An automatic driving sanitation vehicle operation adjustment method, device, equipment and medium

Abstract

The application discloses an automatic driving sanitation vehicle operation adjustment method and device, equipment and medium. The application realizes real-time acquisition of a driving center line, a road edge position and a vehicle position of an automatic driving sanitation vehicle through an automatic driving system. When the vehicle position is in a straight road area, the motor rotating speed of an operation motor is adjusted according to the road edge distance between the road edge position and the vehicle position on both sides. When the vehicle position is in a curved road area, the motor rotating speed of the operation motor is adjusted according to the curvature variation of the driving center line and the road edge distances, and the operation motor is called to drive a cleaning component to perform a hedging operation according to the motor rotating speed, so that flexible road surface cleaning of different road numbers and different types of roads is realized. The motor rotating speed is adjusted through the road edge distance combined with the curvature, so that the automatic driving sanitation vehicle can dynamically adjust the switch of the hedging operation and the water spraying amount, fully meets the daily operation demand and effectively improves the road surface cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, equipment and medium for adjusting the operation of an autonomous sanitation vehicle. Background Technology

[0002] Autonomous driving technology has always been a hot research topic in the automotive industry, striving to make driving simpler and more user-friendly. To improve driving safety, many vehicles are equipped with autonomous driving systems.

[0003] With the continuous development of the national economy and the advancement of science and technology, people are paying more attention to the cleanliness of the public environment. Street cleaning is a tedious, time-consuming, and energy-intensive task for sanitation vehicles. Currently, cleaning in sanitation vehicles mainly relies on manual drivers to observe the road surface, judge the type and area of ​​garbage, and control the cleaning intensity and area. This method leads to low efficiency in street cleaning, driver fatigue, inaccurate judgment of road cleanliness, incomplete cleaning, and high energy consumption of sanitation vehicles.

[0004] To address this, existing technologies combine autonomous driving systems with sanitation vehicles for road cleaning. However, due to the continuous advancement of urbanization, the operating scenarios are complex and subject to significant constraints from factors such as road conditions. When performing flushing operations, existing autonomous sanitation vehicles always operate at maximum motor speed by default, which cannot reasonably allocate the clean water resources on the vehicle. This results in the autonomous sanitation vehicles having too short a maximum operating distance, requiring frequent refills of water, which cannot meet the needs of daily operations and leads to low cleaning efficiency. Summary of the Invention

[0005] This invention provides a method, device, equipment, and medium for adjusting the operation of an autonomous sanitation vehicle, which solves the technical problem that existing autonomous sanitation vehicles cannot reasonably allocate the clean water resources on board, resulting in a short maximum operating distance, frequent water replenishment, and failure to meet the needs of daily operation, leading to low cleaning efficiency.

[0006] The first aspect of this invention provides a method for adjusting the operation of an autonomous sanitation vehicle, applied to the autonomous driving system of the vehicle, wherein the autonomous driving system is communicatively connected to the operating motors located on the left and right sides, and the method includes:

[0007] The driving centerline, roadside position, and vehicle position of the autonomous sanitation vehicle are obtained in real time from the semantic map.

[0008] When the vehicle is in a straight section of road, the speed of the working motor is adjusted according to the distance between the curb and the two sides of the vehicle.

[0009] When the vehicle is in a curved area, the motor speed of the working motor is adjusted according to the curvature change of the driving center line and the distance of each road edge;

[0010] The cleaning components are driven by the working motor to perform flushing operations according to the motor speed.

[0011] Optionally, the step of adjusting the motor speed of the working motor based on the distance between the curb position and the vehicle position when the vehicle is in a straight section includes:

[0012] When the vehicle is in a straight road area, the straight distance between the curb position and the two sides of the vehicle position is detected respectively, and the half value of the width of the autonomous sanitation vehicle is added as the curb distance.

[0013] If all the roadside distances are greater than the preset first distance threshold, then the motor speed of all the working motors will be adjusted to the maximum flushing value.

[0014] If there exists a road edge distance that is less than or equal to a preset second distance threshold, then the road edge distance is determined as the adjustment distance;

[0015] Based on the distance difference between the first distance threshold and the adjustment distance, adjust the motor speed of the operating motor corresponding to the adjustment distance;

[0016] If all the roadside distances are greater than the second distance threshold and less than or equal to the first distance threshold, then the motor speeds of all the operating motors will be adjusted to the normal flushing value.

[0017] Optionally, the step of adjusting the motor speed of the working motor to which the adjustment distance belongs based on the distance difference between the first distance threshold and the adjustment distance includes:

[0018] Calculate the distance difference between the first distance threshold and the adjusted distance;

[0019] Calculate the adjustment ratio between the distance difference and the preset step size;

[0020] The motor speed of the working motor corresponding to the adjustment distance is reduced according to the multiplication between the adjustment ratio and the preset adjustment gradient.

