A route switching system and method
By working in concert with the target vehicle and the scheduling module, autonomous vehicles can switch routes safely and smoothly during operation, solving the problem of low route switching efficiency in existing technologies and improving vehicle operation efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING JINGWEI HIRAIN TECH CO INC
- Filing Date
- 2023-05-29
- Publication Date
- 2026-06-02
AI Technical Summary
Existing autonomous vehicles need to stop, cancel the current route, and wait to receive a new route when changing driving routes, resulting in low route switching efficiency and reduced vehicle operation efficiency.
A route switching system is provided, in which the target vehicle sends its own status to the scheduling module. When the scheduling module determines that the vehicle is in motion, it sends a route switching command, and the target vehicle responds and switches to the target route, thus avoiding stopping and waiting.
It improves the efficiency of route switching, enhances vehicle operating efficiency, and ensures that vehicles can switch routes safely and smoothly during operation.
Smart Images
Figure CN116543583B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a route switching system and method. Background Technology
[0002] With the development of autonomous driving technology, a large number of tasks can now be performed by autonomous vehicles.
[0003] Currently, if you want to change the vehicle's route while it is performing a task, you need to first stop the vehicle, then cancel the current route, and then wait for the vehicle to receive the new route before starting again.
[0004] Thus, when changing vehicle routes, it is necessary to stop and start again, as well as wait to cancel the current route and receive the new route. Therefore, the efficiency of route switching is relatively low, which will reduce the operating efficiency of the vehicle. Summary of the Invention
[0005] This application provides a route switching system and method that can improve the efficiency of route switching, thereby improving the operating efficiency of vehicles.
[0006] In a first aspect, embodiments of this application provide a route switching system, the system comprising:
[0007] The target vehicle is used to send its initial status to the scheduling module.
[0008] The scheduling module, when determining that a target vehicle needs to switch from its current route to the target route, determines whether the target vehicle's first state is a first preset state, and if the first state is the first preset state, sends a route switching command to the target vehicle. The first preset state indicates that the target vehicle is in the process of traveling.
[0009] The target vehicle is also used to respond to a route switching command by changing its own route from the current route to the target route.
[0010] In some embodiments, the scheduling module is specifically used for:
[0011] Determine the fork in the current route and the target route.
[0012] If the target vehicle is more than the preset distance from the fork point, a route switching command is sent to the target vehicle.
[0013] In some embodiments, the scheduling module is further configured to determine the path information corresponding to the target route and send the path information to the target vehicle.
[0014] The target vehicle is also used to travel according to route information.
[0015] In some embodiments, the target vehicle is further configured to send first feedback information to the scheduling module upon receiving the path information, the first feedback information indicating that the target vehicle has successfully received the path information.
[0016] In some embodiments, the target vehicle is specifically used for:
[0017] Obtain its own dynamic parameters.
[0018] Based on the dynamic parameters, the current route, and the target route, a switching path is planned.
[0019] If the overlap between the switching route and the current route is greater than the overlap threshold, the driving route will be switched from the current route to the target route.
[0020] In some embodiments, the target vehicle is further configured to send a second feedback message to the scheduling module if the overlap between the switched path and the current route is greater than the overlap threshold, wherein the second feedback message indicates that the target route verification has passed.
[0021] In some embodiments, the route switching system further includes:
[0022] Multiple vehicles are used to send their own status information to the scheduling module. These multiple vehicles include the target vehicle and at least one other vehicle.
[0023] The scheduling module is also used to determine whether there are other vehicles obstructing the target vehicle's movement based on multiple status information, and if there are other vehicles obstructing the target vehicle's movement, to determine whether the target vehicle needs to switch from the current route to the target route.
[0024] In some embodiments, the route switching system further includes:
[0025] The management module sends task switching instructions carrying task switching information to the scheduling module. This information includes the identifier of the target vehicle and the location of the target task.
[0026] The scheduling module is also used to respond to task switching instructions, plan the target route for the target vehicle to travel to the target task location based on the task switching information, and determine whether the target vehicle needs to switch from the current route to the target route.
