning attribute information can be determined based on the historical path, the predicted path, or a combination of both. On the other hand, the road attribute information can be used to determine other road attribute information of the tractor based on the planned attribute information, including but not limited to road width, road centerline, road curvature, and other road attributes determined by the high-precision map.

[0031] S204. Determine the sensing area based on the road attribute information, wherein the sensing area is the area within which the tractor senses whether there are obstacles from the vehicle body to the road boundary;

[0032] The sensing area can be the maximum sensing area of ​​the current sensing device of the tractor; for example, the sensing device includes at least one of lidar, millimeter-wave radar, and video recognition device.

[0033] S206. Adjust the boundary of the sensing area based on the planned trajectory attributes of the tractor;

[0034] As described in the background section of this application, existing methods for controlling the movement of a tractor, such as those described in steps S202 to S204, which determine the sensing area and control the movement of the tractor, have several drawbacks. Firstly, when the vehicle is turning, it may falsely detect obstacles outside the road, causing the vehicle to stop erroneously. Secondly, when the tractor is moving forward with a plank and turning with the plank, the plank and the tractor head do not travel on the same trajectory, potentially resulting in the tractor head being able to pass normally, but the plank and obstacle colliding due to missed detection. Furthermore, existing methods for controlling the movement of tractors have blind spots due to the positional and trajectory relationships between the plank and the vehicle, leading to missed detections.

[0035] To avoid the technical problem of missed detection due to blind spots in perception caused by the positional and trajectory relationships between the flatbed truck and the vehicle, this application adjusts the boundary of the perception area based on the planned trajectory attributes of the tractor. Specifically, on the one hand, to avoid the technical problem of falsely detecting obstacles outside the road and causing the vehicle to stop erroneously when turning, for example, the timing of the vehicle's turn can be determined based on the vehicle's planned trajectory attributes and road attribute information, so as to adjust the boundary of the perception area when turning to avoid the technical problem of falsely detecting obstacles outside the road and causing the vehicle to stop erroneously when turning. On the other hand, to avoid the technical problem that the flatbed truck and the tractor may not be running on the same trajectory when the tractor is moving forward with the flatbed truck and turning with the flatbed truck, which may result in the tractor's front passing normally but the flatbed truck colliding with an obstacle due to missed detection, for example, the flatbed truck's trajectory information, planned trajectory attributes, and road attribute information can be used to further determine whether the flatbed truck can pass normally, so as to solve the technical problem that the tractor's front can pass normally but the flatbed truck colliding with an obstacle due to missed detection.

[0036] For example, adjusting the boundary of the sensing region can be implemented by removing sensing information that does not belong to the adjusted sensing region.

[0037] For example, adjusting the boundary of the sensing area can also be achieved by adding areas that cannot be detected when the board is in use.

[0038] S208. Based on the adjusted perception area, control the tractor to detect obstacles in order to determine the detection results of the obstacles;

[0039] As an exemplary embodiment, the tractor can be controlled to detect obstacles by eliminating sensing information that does not belong to the adjusted sensing area.

[0040] As another exemplary embodiment, when a vehicle with a board is detected, the tractor can be controlled to detect obstacles by adding sensing information that does not belong to the adjusted sensing area.

[0041] S210. Control the movement of the tractor vehicle based on the detection results and the planned trajectory attributes of the tractor vehicle.

[0042] The above technical solution acquires the planned trajectory attributes and road attribute information of the tractor, including high-precision map information of calibrated roads. Based on the road attribute information, a perception area is determined, which is the area from the tractor body to the road boundary where obstacles are detected. The boundary of the perception area is adjusted based on the planned trajectory attributes of the tractor. The tractor is controlled to detect obstacles based on the adjusted perception area to determine the detection results. The tractor's movement is controlled based on the detection results and the planned trajectory attributes. This approach avoids the technical problem of falsely detecting obstacles outside the road when the vehicle is turning, leading to accidental stopping. It also solves the technical problem of the tractor's front end being able to pass normally, but the flatbed truck colliding with an obstacle due to missed detection.