[0021] Optionally, the step of adjusting the motor speed of the working motor according to the curvature change of the driving centerline and the distances to each curb when the vehicle is in a curved area includes:

[0022] When the vehicle is located in a curve area, the curve direction of the curve area is obtained from the semantic map;

[0023] The adjustment gradient of the working motor belonging to the curve direction at each moment is determined by matching the preset adjustment gradient table according to the curvature change of the driving center line;

[0024] Adjust the motor speed of the working motor corresponding to the curve direction according to the adjustment gradient.

[0025] Optionally, the autonomous driving system also communicates with upstream perception components, and the method further includes:

[0026] The moving object identification results and predicted movement trajectories sent by the upstream sensing component are mapped to the semantic map to locate the moving object's position.

[0027] If the moving object is located within the curb, then ignore the moving object and maintain the current motor speed of the operating motor;

[0028] If the moving object is not located within the curb and the predicted movement trajectory overlaps with the forward trajectory of the autonomous sanitation vehicle, the autonomous sanitation vehicle will stop at a preset distance before the overlapping position until the predicted movement trajectory and the forward trajectory no longer overlap.

[0029] Optionally, the method further includes:

[0030] When environmental information is received from the upstream sensing component, the environmental information is parsed.

[0031] If the environmental information meets the preset stopping conditions, then the autonomous sanitation vehicle and the operating motor are stopped until the environmental information no longer meets the stopping conditions.

[0032] Optionally, the method further includes:

[0033] Get the number of lanes in real time from the semantic map;

[0034] The target motor gear is determined based on the matching result between the number of lanes and the preset motor gear.

[0035] Adjust the motor speed of the two working motors according to the target motor gear;

[0036] The cleaning components are driven by the working motor to perform flushing operations according to the motor speed.

[0037] A second aspect of the present invention provides an operation adjustment device for an autonomous sanitation vehicle, applied to the autonomous driving system of the autonomous sanitation vehicle, wherein the autonomous driving system is communicatively connected to the operation motors arranged on the left and right sides, and the device includes:

[0038] The location acquisition module is used to acquire the driving centerline, roadside location, and vehicle location of the autonomous sanitation vehicle in real time from the semantic map;

[0039] The straight-line adjustment module is used to adjust the motor speed of the working motor according to the distance between the curb position and the two sides of the vehicle position when the vehicle is in a straight-line area.

[0040] The curve adjustment module is used to adjust the motor speed of the working motor according to the curvature change of the driving centerline and the distance of each road edge when the vehicle is in a curve area.

[0041] The flushing module is used to drive the cleaning components to perform flushing operations via the working motor according to the motor speed.

[0042] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the autonomous driving sanitation vehicle operation adjustment method as described in any of the first aspects of the present invention.

[0043] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the autonomous driving sanitation vehicle operation adjustment method as described in any of the first aspects of the present invention.

[0044] As can be seen from the above technical solutions, the present invention has the following advantages:

[0045] This invention uses an autonomous driving system to obtain the vehicle's centerline, curb position, and vehicle location in real time from a semantic map. When the vehicle is on a straight road, the motor speed of the working motor is adjusted based on the distance between the curb position and the two sides of the vehicle. When the vehicle is on a curve, the motor speed is adjusted based on the curvature of the centerline and the distances to the curbs. The working motor drives the cleaning components to perform flushing operations according to its speed, thus achieving flexible cleaning of different numbers and types of roads. By adjusting the motor speed based on the curb distance and curvature, the system can dynamically adjust the on / off state of the flushing operation and the amount of water sprayed, fully meeting the needs of daily operation and effectively improving road cleaning efficiency. Attached Figure Description

[0046] 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, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart of the steps of an autonomous sanitation vehicle operation adjustment method provided in Embodiment 1 of the present invention;

[0048] Figure 2 This is a flowchart of the steps of an autonomous sanitation vehicle operation adjustment method provided in Embodiment 2 of the present invention;

[0049] Figure 3 This is a structural block diagram of an autonomous driving sanitation vehicle operation adjustment device provided in Embodiment 3 of the present invention. Detailed Implementation

[0050] This invention provides a method, apparatus, equipment, and medium for adjusting the operation of an autonomous sanitation vehicle, which addresses the technical problem that existing autonomous sanitation vehicles cannot reasonably allocate the clean water resources on board, resulting in excessively short maximum operating distances, frequent water refills, and low cleaning efficiency, thus failing to meet daily operational needs.

[0051] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0052] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of an autonomous sanitation vehicle operation adjustment method provided in Embodiment 1 of the present invention.