[0027] In some embodiments, the target vehicle is further configured to update the first state to a second preset state when switching its own driving route from the current route to the target route, and send the updated first state to the scheduling module. The second preset state indicates that the target vehicle has completed the task switch.
[0028] In some embodiments, the target vehicle is also configured to send a third feedback message to the scheduling module in the event of route information reception failure, target route verification failure, or incomplete task switching. The third feedback message indicates an abnormal route switching.
[0029] The scheduling module is also used to send a cancel handover command to the target vehicle.
[0030] The target vehicle is also used to respond to the cancellation switching command, continue driving along the current route, update the first state to the first preset state, and send the updated first state to the scheduling module.
[0031] This application provides a route switching method, applied to the scheduling module of a route switching system as shown in any embodiment of the first aspect, the method comprising:
[0032] Receive the first status sent by the target vehicle.
[0033] If it is determined that the target vehicle needs to switch from the current route to the target route, determine whether the first state of the target vehicle is the first preset state;
[0034] When the first state is the first preset state, a route switching command is sent to the target vehicle so that the target vehicle responds to the route switching command and switches its own driving route from the current route to the target route. The first preset state indicates that the target vehicle is in the process of driving.
[0035] The route switching system of this application embodiment includes a target vehicle and a scheduling module. The target vehicle can send its first state to the scheduling module. The scheduling module, upon determining that the target vehicle needs to switch from its current route to the target route, checks whether the target vehicle's first state is a first preset state indicating that the target vehicle is in motion. If the first state is the first preset state, the scheduling module sends a route switching command to the target vehicle. The target vehicle then responds to this command and switches its route from the current route to the target route. This eliminates the need for the vehicle to stop, wait for the current route to be cancelled and a new route to be received before restarting, thus improving the efficiency of route switching and consequently increasing the vehicle's operational efficiency. Attached Figure Description
[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0037] Figure 1 This is a scene diagram illustrating a target vehicle performing a task, provided in one embodiment of this application.
[0038] Figure 2 This is an architecture diagram of a route switching system provided in one embodiment of this application.
[0039] Figure 3 This is a schematic diagram illustrating a route switching scenario provided in one embodiment of this application.
[0040] Figure 4 This is a schematic diagram illustrating another route switching scenario provided in one embodiment of this application.
[0041] Figure 5 This is a schematic diagram illustrating the interaction between a target vehicle and a scheduling module according to an embodiment of this application;
[0042] Figure 6 This is a flowchart of a route switching method provided in one embodiment of this application. Detailed Implementation
[0043] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.
[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.
[0045] As the background technology has developed, a large number of tasks can now be performed by autonomous vehicles.
[0046] For example, in a port park, a Fleet Management System (FMS) can allocate production operation instructions (such as container transportation from point A to point B) from the Terminal Operating System (TOS) to autonomous vehicles. Based on the container transportation operation process, the FMS breaks down these instructions into several vehicle task queues that must be completed sequentially. The FMS performs global path planning for each task from its origin to its destination, and the vehicle executes the single-point task according to this global path. For example, a single-point task could include receiving the task's driving path, task start, vehicle movement, vehicle arrival at the destination and parking, vehicle parking operations (such as loading and unloading containers), and task completion.
[0047] However, if you want to change the vehicle's route while it is performing a task, you need to first stop the vehicle, then cancel the current route, and then wait for the vehicle to receive the new route before starting again.
[0048] This results in lower efficiency for route switching, which in turn reduces the operational efficiency of the vehicles.
[0049] This application provides a route switching system, including a target vehicle and a scheduling module. The target vehicle can send its first state to the scheduling module. The scheduling module, upon determining that the target vehicle needs to switch from its current route to the target route, checks whether the target vehicle's first state is a first preset state indicating that the target vehicle is in motion. If the first state is the first preset state, the scheduling module sends a route switching command to the target vehicle. The target vehicle then responds to this command and switches its route from the current route to the target route. This eliminates the need for the vehicle to stop, wait for the current route to be cancelled and a new route to be received before restarting, thus improving the efficiency of route switching and consequently increasing the vehicle's operational efficiency.