[0043] As an exemplary embodiment, the planned trajectory attributes of the tractor vehicle include at least a historical trajectory fitted by multiple trajectory points or multiple trajectory lines. Adjusting the boundary of the sensing area based on the planned trajectory attributes of the tractor vehicle includes: determining the directional and positional relationships between each previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line based on the planned trajectory attributes; if the directional relationship is inconsistent with the direction of the road centerline, then correcting the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line based on the directional and positional relationships between the previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line.

[0044] If the directional relationship is inconsistent with the direction of the road centerline, it indicates that the vehicle will turn. At this time, the boundary of the perception area of ​​the previous trajectory point and / or trajectory line is corrected based on the directional and positional relationship between the previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line.

[0045] As an exemplary embodiment, the sensing area includes a first boundary and a second boundary distributed on both sides of the road centerline, and the correction of the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line includes:

[0046] If the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line is toward the first boundary side of the road centerline, then based on the angle between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary will be adjusted toward the first boundary.

[0047] If the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line is towards the first boundary side of the road centerline, it indicates that the vehicle is about to turn towards the first boundary. If the first boundary side and the second boundary side maintain their original sensing areas during the turn, obstacles outside the first boundary side and the second boundary side that are not within the road may be detected, leading to the vehicle stopping erroneously. Since the probability of detecting obstacles near the first boundary side is much greater than that near the second boundary side, the first boundary and the second boundary are adjusted towards the first boundary based on the angle between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line and the road centerline, as well as the first boundary and the second boundary, to avoid the above problem.

[0048] As an optional implementation, a coordinate system can be established with the road centerline as the y-axis and the vehicle body as the origin of the coordinate axis; in this case, the adjustment method is as follows:

[0049] Left boundary point.x = -i.xg - sin(i.heading) * road_left_;

[0050] Left boundary point.y = i.yg + cos(i.heading) * road_left_;

[0051] Right boundary point.x = -i.xg + sin(i.heading) * road_right_;

[0052] Right boundary point.y = i.yg - cos(i.heading) * road_right_;

[0053] Wherein, Road_left and Road_right are the set left and right detection width values, determined based on the sensing device, igx and iyg are the xy coordinates of the next trajectory point or trajectory line, and i.heading is the angle between the next trajectory point or trajectory line and the previous trajectory point or trajectory line and the x-axis direction.

[0054] As an exemplary embodiment, the sensing area includes a first boundary and a second boundary distributed on both sides of the road centerline. The step of correcting the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line includes: if the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line is towards the first boundary side of the road centerline, then based on the angle between the subsequent trajectory point and / or trajectory line and the previous trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary are adjusted to be biased towards the first boundary.

[0055] If the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line is towards the first boundary side of the road centerline, it indicates that the vehicle is about to turn towards the first boundary. If the first boundary side and the second boundary side maintain their original perception areas during the turn, obstacles outside the first boundary side and the second boundary side that are not within the road may be detected, leading to the vehicle stopping erroneously. Since the probability of detecting obstacles near the second boundary side is much greater than that near the first boundary side, the first boundary and the second boundary are adjusted towards the first boundary based on the angle between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line and the road centerline, as well as the first boundary and the second boundary, to avoid the above problem.

[0056] As an optional implementation, a coordinate system can be established with the road centerline as the y-axis and the vehicle body as the origin of the coordinate axis; in this case, the adjustment method is as follows:

[0057] Left boundary point x = -i.xg + sin(i.heading) * road_right_;

[0058] Left boundary point.y = i.yg - cos(i.heading) * road_right_

[0059] Right boundary point.x = -i.xg - sin(i.heading) * road_left_;

[0060] Right boundary point.y = i.yg + cos(i.heading) * road_left_;

[0061] Wherein, Road_left and Road_right are the set left and right detection width values, determined based on the sensing device, igx and iyg are the xy coordinates of the next trajectory point or trajectory line, and i.heading is the angle between the next trajectory point or trajectory line and the previous trajectory point or trajectory line and the x-axis direction.