[0053] This invention provides a method for adjusting the operation of an autonomous sanitation vehicle, applied to the autonomous driving system of the vehicle. The autonomous driving system is communicatively connected to the operating motors located on the left and right sides. The method includes:

[0054] Step 101: Obtain the driving centerline, roadside position, and vehicle position of the autonomous sanitation vehicle in real time from the semantic map;

[0055] The driving centerline, also known as the road centerline, is a characteristic line formed by connecting the center points of each road width in sequence. It is used to reflect the horizontal position and curvature of the road. In traffic management, it is generally used as a marking line to distinguish the driving space of vehicles traveling in both directions.

[0056] The location of the curb refers to the position of the curb on both sides of the road.

[0057] Vehicle position refers to the coordinate position of a vehicle as it moves along a road, specifically the rear axle center or the vehicle center.

[0058] Semantic maps are high-precision maps containing a variety of semantic information. They acquire point cloud information of the physical world using LiDAR and then refine it to distinguish various objects and concepts such as lanes, cars, medians, roadside trees, signs, and the blue sky. Semantic information refers to the multi-layered and rich-dimensional information contained in high-precision maps that enables autonomous vehicles to better understand driving rules, perceive road traffic conditions, and plan driving routes.

[0059] In this embodiment of the invention, an autonomous driving system can be installed on an autonomous sanitation vehicle, or the processing center can be mounted on the cloud via cloud communication, and the edge terminal for data collection and execution can be mounted on the autonomous sanitation vehicle. The autonomous driving system contains a semantic map and is connected to the working motors set on the left and right sides of the autonomous sanitation vehicle. The working speed of the cleaning components can be controlled by adjusting the motor speed of the working motors.

[0060] In this embodiment, the autonomous driving system obtains the driving centerline, roadside position, and vehicle position of the autonomous sanitation vehicle on the semantic map in real time, so as to provide a data basis for adjusting the subsequent operation speed.

[0061] The autonomous sanitation vehicle travels along the planned route, and may pass through straight sections and curved sections during this process. For different sections, the embodiments of the present invention have different adjustment methods for the working motor.

[0062] Step 102: When the vehicle is in a straight section of road, adjust the speed of the working motor according to the distance between the curb and the two sides of the vehicle.

[0063] In this embodiment, when the vehicle is in a straight road area, the lane in which the sanitation vehicle is located can be determined based on the distance between the roadside and the two sides of the vehicle. The motor speed of the sanitation vehicle's operating motor is then adjusted according to the roadside distance to adapt to the operating speed of the autonomous sanitation vehicle in different numbers of lanes and different lane positions.

[0064] It should be noted that the operating motors of the autonomous sanitation vehicle are used to drive its cleaning components for flushing operations. These cleaning components may include, but are not limited to, water spraying and sweeping components. The number of operating motors on both sides is the same, matching the number of cleaning components. These operating motors are continuously variable transmission (CVT) motors.

[0065] Step 103: When the vehicle is in a curved area, adjust the motor speed of the working motor according to the curvature change of the driving center line and the distance of each road edge.

[0066] In this embodiment, when the vehicle is located in a curved area, the motor speed cannot be directly adjusted based on the roadside due to the varying curvature of the curve. However, in actual road travel, the vehicle's centerline often reflects the curvature changes in the curved area. The motor speeds of the two working motors can be adjusted by observing these curvature changes and the distances between the autonomous sanitation vehicle and the roadside at different times.

[0067] Step 104: Drive the cleaning components to perform flushing operation by using the working motor according to the motor speed.

[0068] In this embodiment, after adjusting the speed of the working motor, the working motor can rotate at the specified speed to drive the cleaning component to perform flushing operations on the road surface.

[0069] In this embodiment of the invention, the autonomous driving system obtains the driving centerline, curb position, and vehicle position of the autonomous sanitation vehicle in real time from a semantic map. When the vehicle is in a straight area, the motor speed of the working motor is adjusted according to the curb position and the distance between the curbs on both sides of the vehicle. When the vehicle is in a curved area, the motor speed of the working motor is adjusted according to the curvature of the driving centerline and the distances to the curbs. The working motor drives the cleaning components to perform flushing operations according to the motor speed, thereby achieving flexible cleaning of different numbers and types of roads. By adjusting the motor speed in combination with the curb distance and curvature, the system can dynamically adjust the on / off state of the flushing operation and the amount of water sprayed, fully meeting the needs of daily operation and effectively improving the efficiency of road cleaning.

[0070] Please see Figure 2 , Figure 2 This is a flowchart illustrating the steps of an autonomous sanitation vehicle operation adjustment method provided in Embodiment 2 of the present invention.

[0071] This invention provides a method for adjusting the operation of an autonomous sanitation vehicle, applied to the autonomous driving system of the vehicle. The autonomous driving system is communicatively connected to the operating motors located on the left and right sides. The method includes:

[0072] Step 201: Obtain the driving centerline, roadside position, and vehicle position of the autonomous sanitation vehicle in real time from the semantic map;

[0073] In this embodiment of the invention, the specific implementation process of step 201 is similar to that of step 101, and will not be repeated here.