[0050] To facilitate understanding of the route switching system provided in this application embodiment, the general process of autonomous vehicles performing tasks will be described below.
[0051] like Figure 1 As shown, taking the process of "transporting containers from a ship to a container yard" as an example, this process is broken down into three tasks: T1, T2, and T3, as detailed below:
[0052] T1: The TOS can send a container loading operation instruction to the FMS, which includes container loading task information (including task number, loading location, and container number). After receiving the container loading operation instruction, the FMS can assign the container loading task to the autonomous vehicle, perform real-time route planning based on the container loading task information, and send an instruction to the autonomous vehicle to proceed to the quay crane for precise parking. After the autonomous vehicle arrives at the designated location, the quay crane will load the container from the ship onto the autonomous vehicle.
[0053] T2: After the gantry crane completes the container loading, the gantry crane management system (ECS) sends a loading completion notification to the loader management system (FMS). The FMS confirms that the autonomous vehicle has completed loading. If the FMS does not receive the unloading instruction from the towing system (TOS), to avoid obstructing subsequent vehicle operations, the FMS issues a pre-departure task, causing the autonomous vehicle to leave the quay crane. The FMS then performs real-time path planning, guiding the vehicle to a pre-planned vehicle buffer parking point in the site. Furthermore, the diagram shows a one-way lane; if there are vehicles blocking the way during the pre-departure task, the vehicle must stop and wait in line.
[0054] T3: After receiving the unloading operation instruction from TOS carrying unloading task information (which may include task number, unloading location, and container number), FMS plans the route based on the unloading task information and sends an instruction to the autonomous vehicle to proceed to the yard for parking. After the autonomous vehicle arrives at the yard, TOS sends the port machinery unloading task (including cooperating vehicle, container to be operated, unloading location, etc.) to ECS. ECS assigns the port machinery unloading task to a specific port machinery in the yard and sends the port machinery equipment number information that will cooperate with the autonomous vehicle for unloading to FMS. FMS sends the port machinery equipment number information to the autonomous vehicle. The autonomous vehicle aligns itself according to the port machinery's Chassis Physical Systems (CPS) guidance system. When the CPS guidance value is 0, FMS and port machinery shake hands to confirm, and then the port machinery completes the unloading task.
[0055] The route switching system provided in the embodiments of this application will now be described in conjunction with the accompanying drawings.
[0056] Figure 2 An architecture diagram of a route switching system provided in one embodiment of this application is shown.
[0057] like Figure 2 As shown, the route switching system may include: target vehicle 211 and scheduling module 220.
[0058] Among them, target vehicle 211 can be used to send its first status to scheduling module 220.
[0059] The scheduling module 220 can be used to determine whether the first state of the target vehicle 211 is a first preset state when it is determined that the target vehicle 211 needs to switch from the current route to the target route, and send a route switching command to the target vehicle 211 if the first state is the first preset state.
[0060] The target vehicle 211 can also be used to switch its own driving route from the current route to the target route in response to a route switching command.
[0061] Here, the target vehicle 211 can be an autonomous vehicle. The scheduling module 220 can be an FMS (Flight Management System).
[0062] The first state can be any of the first preset state, the second preset state, the third preset state, the fourth preset state, the fifth preset state, and the sixth preset state. Of course, it can also include other states, which are not limited here.
[0063] For example, the third preset state can be: State = 0, the vehicle is not executing a task. The first preset state can be: State = 1, the vehicle is executing a task and has not performed a dynamic task switch. The fourth preset state can be: State = 2, the vehicle has received a dynamic task switch and has received and completed the new task information. The fifth preset state can be: State = 3, the vehicle has successfully verified the new task information. The second preset state can be: State = 4, the vehicle has completed the dynamic task switch and is executing the new task. The sixth preset state can be: State > 5, the vehicle's dynamic task switch is abnormal.