[0062] As an exemplary embodiment, the tractor state includes a state with a flatbed trailer installed and a state without a flatbed trailer installed; the method further includes: if the tractor state is a state with a flatbed trailer installed, then acquiring the flatbed trailer trajectory information of the tractor; and correcting the boundary of the sensing area based on the directional and positional relationship between the flatbed trailer trajectory information and the tractor trajectory information.

[0063] When the tractor moves forward with the flatbed and turns with the flatbed, the flatbed and the tractor unit do not travel on the same trajectory. This may result in the tractor unit being able to pass normally, but the flatbed and the obstacle colliding due to missed detection. Furthermore, the existing tractor unit's travel control method has a perception blind spot due to the positional and trajectory relationship between the flatbed and the vehicle, leading to missed detection.

[0064] To address the aforementioned issues, if the tractor is in a flatbed state, the flatbed trajectory information of the tractor is acquired. It can be understood that after determining the planned trajectory attribute information of the tractor, if the connection between the flatbed and the tractor is fixed, then the fixed planned trajectory attribute of the tractor corresponds to fixed flatbed trajectory information. The boundary of the sensing area is corrected based on the directional and positional relationships between the flatbed trajectory information and the tractor trajectory information.

[0065] As an optional implementation, the step of correcting the boundary of the sensing area based on the directional and positional relationships of the flatbed vehicle trajectory information and the tractor planning trajectory attribute information can be to separately determine the adjusted sensing area based on the flatbed vehicle trajectory and the adjusted sensing area based on the tractor planning trajectory attribute, and then combine the two sensing areas to obtain the final sensing area.

[0066] As another optional implementation, the correction of the boundary of the sensing area based on the directional and positional relationship between the flatbed vehicle trajectory information and the tractor trajectory information can be a sensing area of ​​key focus during the journey, determined based on the relative positional relationship between the tractor and the flatbed vehicle. For example, the key sensing area can be a sensing area where an obstacle is detected in a certain area ahead, and the vehicle can pass through it. In the period before entering the area, the collision situation when the flatbed vehicle passes through the area is determined in advance based on the flatbed vehicle trajectory information.

[0067] Since the trajectory information of flatbed trucks with different wheelbases is different, as an exemplary embodiment, obtaining the trajectory information of the tractor truck includes: obtaining at least one set of wheelbases of the flatbed truck; and determining the trajectory information of the flatbed truck based on the wheelbases.

[0068] As an optional implementation, after determining the planned trajectory attribute information, the trajectory information of the flatbed trucks with different wheelbases based on the planned trajectory attribute information of the tractor can be determined and stored in the memory. When the tractor's flatbed truck is identified as having that wheelbase the next time, the stored flatbed truck trajectory information can be directly read from the memory.

[0069] Since the trajectory information of the flatbed truck differs depending on the relative position of the flatbed truck and the tractor, as an exemplary embodiment, obtaining the trajectory information of the tractor includes: obtaining the relative position of the tractor and the flatbed truck; and determining the trajectory information of the flatbed truck based on the relative position.

[0070] The relative positional relationship includes, but is not limited to, the distance information between the tractor and the flatbed truck, and the angle information between the tractor and the flatbed truck.

[0071] Since the trajectory information of the flatbed truck differs depending on the connection relationship between the flatbed truck and the tractor, as an exemplary embodiment, obtaining the trajectory information of the flatbed truck from the tractor includes: obtaining the connection relationship between the tractor and the flatbed truck; and determining the trajectory information of the flatbed truck based on the connection relationship.