[0074] Step 202: When the vehicle is in a straight road area, detect the straight distance between the curb position and the two sides of the vehicle position respectively, and add half the width of the autonomous sanitation vehicle as the curb distance.

[0075] In one example of the present invention, if the vehicle is located in a straight road area, it indicates that the vehicle may be in a one-way, two-lane, or multi-lane scenario. It is impossible to know which lane the vehicle is in. The positional relationship between the vehicle and the roadside can be determined by detecting the straight-line distance between the roadside and the two sides of the vehicle.

[0076] The vehicle's position is the center of the rear axle of the autonomous sanitation vehicle. At this point, half the width of the autonomous sanitation vehicle can be added to the straight-line distance to determine the distance between the vehicle and the curb.

[0077] It should be noted that there are relevant standards for the width of motor vehicle lanes on highways in my country. The width of each motor vehicle lane on urban roads is generally 3.5 meters. Taking an autonomous driving sanitation vehicle with a width of 2 meters as an example, half the width of the vehicle, or half the width of the vehicle, is 1 meter.

[0078] Taking straight-line counter-running operations as an example, by calculating the distance from the rear axle center point of the autonomous sanitation vehicle plus half the vehicle width to the curb in the semantic map, two variable parameters can be obtained: dist_to_left_curb and dist_to_right_curb.

[0079] `dist_to_left_curb` (LC) represents the distance from the center of the rear axle of the main vehicle plus half the vehicle width (1m) to the left side of the roadbed, and `dist_to_right_curb` (RC) represents the distance from the center of the rear axle of the main vehicle plus half the vehicle width (1m) to the right side of the roadbed. Combining this with the design standards for the width of motor vehicles on urban roads in my country, taking the width of motor vehicles in a typical city as 3.5m as an example.

[0080] Step 203: If all roadside distances are greater than the preset first distance threshold, then adjust the motor speed of all operating motors to the maximum flushing value.

[0081] In one embodiment of the present invention, if the distance between the road edges on both sides is greater than a preset first distance threshold, it indicates that the autonomous sanitation vehicle is in the middle of the lane. At this time, the lane may be an odd number of lanes such as three lanes. The motor speed of all working motors can be adjusted to the maximum flushing value to simultaneously cover the washing of all lanes on the left and right sides.

[0082] For example, in a three-lane scenario, the main vehicle performs flushing operations in the middle lane. Simultaneously, if both LC and RC are greater than 3.5m + 1m = 4.5m, a command is sent to the DBW system to control the speed of the left and right independent motors for flushing operations to 1400rpm, ensuring that the flushing water spray volume can cover all lanes of three or more lanes for cleaning.

[0083] Step 204: If there is any roadside distance that is less than or equal to the preset second distance threshold, then the roadside distance is determined as the adjustment distance.

[0084] In another embodiment of the present invention, if there is a roadside distance on either side that is less than or equal to a preset second distance threshold, it indicates that the autonomous sanitation vehicle is on one side of a two-way lane or a lane of an even number of orders of magnitude. The roadside distance that is less than or equal to the second distance threshold can be determined as the adjustment distance to provide a data basis for subsequent specific adjustments.

[0085] Step 205: Adjust the motor speed of the working motor corresponding to the adjustment distance based on the distance difference between the first distance threshold and the adjustment distance;

[0086] Furthermore, step 205 may include the following sub-steps:

[0087] Calculate the distance difference between the first distance threshold and the adjusted distance;

[0088] Calculate the adjustment ratio between the distance difference and the preset step size;

[0089] The motor speed of the working motor corresponding to the adjustment distance is reduced according to the product of the adjustment ratio and the preset adjustment gradient.

[0090] In this embodiment, after obtaining the adjustment distance, the distance difference between the first distance threshold and the adjustment distance can be calculated to determine the output gap that the working motor needs to adjust. Further, the adjustment ratio between the distance difference and the preset step size is calculated, and the motor speed of the working motor corresponding to the adjustment distance is reduced according to the multiplication between the adjustment ratio and the preset adjustment gradient.

[0091] It should be noted that the operating motor can adjust its speed through stepless speed regulation. Therefore, when adjusting, the speed to be adjusted can be determined by multiplying the adjustment ratio and the preset adjustment gradient to adapt to different lanes.

[0092] In a two-lane scenario, the main vehicle is performing a collision maneuver in the left lane. At this point, the LC (Lower Carrier Length) is 2m, and the RC (Lower Carrier Length) is greater than 4.5m. Based on the rule that the left independent motor's speed decreases by 100 rpm for every 0.5m decrease in LC distance, the total reduction in distance is calculated to be 4.5m - 2m = 2.5m, corresponding to a reduction in motor speed of 500 rpm. The final instruction input to the DBW system is to linearly adjust the left independent motor speed down to 900 rpm (1400 rpm - 500 rpm = 900 rpm), while maintaining the right independent motor speed at 1400 rpm.