[0064] Specifically, the target vehicle 211 can periodically send its own status information to the scheduling module 220, which may include a first status. The scheduling module 220 can periodically detect whether the target vehicle 211 needs to change routes. If it is determined that the target vehicle 211 needs to switch from the current route to the target route, it can determine whether the first status of the target vehicle 211 is a first preset status. The first preset status indicates that the target vehicle 211 is in motion. If so, the scheduling module 220 can send a route switching command to the target vehicle 211. Then, the target vehicle 211 can respond to the route switching command and switch its driving route from the current route to the target route.
[0065] Therefore, the target vehicle can send its first status to the scheduling module. The scheduling module, upon determining that the target vehicle needs to switch from its current route to the target route, checks if the target vehicle's first status is a preset state indicating that the vehicle is in motion. If the first status is the preset state, the scheduling module sends a route switching command to the target vehicle. The target vehicle can then respond to this command and switch its route from the current route to the target route. This eliminates the need for the vehicle to stop, wait for the current route to be cancelled and a new route to be received before restarting, thus improving the efficiency of route switching and consequently increasing the vehicle's operational efficiency.
[0066] In some implementations, the scheduling module 220 may be specifically used for:
[0067] Determine the fork in the current route and the target route.
[0068] If the target vehicle is more than the preset distance from the fork point, a route switching command is sent to the target vehicle.
[0069] Here, before sending a route switching instruction to the target vehicle 211, the scheduling module 220 can plan a target route for the target vehicle 211, then determine the fork point between the current route and the target route, and send a route switching instruction to the target vehicle 211 if the target vehicle 211 is more than a preset distance from the fork point.
[0070] In addition, if the target vehicle 211 is not more than the preset distance from the fork point, the scheduling module 220 will not send a route switching instruction to the target vehicle 211.
[0071] In this way, the scheduling module 220 can make a preliminary judgment on the feasibility of route switching. If it is determined to be feasible, a route switching command can be sent to the target vehicle 211, which can improve the success rate of route switching and avoid danger.
[0072] In some implementations, the scheduling module 220 can also be used to determine the path information corresponding to the target route and send the path information to the target vehicle 211.
[0073] Target vehicle 211 is also used to travel according to route information.
[0074] Here, the scheduling module 220 can plan the path information corresponding to the target route based on the target route and send the path information to the target vehicle 211, and then the target vehicle 211 can travel based on the path information.
[0075] In this way, the target vehicle 211 can travel according to the route planned by the scheduling module 220 based on the target route, thereby realizing route switching.
[0076] In some implementations, the target vehicle 211 can also be used to send first feedback information to the scheduling module 220 upon receiving path information.
[0077] Here, the first feedback information indicates that the target vehicle 211 has successfully received the path information. After receiving the path information, the target vehicle 211 sends the first feedback information to the scheduling module 220, which can notify the scheduling module 220 that the target vehicle 211 has successfully received the path information (i.e., State = 2), so that the scheduling module 220 can detect the first state of the target vehicle 211 in a timely manner.
[0078] In some implementations, the target vehicle 211 may be specifically used for:
[0079] Obtain its own dynamic parameters.
[0080] Based on the dynamic parameters, the current route, and the target route, a switching path is planned.
[0081] If the overlap between the switching route and the current route is greater than the overlap threshold, the driving route will be switched from the current route to the target route.
[0082] Here, dynamic parameters may include current position, attitude, velocity, acceleration, lateral acceleration, and load, and may also include other parameters, which are not limited here.
[0083] Specifically, the target vehicle 211 (which may be the onboard autonomous driving module of the target vehicle) can plan a switching path based on dynamic parameters, the current route and the target route, determine the overlap between the switching path and the current route, and then determine whether the overlap is greater than the overlap threshold.
[0084] A switching path can be a transitional path for a target vehicle to travel from the current route to the target route. If the switching path does not overlap with the current route, it indicates that the switching path is disconnected from the current route. The target vehicle cannot travel on the switching path and therefore cannot travel on the target route. Thus, it cannot switch from the current route to the target route. If the overlap between the switching path and the current route is small, the driving status of the target vehicle may change abruptly when it travels from the current route to the switching path, and safety cannot be guaranteed.