[0072] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0073] According to another aspect of the embodiments of this application, a travel control device for a tractor for implementing the above-described travel control method for a tractor is also provided. Figure 3 This is a schematic diagram of a tractor travel control device according to an embodiment of this application, as shown below. Figure 3 As shown, the device may include:

[0074] The attribute acquisition module 302 is used to acquire the planned trajectory attributes and road attribute information of the tractor, wherein the road attribute information includes high-precision map information of the calibrated road information;

[0075] The region determination module 304 is used to determine the perception region based on the road attribute information, wherein the perception region is the area within the range from the tractor body to the road boundary where there are obstacles;

[0076] The area adjustment module 306 is used to adjust the boundary of the sensing area based on the planned trajectory attributes of the tractor.

[0077] Detection module 308 is used to control the tractor to detect obstacles based on the adjusted perception area in order to determine the detection results of the obstacles;

[0078] The walking control module 310 is used to control the walking of the tractor based on the detection results and the planned trajectory attributes of the tractor.

[0079] It should be noted that the attribute acquisition module 302 in this embodiment can be used to perform the above step S202, the region determination module 304 can be used to perform the above step S204, the region adjustment module 306 can be used to perform the above step S206, the detection module 308 can be used to perform the above step S208, and the walking control module 310 is used to perform the above step S210.

[0080] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0081] Figure 4 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 4 As shown, it includes a processor 402, a communication interface 404, a memory 406, and a communication bus 408. The processor 402, communication interface 404, and memory 406 communicate with each other via the communication bus 408.

[0082] Memory 406 is used to store computer programs;

[0083] When processor 402 executes a computer program stored in memory 406, it performs the following steps:

[0084] The planned trajectory attributes and road attribute information of the tractor are obtained, wherein the road attribute information includes high-precision map information of the calibrated roads;

[0085] The perception area is determined based on the road attribute information, wherein the perception area is the area within which the tractor senses whether there are obstacles from the vehicle body to the road boundary;

[0086] The boundary of the sensing area is adjusted based on the planned trajectory attributes of the tractor.

[0087] The tractor is controlled based on the adjusted perception area to detect obstacles and determine the detection results.

[0088] The tractor is controlled to move based on the detection results and the planned trajectory attributes of the tractor.

[0089] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described tractor walking control method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0090] Figure 4 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 4 As shown, it includes a processor 402, a communication interface 404, a memory 406, and a communication bus 408. The processor 402, communication interface 404, and memory 406 communicate with each other via the communication bus 408.

[0091] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0092] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0093] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0094] As an example, such as Figure 4 As shown, the memory 402 may include, but is not limited to, the attribute acquisition module 302, the area determination module 304, the area adjustment module 306, the detection module 308, and the travel control module 310 in the travel control device of the tractor vehicle. It may also include, but is not limited to, other module units in the travel control device of the tractor vehicle, which will not be described in detail in this example.

[0095] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0096] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0097] Those skilled in the art will understand that Figure 4 The structure shown is for illustrative purposes only. The device that implements the above-described tractor walking control method can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone), tablet computer, handheld computer, mobile internet device (MID), PAD, etc. Figure 4 This does not limit the structure of the aforementioned electronic device. For example, the terminal device may also include components that are more... Figure 4 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 4 The different configurations shown.

[0098] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0099] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more electronic devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0101] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0103] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0104] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0105] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the movement of a tractor, characterized in that, The walking control method includes: The planned trajectory attributes and road attribute information of the tractor are obtained, wherein the road attribute information includes high-precision map information of the calibrated roads; The perception area is determined based on the road attribute information, wherein the perception area is the area within which the tractor senses whether there are obstacles from the vehicle body to the road boundary; The boundary of the sensing area is adjusted based on the planned trajectory attributes of the tractor. The tractor is controlled based on the adjusted perception area to detect obstacles and determine the detection results. The tractor is controlled to move based on the detection results and the planned trajectory attributes of the tractor. The planned trajectory attributes of the tractor vehicle include at least a historical trajectory fitted by multiple trajectory points or multiple trajectory lines, and adjusting the boundary of the sensing area based on the planned trajectory attributes of the tractor vehicle includes: Based on the planned trajectory attributes, determine the directional and positional relationships between each preceding trajectory point and / or trajectory line and the following trajectory point and / or trajectory line; If the directional relationship is inconsistent with the direction of the road centerline, the boundary of the perception area of ​​the previous trajectory point and / or trajectory line is corrected based on the directional and positional relationship between the previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line.