[0093] In a single-lane scenario (one-way street), the main vehicle performs a collision operation in the middle of the single lane. The RC value is used as a reference benchmark. For example, if the RC is 2m, both the left and right independent motors will use a speed of 900rpm. The LC value is consistent with the RC value by default (controlling the left and right independent motors to the same speed).

[0094] S15. If all roadside distances are greater than the second distance threshold and less than or equal to the first distance threshold, then adjust the motor speed of all operating motors to the normal flushing value.

[0095] In another example of the present invention, if all roadside distances are greater than the second distance threshold and less than or equal to the first distance threshold, it indicates that the roadside distances are within the normal range and the autonomous vehicle is driving in the middle lane. At this time, the motor speeds of all working motors can be adjusted to the normal flushing value.

[0096] The normal scouring value is less than the maximum scouring value.

[0097] Step 206: When the vehicle is in a curved area, adjust the motor speed of the working motor according to the curvature change of the driving centerline and the distance of each road edge.

[0098] Optionally, step 206 may include the following sub-steps:

[0099] When the vehicle is located in a curve area, the curve direction of the curve area is obtained from the semantic map;

[0100] The adjustment gradient of the working motor in the curve direction is determined at each moment by matching the preset adjustment gradient table with the curvature change of the driving centerline.

[0101] Adjust the motor speed of the motor corresponding to the direction of the curve according to the adjustment gradient.

[0102] In this embodiment of the invention, curves exhibit varying degrees of curvature due to changes in curvature. When a vehicle is positioned within a curve region, the curve direction can be obtained from a semantic map to determine whether the lane is for a left or right turn. Furthermore, a preset adjustment gradient table is matched to the curvature changes of the vehicle's centerline on the semantic map to determine the adjustment gradient of the operating motor corresponding to that curve direction at each moment from entering to exiting the curve. The motor speed of the operating motor corresponding to the curve direction is then adjusted according to this adjustment gradient.

[0103] It should be noted that the adjustment gradient determined at each moment is adapted to the motor speed at the next moment. For example, the adjustment gradient at time t is actually matched with the curvature of the curve at time t+1.

[0104] In the specific implementation, taking a dedicated right-turn lane scenario as an example, the main vehicle makes a normal right turn. First, the speed of the left and right independent motors is initially reduced (approximately 900 rpm) based on the RC value of a single lane. Then, the main vehicle can further reduce the speed of the left and right independent motors according to the curvature of the center line in the semantic map, as the curvature increases. Before entering the curve, the main vehicle gradually reduces the speed by 100 rpm in advance, gradually increasing it to 600 rpm at the point of maximum curvature at the apex of the curve. As the main vehicle approaches the exit of the curve, the curvature gradually decreases, and the speed is gradually increased by 100 rpm in advance (each 100 rpm represents a reduction in speed as curvature increases). This approach allows for further speed reduction before entering the curve in the dedicated right-turn lane, and minimizes the speed reduction at the apex of the curve, ensuring a clean driving effect while reducing the impact on pedestrians waiting at the red light on the side of the road.

[0105] Step 207: Drive the cleaning components to perform flushing operation by using the working motor according to the motor speed.

[0106] In this embodiment of the invention, the specific implementation process of step 207 is similar to that of step 104, and will not be repeated here.

[0107] Furthermore, the autonomous driving system also communicates with upstream perception components, and the method further includes the following steps S21-S23:

[0108] S21. Map the moving object identification results and predicted movement trajectory sent by the upstream sensing component to the semantic map to locate the moving object's position.

[0109] S22. If the moving object is located within the curb, ignore the moving object and maintain the current operating motor speed.

[0110] In this embodiment, the autonomous driving system can also communicate with upstream sensing components. The upstream sensing components can call point cloud radar or other sensing components to detect the surrounding environment of the autonomous sanitation vehicle, so as to detect the identification results of moving objects within a certain range and predict their movement trajectory, so as to obtain the predicted movement trajectory and send it to the autonomous driving system.

[0111] After the autonomous driving system receives the object recognition results and predicted trajectory from the upstream perception components, it can further combine semantic maps to perform cross-localization of the identified object to obtain its location. If the object is within the curb, such as waiting at a red light or moving normally on the curb, it will be ignored and the collision avoidance operation will not be suspended. (This is because pedestrians and riders on the curb are not significantly affected by the collision avoidance operation). In this case, the current motor speed of the operating motor and the movement of the autonomous sanitation vehicle can be maintained.

[0112] The moving object can be a pedestrian or a rider, etc., and the specific type of the moving object recognition result is not limited in the embodiments of the present invention.