[0085] Therefore, by determining whether the overlap between the switching path and the current route is greater than the overlap threshold, it can be determined whether the target vehicle 211 can safely and smoothly travel from the current route to the target route. If it is greater than the threshold, it indicates that the target vehicle 211 can safely and smoothly travel from the current route to the target route, and the feasibility of this route switch is high. The target vehicle 211 can switch its route from the current route to the target route. If the overlap is not greater than the threshold, it indicates that the target vehicle 211 cannot safely and smoothly travel from the current route to the target route, and the feasibility of this route switch is low. The target vehicle 211 will not perform this route switch.
[0086] Thus, by assessing the feasibility of route switching using target vehicle 211, the safety and smoothness of target vehicle 211 during route switching can be further improved.
[0087] In some implementations, the target vehicle 211 can also be used to send a second feedback message to the scheduling module 220 when the overlap between the switched path and the current route is greater than the overlap threshold.
[0088] Here, the second feedback information can indicate that the target route verification has passed. If the overlap between the switched path and the current route is greater than the overlap threshold, that is, the route switch is feasible, then the target vehicle 211 can send the first feedback information to the scheduling module 220 to notify the scheduling module 220 that the target route verification has passed (that is, State=3), so that the scheduling module 220 can detect the first state of the target vehicle 211 in a timely manner.
[0089] In some implementations, such as Figure 2 As shown, the route switching system may also include:
[0090] Multiple vehicles 210 are used to send their own status information to the scheduling module.
[0091] The scheduling module 220 is also used to determine, based on multiple status information, whether there are other vehicles 212 obstructing the travel of the target vehicle 211, and if there are other vehicles 212 obstructing the travel of the target vehicle 211, to determine that the target vehicle 211 needs to switch from the current route to the target route.
[0092] Here, the multiple vehicles 210 may include the target vehicle 211 and at least one other vehicle 212. The status information may include the vehicle's position, speed, and heading, and may also include the first status mentioned above, or other status information, which is not limited here.
[0093] Specifically, multiple vehicles 210 can periodically send their own status information to the scheduling module 220. The scheduling module 220 can determine whether there are other vehicles 212 obstructing the target vehicle 211's movement based on the status information of the multiple vehicles 210. If so, it can determine that the target vehicle 211 needs to switch from its current route to the target route.
[0094] For example, such as Figure 3 As shown, since the target vehicle 211's current route is 310 and there are other vehicles 212 blocking its path ahead, it can be determined that the target vehicle 211 needs to switch from its current route 310 to the target route 320.
[0095] In the prior art, if there are other vehicles obstructing the autonomous vehicle's movement, it can only stop and wait behind the other vehicles. However, the route switching system provided in this application can switch routes and detour when there are other vehicles obstructing the autonomous vehicle's movement, thus avoiding inefficiency caused by stopping and waiting.
[0096] In some implementations, such as Figure 2 As shown, the route switching system may also include:
[0097] Management module 230 is used to send a task switching command carrying task switching information to scheduling module 220.
[0098] The scheduling module 220 is also used to respond to the task switching instruction, plan the target route for the target vehicle 211 to travel to the target task location according to the task switching information, and determine that the target vehicle 211 needs to switch from the current route to the target route.
[0099] Here, the management module 230 can be a TOS (Transportation System). The management module 230 can send a task switching instruction carrying task switching information to the scheduling module 220. The task switching information may include the identifier of the target vehicle 211 and the target task location. The target task location may be a new loading location or a new unloading location. The task switching instruction may be an instruction to change the task location.
[0100] Then, in response to the task switching instruction, the scheduling module 220 can plan the target route for the target vehicle 211 to travel to the target task location based on the task switching information, and determine that the target vehicle 211 needs to switch from the current route to the target route.