2. The method for controlling the movement of a tractor as described in claim 1, characterized in that, The sensing area includes a first boundary and a second boundary distributed on both sides of the road centerline, and the correction of the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line includes: If the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line is toward the first boundary side of the road centerline, then based on the angle between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary will be adjusted toward the first boundary.

3. The method for controlling the movement of a tractor as described in claim 2, characterized in that, The correction of the boundary of the sensing area of ​​the previous trajectory point and / or trajectory line also includes: If the directional and positional relationship between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line is toward the second boundary side of the road centerline, then based on the angle between the subsequent trajectory point and / or trajectory line and the preceding trajectory point and / or trajectory line and the road centerline, the first boundary and the second boundary will be adjusted toward the second boundary.

4. The method for controlling the movement of a tractor as described in claim 3, characterized in that, The tractor state includes a flatbed state with a flatbed trailer installed and a flatbed-less state without a flatbed trailer installed; the method further includes: If the tractor is in a platform-carrying state, then Obtain the trajectory information of the tractor-trailer; The boundary of the sensing area is corrected based on the directional and positional relationships between the flatbed truck trajectory information and the tractor trajectory information.

5. The method for controlling the movement of a tractor as described in claim 4, characterized in that, The acquisition of the tractor's flatbed truck trajectory information includes: Obtain at least one set of wheel track widths for the flatbed truck; The trajectory information of the flatbed truck is determined based on the wheelbase.

6. The method for controlling the movement of a tractor as described in claim 4, characterized in that, The acquisition of the tractor's flatbed truck trajectory information includes: Obtain the relative positional relationship between the tractor and the flatbed truck; The trajectory information of the flatbed truck is determined based on the relative positional relationship.

7. The method for controlling the movement of a tractor as described in claim 4, characterized in that, The acquisition of the tractor's flatbed truck trajectory information includes: Obtain the connection relationship between the tractor and the flatbed truck; The trajectory information of the flatbed truck is determined based on the connection relationship.

8. A travel control device for a tractor, characterized in that, The travel control device of the tractor includes: The attribute acquisition module is used to acquire the planned trajectory attributes and road attribute information of the tractor, wherein the road attribute information includes high-precision map information of the calibrated road information; The area determination module is used to determine the perception area based on the road attribute information, wherein the perception area is the area within the range from the tractor body to the road boundary where there are obstacles; The area adjustment module is used to adjust the boundary of the sensing area based on the planned trajectory attributes of the tractor. The detection module is used to control the tractor to detect obstacles based on the adjusted perception area in order to determine the detection results of the obstacles; The walking control module is used to control the walking of the tractor based on the detection results and the planned trajectory attributes of the tractor. The planned trajectory attributes of the tractor vehicle include at least a historical trajectory fitted by multiple trajectory points or multiple trajectory lines, and adjusting the boundary of the sensing area based on the planned trajectory attributes of the tractor vehicle includes: Based on the planned trajectory attributes, determine the directional and positional relationships between each preceding trajectory point and / or trajectory line and the following trajectory point and / or trajectory line; If the directional relationship is inconsistent with the direction of the road centerline, the boundary of the perception area of ​​the previous trajectory point and / or trajectory line is corrected based on the directional and positional relationship between the previous trajectory point and / or trajectory line and the next trajectory point and / or trajectory line.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the tractor travel control method as described in any one of claims 1 to 7.

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