[0113] S23. If the moving object is not located within the curb and the predicted moving trajectory overlaps with the forward trajectory of the autonomous sanitation vehicle, then the autonomous sanitation vehicle shall stop at a preset distance before the overlapping position until the predicted moving trajectory and the forward trajectory no longer overlap.

[0114] In this embodiment, if the moving object is not located within the curb, it indicates that the moving object may be outside the curb. If the predicted movement trajectory overlaps with the forward trajectory of the autonomous sanitation vehicle, it is determined that the moving object may affect the vehicle's anti-collision operation. To ensure safety, the autonomous sanitation vehicle and its operating motor can be stopped at a preset distance before the overlapping position until the predicted movement trajectory of the moving object no longer overlaps with its forward trajectory.

[0115] The preset distance can be 3m. In addition to the fact that the predicted movement trajectory of the moving object does not overlap with the forward trajectory, it can also detect that the moving object has left the working range of the vehicle, so that the counter-clamping operation can continue.

[0116] Furthermore, the method also includes the following steps S31-S32:

[0117] S31. When environmental information is received from the upstream sensing component, parse the environmental information;

[0118] S32. If the environmental information meets the preset stopping conditions, then stop the autonomous sanitation vehicle and the operating motor until the environmental information no longer meets the stopping conditions.

[0119] In this embodiment of the invention, the upstream sensing component can also detect information such as vehicles and traffic lights in the surrounding environment. After receiving the aforementioned environmental information, the autonomous sanitation vehicle analyzes it to extract its contents. If the environmental information meets the preset stopping conditions, the autonomous sanitation vehicle and its operating motor are stopped until the environmental information no longer meets the stopping conditions. At this point, the autonomous sanitation vehicle and its operating motor can be restarted to continue the flushing operation. This reduces the waste of water during on-site flushing operations and also minimizes the impact of on-site flushing operations on other vehicles and riders.

[0120] The stopping condition can be that the autonomous sanitation vehicle is in front of the stop line or queuing with other vehicles, and the result of the perception input recognition is a red light.

[0121] Optionally, the method may further include the following steps S41-S44:

[0122] S41. Obtain the number of lanes in real time from the semantic map;

[0123] S42. Determine the target motor gear according to the matching result between the number of lanes and the preset motor gear;

[0124] S43. Adjust the motor speed of the working motors on both sides according to the target motor gear;

[0125] S44. The cleaning components are driven by the working motor to perform flushing operations according to the motor speed.

[0126] In daily operations, when autonomous sanitation vehicles are flushing, the motors default to maximum speed (i.e., maximum water spray). This results in a significant waste of water in situations with only two lanes or even a single lane. Consequently, when fully watered, the maximum operating distance per trip is too short (maximum operating mileage is 12-13km), requiring frequent relocations to refill water. The numerous refills take up a lot of time and cannot meet daily operational plans.

[0127] Therefore, the corresponding number of lanes can be obtained from the semantic map (generally, urban roads have two or three lanes, and right-turn lanes are single lanes). The autonomous sanitation vehicle has one motor on each side, capable of independently controlling the water spray volume for flushing operations. The motors support stepless speed regulation and offer three standard speed settings: 1400 rpm (high power), 1000 rpm (normal), and 600 rpm (cleaning). The intensity level of the flushing speed is selected based on the number of lanes defined by the semantic map; for example, 1400 rpm is used for three or more lanes, 1000 rpm for two lanes, and 600 rpm for a single lane.

[0128] In this embodiment of the invention, the autonomous driving system obtains the driving centerline, curb position, and vehicle position of the autonomous sanitation vehicle in real time from a semantic map. When the vehicle is in a straight area, the motor speed of the working motor is adjusted according to the curb position and the distance between the curbs on both sides of the vehicle. When the vehicle is in a curved area, the motor speed of the working motor is adjusted according to the curvature of the driving centerline and the distances to the curbs. The working motor drives the cleaning components to perform flushing operations according to the motor speed, thereby achieving flexible cleaning of different numbers and types of roads. By adjusting the motor speed in combination with the curb distance and curvature, the system can dynamically adjust the on / off state of the flushing operation and the amount of water sprayed, fully meeting the needs of daily operation and effectively improving the efficiency of road cleaning.

[0129] Please see Figure 3 , Figure 3 The diagram shows a structural block diagram of an autonomous sanitation vehicle operation adjustment device according to Embodiment 3 of the present invention.

[0130] This invention provides an adjustment device for an autonomous sanitation vehicle, applied to the autonomous driving system of the vehicle. The autonomous driving system is communicatively connected to the operating motors located on the left and right sides. The device includes:

[0131] The location acquisition module 301 is used to acquire the driving centerline, roadside position and vehicle position of the autonomous sanitation vehicle in real time from the semantic map;

[0132] The straight road adjustment module 302 is used to adjust the motor speed of the working motor according to the distance between the curb position and the two sides of the vehicle position when the vehicle is in a straight road area.