[0101] For example, such as Figure 4As shown, the target vehicle 211 is traveling along the current route 410. The scheduling module 220 receives a task switching instruction sent by the management module 230. The task switching instruction indicates that the task position of the target vehicle 211 should be switched to the target task position. In response to the task switching instruction, the scheduling module 220 can plan the target route 420 for the target vehicle 211 to travel to the target task position, and determine that the target vehicle 211 needs to switch from the current route 410 to the target route 420.
[0102] In this way, the scheduling module 220 can control the target vehicle 211 to switch routes when it receives a task switching instruction, thus improving the flexibility of task and route switching.
[0103] In some implementations, the target vehicle 211 can also be used to update the first state to a second preset state and send the updated first state to the scheduling module 220 when it switches its own driving route from the current route to the target route.
[0104] Here, the second preset state can represent that the target vehicle has completed the task switch. After updating the first state to the second preset state, the target vehicle 211 sends the updated first state to the scheduling module 220, which can notify the scheduling module 220 that the target vehicle 211 has completed the task switch (i.e., State = 4), so that the scheduling module 220 can detect the current first state of the target vehicle 211 in a timely manner.
[0105] Furthermore, after updating the first state to the second preset state and sending the updated first state to the scheduling module 220, the target vehicle 211 can also update its first state back to the first preset state and send the updated first state to the scheduling module 220 again. This notifies the scheduling module 220 that the target vehicle 211 is in motion (i.e., State = 1), allowing the scheduling module 220 to promptly detect that the target vehicle 211's current first state is the first preset state, facilitating subsequent route switching.
[0106] In some implementations, the target vehicle 211 is also used to send third feedback information to the scheduling module 220 in the event of failure to receive route information, failure to verify the target route, or failure to complete the task switch.
[0107] The scheduling module 220 is also used to send a cancel switching command to the target vehicle 211.
[0108] The target vehicle 211 is also used to respond to the cancellation switching command, continue driving along the current route, update the first state to the first preset state, and send the updated first state to the scheduling module.
[0109] Here, if the target vehicle 211 fails to receive route information, fails to verify the target route, or fails to complete the task switch, it can send a third feedback message to the scheduling module 220. The third feedback message can indicate an abnormal route switch. Then, the scheduling module 220 can send a cancel switch command to the target vehicle 211. The target vehicle 211 can then respond to the cancel switch command, continue driving according to the current route, update its first state to the first preset state, and send the updated first state to the scheduling module.
[0110] For example, if the target vehicle 211 fails to receive route information, fails to verify the target route, or fails to complete the task switch, it can send a third feedback message to the scheduling module 220. The third feedback message can indicate a route switch anomaly (State>5). Then, the scheduling module 220 can send a cancel switch command to the target vehicle 211. The target vehicle 211 can then respond to the cancel switch command, continue driving according to the current route, update its first state to a first preset state (State=1), and send the updated first state to the scheduling module.
[0111] In this way, the scheduling module 220 can detect the abnormal route switching of the target vehicle 211 and the restoration of its status to the first preset state in a timely manner, so that the next route switching can be carried out in a timely manner.
[0112] The route switching system provided in this application, compared with traditional cloud-controlled task distribution systems, can identify changes in the vehicle's task endpoint or obstructions to the task route during vehicle operation. Based on the vehicle's current condition and environment, it determines whether a dynamic task change process needs to be initiated, issues a newly planned global task route, and interacts with the vehicle to ensure a safe and smooth route switch. This improves the operational efficiency and driving safety of autonomous vehicles.
[0113] To facilitate understanding the information exchange between the target vehicle and the dispatch module, the following will combine... Figure 5 Let me introduce it.
[0114] like Figure 5 As shown, the information exchange between the target vehicle and the dispatch module includes S501-S512, as detailed below:
[0115] S501, send status information.
[0116] Specifically, the target vehicle continuously and periodically sends status information to the scheduling module, which may include a first status.
[0117] S502, Determine the switching intention.
[0118] Specifically, the scheduling module determines whether a route switch is needed.
[0119] S503, determine the first state of the target vehicle.
[0120] Specifically, if it is determined that the target vehicle needs to switch from the current route to the target route, the scheduling module can determine whether the target vehicle's status is the first preset status.
[0121] S504, determine the feasibility of route switching.
[0122] Specifically, the scheduling module can make a preliminary judgment on the feasibility of the route switch by measuring the distance between the target vehicle and the branching point between the current route and the target route.
[0123] S505 sends path information and route switching instructions.
[0124] Specifically, the scheduling module can send the target route information and route switching instructions to the target vehicle.
[0125] S506, send the first feedback message.
[0126] Specifically, after receiving the route information and route switching instruction, the target vehicle can send the first feedback information to the scheduling module to notify the scheduling module that the target vehicle has successfully received the route information and route switching instruction.
[0127] S507, determine the feasibility of route switching.
[0128] Specifically, the target vehicle can further assess the feasibility of the route change by planning the switching path.
[0129] S508, send the second feedback message.
[0130] Specifically, after the target vehicle confirms that the route change is feasible, it can send a second feedback message to the scheduling module, notifying the scheduling module that the target route has been verified.
[0131] S509, execute route switching.
[0132] Specifically, the target vehicle can switch routes.
[0133] S510, send first status.
[0134] Specifically, after the target vehicle completes the route switch, it can send a first status to the scheduling module to notify the scheduling module that the target vehicle has completed the route switch.
[0135] S511, send confirmation message.
[0136] Specifically, the dispatch module can send a confirmation message to the target vehicle to confirm that the route switch is complete and request the target vehicle to restore the first state to the first preset state.
[0137] S512, proceed according to the target route.
[0138] Specifically, the target vehicle can travel along the target route.
[0139] Therefore, the target vehicle can send its first status to the scheduling module. The scheduling module, upon determining that the target vehicle needs to switch from its current route to the target route, checks if the target vehicle's first status is a preset state indicating that the vehicle is in motion. If the first status is the preset state, the scheduling module sends a route switching command to the target vehicle. The target vehicle can then respond to this command and switch its route from the current route to the target route. This eliminates the need for the vehicle to stop, wait for the current route to be cancelled and a new route to be received before restarting, thus improving the efficiency of route switching and consequently increasing the vehicle's operational efficiency.
[0140] This application also provides a route switching method, which can be applied to a scheduling module.
[0141] The route switching method provided in the embodiments of this application will now be described in conjunction with the accompanying drawings.
[0142] Figure 6 A flowchart of a route switching method provided in one embodiment of this application is shown.
[0143] like Figure 6 As shown, the method may include:
[0144] S610 receives the first status sent by the target vehicle.
[0145] S620, when it is determined that the target vehicle needs to switch from the current route to the target route, determines whether the first state of the target vehicle is the first preset state.
[0146] S630, when the first state is the first preset state, sends a route switching command to the target vehicle so that the target vehicle responds to the route switching command and switches its own driving route from the current route to the target route.
[0147] The first preset state can represent that the target vehicle is in motion.
[0148] It should be noted that the specific process of the route switching method provided in this application embodiment is the same as the processing process of the scheduling system in the route switching system in the above embodiment, and will not be repeated here.
[0149] Therefore, the target vehicle can send its first status to the scheduling module. The scheduling module, upon determining that the target vehicle needs to switch from its current route to the target route, checks if the target vehicle's first status is a preset state indicating that the vehicle is in motion. If the first status is the preset state, the scheduling module sends a route switching command to the target vehicle. The target vehicle can then respond to this command and switch its route from the current route to the target route. This eliminates the need for the vehicle to stop, wait for the current route to be cancelled and a new route to be received before restarting, thus improving the efficiency of route switching and consequently increasing the vehicle's operational efficiency.
[0150] The embodiments described above are not exhaustive, nor do they limit the invention to specific embodiments. Clearly, many modifications and variations can be made based on the above description. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of this application, enabling those skilled in the art to effectively utilize this application and its modifications. It should be understood that the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in this application, and these modifications or substitutions should all be included within the scope of protection of this application.