[0133] The curve adjustment module 303 is used to adjust the motor speed of the working motor according to the curvature change of the driving center line and the distance of each road edge when the vehicle is in a curve area.

[0134] The flushing module 304 is used to drive the cleaning components to perform flushing operations via the working motor according to the motor speed.

[0135] Optionally, the straight-line adjustment module 302 includes:

[0136] The roadside distance determination submodule is used to detect the straight-line distance between the roadside position and the two sides of the vehicle position when the vehicle is in a straight road area, and superimpose the half value of the width of the autonomous sanitation vehicle as the roadside distance.

[0137] The first motor speed adjustment submodule is used to adjust the motor speed of all working motors to the maximum flushing value if all roadside distances are greater than the preset first distance threshold.

[0138] The distance adjustment determination submodule is used to determine the roadside distance as the adjustment distance if there is any roadside distance that is less than or equal to a preset second distance threshold.

[0139] The second motor speed adjustment submodule is used to adjust the motor speed of the working motor belonging to the adjustment distance based on the distance difference between the first distance threshold and the adjustment distance;

[0140] The third motor speed adjustment submodule is used to adjust the motor speed of all working motors to the normal flushing value if all roadside distances are greater than the second distance threshold and less than or equal to the first distance threshold.

[0141] Optionally, the second motor speed adjustment submodule is specifically used for:

[0142] Calculate the distance difference between the first distance threshold and the adjusted distance;

[0143] Calculate the adjustment ratio between the distance difference and the preset step size;

[0144] The motor speed of the working motor corresponding to the adjustment distance is reduced according to the product of the adjustment ratio and the preset adjustment gradient.

[0145] Optionally, the curve adjustment module 303 is specifically used for:

[0146] When the vehicle is located in a curve area, the curve direction of the curve area is obtained from the semantic map;

[0147] The adjustment gradient of the working motor in the curve direction is determined at each moment by matching the preset adjustment gradient table with the curvature change of the driving centerline.

[0148] Adjust the motor speed of the motor corresponding to the direction of the curve according to the adjustment gradient.

[0149] Optionally, the autonomous driving system also communicates with upstream perception components, and the device also includes:

[0150] The moving object localization module is used to map the moving object recognition results and predicted movement trajectories sent by the upstream sensing components to a semantic map to locate the moving object's position.

[0151] The motor speed maintenance module is used to ignore the moving object if the moving object is within the curb and maintain the motor speed of the currently operating motor.

[0152] The first operation stop module is used to stop the autonomous sanitation vehicle at a preset distance before the overlapping position if the location of the moving object is not within the curb and the predicted moving trajectory overlaps with the forward trajectory of the autonomous sanitation vehicle, until the predicted moving trajectory and the forward trajectory do not overlap.

[0153] Optionally, the device further includes:

[0154] The environmental information parsing module is used to parse environmental information when it receives environmental information sent by the upstream sensing component.

[0155] The second operation stop module is used to stop the autonomous sanitation vehicle and its operating motor if the environmental information meets the preset stop conditions, until the environmental information no longer meets the stop conditions.

[0156] Optionally, the device further includes:

[0157] The lane number acquisition module is used to obtain the lane number from the semantic map in real time;

[0158] The gear selection module is used to determine the target motor gear based on the matching result between the number of lanes and the preset motor gears;

[0159] The gear adjustment module is used to adjust the motor speed of the two working motors according to the target motor gear.

[0160] The flushing operation execution module is used to drive the cleaning components to perform flushing operations via the working motor according to the motor speed.

[0161] This invention provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the autonomous driving sanitation vehicle operation adjustment method as described in any embodiment of this invention.

[0162] This invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the autonomous sanitation vehicle operation adjustment method as described in any embodiment of this invention.

[0163] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and sub-modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0164] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, 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; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0165] 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 this embodiment according to actual needs.

[0166] Furthermore, the functional units in the various embodiments of the present invention 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.

[0167] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0168] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the operation of an autonomous sanitation vehicle, characterized in that, An autonomous driving system applied to an autonomous sanitation vehicle, the autonomous driving system being communicatively connected to left and right-mounted operating motors, the method comprising: The driving centerline, roadside position, and vehicle position of the autonomous sanitation vehicle are obtained in real time from the semantic map. When the vehicle is in a straight section of road, the speed of the working motor is adjusted according to the distance between the curb and the two sides of the vehicle. When the vehicle is in a curved area, the motor speed of the working motor is adjusted according to the curvature change of the driving center line and the distance of each road edge; The cleaning components are driven by the working motor to perform flushing operations according to the motor speed. The step of adjusting the motor speed of the working motor based on the distance between the curb position and both sides of the vehicle position when the vehicle is in a straight section includes: When the vehicle is in a straight road area, the straight distance between the curb position and the two sides of the vehicle position is detected respectively, and the half value of the width of the autonomous sanitation vehicle is added as the curb distance. If all the roadside distances are greater than the preset first distance threshold, then the motor speed of all the working motors will be adjusted to the maximum flushing value. If there exists a road edge distance that is less than or equal to a preset second distance threshold, then the road edge distance is determined as the adjustment distance; Based on the distance difference between the first distance threshold and the adjustment distance, adjust the motor speed of the operating motor corresponding to the adjustment distance; If all the roadside distances are greater than the second distance threshold and less than or equal to the first distance threshold, then the motor speed of all the working motors will be adjusted to the normal flushing value. The step of adjusting the motor speed of the working motor according to the curvature change of the driving centerline and the distances to each curb when the vehicle is in a curved area includes: When the vehicle is located in a curve area, the curve direction of the curve area is obtained from the semantic map; The adjustment gradient of the working motor belonging to the curve direction at each moment is determined by matching the preset adjustment gradient table according to the curvature change of the driving center line; Adjust the motor speed of the working motor corresponding to the curve direction according to the adjustment gradient.

2. The method according to claim 1, characterized in that, The step of adjusting the motor speed of the working motor to which the adjustment distance belongs based on the distance difference between the first distance threshold and the adjustment distance includes: Calculate the distance difference between the first distance threshold and the adjusted distance; Calculate the adjustment ratio between the distance difference and the preset step size; The motor speed of the working motor corresponding to the adjustment distance is reduced according to the multiplication between the adjustment ratio and the preset adjustment gradient.

3. The method according to claim 1, characterized in that, The autonomous driving system is also communicatively connected to upstream perception components, and the method further includes: The moving object identification results and predicted movement trajectories sent by the upstream sensing component are mapped to the semantic map to locate the moving object's position. If the moving object is located within the curb, then ignore the moving object and maintain the current motor speed of the operating motor; If the moving object is not located within the curb and the predicted movement trajectory overlaps with the forward trajectory of the autonomous sanitation vehicle, the autonomous sanitation vehicle will stop at a preset distance before the overlapping position until the predicted movement trajectory and the forward trajectory no longer overlap.

4. The method according to claim 3, characterized in that, The method further includes: When environmental information is received from the upstream sensing component, the environmental information is parsed. If the environmental information meets the preset stopping conditions, then the autonomous sanitation vehicle and the operating motor are stopped until the environmental information no longer meets the stopping conditions.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Get the number of lanes in real time from the semantic map; The target motor gear is determined based on the matching result between the number of lanes and the preset motor gear. Adjust the motor speed of the two working motors according to the target motor gear; The cleaning components are driven by the working motor to perform flushing operations according to the motor speed.

6. An automatic sanitation vehicle operation adjustment device, characterized in that, An autonomous driving system for use in autonomous sanitation vehicles, wherein the autonomous driving system is communicatively connected to left and right-mounted operating motors, the device comprising: The location acquisition module is used to acquire the driving centerline, roadside location, and vehicle location of the autonomous sanitation vehicle in real time from the semantic map; The straight-line adjustment module is used to adjust the motor speed of the working motor according to the distance between the curb position and the two sides of the vehicle position when the vehicle is in a straight-line area. The curve adjustment module is used to adjust the motor speed of the working motor according to the curvature change of the driving centerline and the distance of each road edge when the vehicle is in a curve area. The flushing module is used to drive the cleaning components to perform flushing operations via the working motor according to the motor speed. The straight track adjustment module includes: The roadside distance determination submodule is used to detect the straight-line distance between the roadside position and both sides of the vehicle position when the vehicle position is in a straight road area, and add half of the width of the autonomous sanitation vehicle as the roadside distance. The first motor speed adjustment submodule is used to adjust the motor speed of all the working motors to the maximum scouring value if all the road edge distances are greater than the preset first distance threshold. The distance adjustment determination submodule is used to determine the roadside distance as the adjustment distance if there is any roadside distance that is less than or equal to a preset second distance threshold. The second motor speed adjustment submodule is used to adjust the motor speed of the working motor to which the adjustment distance belongs based on the distance difference between the first distance threshold and the adjustment distance; The third motor speed adjustment submodule is used to adjust the motor speed of all the working motors to the normal flushing value if all the road edge distances are greater than the second distance threshold and less than or equal to the first distance threshold. The curve adjustment module is specifically used for: When the vehicle is located in a curve area, the curve direction of the curve area is obtained from the semantic map; The adjustment gradient of the working motor belonging to the curve direction at each moment is determined by matching the preset adjustment gradient table according to the curvature change of the driving center line; Adjust the motor speed of the working motor corresponding to the curve direction according to the adjustment gradient.

7. An electronic device, characterized in that, The system includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the autonomous sanitation vehicle operation adjustment method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the autonomous driving sanitation vehicle operation adjustment method as described in any one of claims 1-5.

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