Claims
1. A route switching system, characterized in that, The system includes: The target vehicle is used to send its initial status to the scheduling module. The scheduling module is used to determine whether the first state of the target vehicle is a first preset state when it is determined that the target vehicle needs to switch from the current route to the target route, and if the first state is the first preset state, to send a route switching command to the target vehicle. The first preset state indicates that the target vehicle is in motion. The target vehicle is also configured to, in response to the route switching command, switch its own driving route from the current route to the target route; The target vehicle is specifically used for: The system acquires its own dynamic parameters, including current position, attitude, velocity, acceleration, lateral acceleration, and load. Based on the dynamic parameters, the current route, and the target route, a switching path is planned. If the overlap between the switching path and the current route is greater than the overlap threshold, the driving route will be switched from the current route to the target route. The route switching system also includes: Multiple vehicles are used to send their own status information to the scheduling module. The multiple vehicles include the target vehicle and at least one other vehicle. The status information includes the vehicle's position, speed, heading, and the first status. The scheduling module is also used to determine, based on multiple states, whether there are other vehicles obstructing the target vehicle's movement, and if there are other vehicles obstructing the target vehicle's movement, to determine that the target vehicle needs to switch from the current route to the target route.
2. The route switching system according to claim 1, characterized in that, The scheduling module is specifically used for: Determine the fork point between the current route and the target route. If the target vehicle is more than a preset distance from the fork point, the route switching command is sent to the target vehicle.
3. The route switching system according to claim 1, characterized in that, The scheduling module is also used to determine the path information corresponding to the target route and send the path information to the target vehicle. The target vehicle is also used to travel according to the path information.
4. The route switching system according to claim 3, characterized in that, The target vehicle is also used to send first feedback information to the scheduling module upon receiving the path information, wherein the first feedback information indicates that the target vehicle has successfully received the path information.
5. The route switching system according to claim 1, characterized in that, The target vehicle is also used to send a second feedback message to the scheduling module when the overlap between the switched path and the current route is greater than the overlap threshold. The second feedback message indicates that the target route has passed the verification.
6. The route switching system according to claim 1, characterized in that, The route switching system also includes: The management module is used to send a task switching instruction carrying task switching information to the scheduling module. The task switching information includes the identifier of the target vehicle and the location of the target task. The scheduling module is also used to respond to the task switching instruction, plan the target route for the target vehicle to travel to the target task location according to the task switching information, and determine that the target vehicle needs to switch from the current route to the target route.
7. The route switching system according to claim 6, characterized in that, The target vehicle is also used to update the first state to a second preset state when it switches its driving route from the current route to the target route, and send the updated first state to the scheduling module. The second preset state indicates that the target vehicle has completed the task switch.
8. A route switching method, applied to the scheduling module of the route switching system according to any one of claims 1-7, characterized in that, The method includes: Receive the first status sent by the target vehicle. If it is determined that the target vehicle needs to switch from the current route to the target route, it is determined whether the first state of the target vehicle is a first preset state; When the first state is the first preset state, a route switching command is sent to the target vehicle so that the target vehicle responds to the route switching command and switches its own driving route from the current route to the target route. The first preset state indicates that the target vehicle is in the process of driving. The step of switching its own driving route from the current route to the target route includes: The system acquires its own dynamic parameters, including current position, attitude, velocity, acceleration, lateral acceleration, and load. Based on the dynamic parameters, the current route, and the target route, a switching path is planned. If the overlap between the switching path and the current route is greater than the overlap threshold, the driving route will be switched from the current route to the target route. The method further includes: The system receives status information from multiple vehicles, including the target vehicle and at least one other vehicle. The status information includes the vehicle's position, speed, heading, and first status. Based on multiple status information, it is determined whether there are other vehicles obstructing the target vehicle's movement, and if there are other vehicles obstructing the target vehicle's movement, it is determined that the target vehicle needs to switch from the current route to the target route.