Vehicle control methods, devices, equipment and computer storage media

Abstract

This application discloses a vehicle control method, apparatus, device, and computer storage medium. The vehicle control method includes: acquiring the vehicle's pose information relative to the loading dock while the vehicle is traveling towards it; acquiring ground slope information if the pose information meets preset pose conditions, wherein the preset pose conditions include the distance from the vehicle to the loading dock being less than or equal to a first distance threshold and greater than a second distance threshold; and controlling the vehicle's speed towards the loading dock based on the ground slope information. In this embodiment, the ground slope information is considered when controlling the vehicle speed as it travels towards the loading dock, which helps the vehicle adapt to loading dock scenarios with different terrains and improves the reliability of vehicle-loading docking.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a vehicle control method, device, equipment and computer storage medium. Background Technology

[0002] Currently, autonomous vehicles are gradually appearing in people's lives. For example, autonomous vehicles used for cargo transportation can automatically drive to the loading dock to load and unload goods.

[0003] In related technologies, autonomous vehicles rarely consider the influence of the driving environment when driving to the loading dock, making it difficult for the vehicle to reliably park near the loading dock. Summary of the Invention

[0004] This application provides a vehicle control method, apparatus, device, and computer storage medium to address the problem that related technologies often fail to consider the influence of the driving environment, making it difficult for vehicles to reliably park near the loading dock.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] During the process of the vehicle moving toward the loading platform, the vehicle's position and orientation information relative to the loading platform is acquired.

[0007] If the pose information meets the preset pose conditions, the ground slope information is obtained. The preset pose conditions include that the distance from the vehicle to the loading platform is less than or equal to a first distance threshold and greater than a second distance threshold.

[0008] The vehicle's speed toward the loading platform is controlled based on the ground slope information.

[0009] Secondly, embodiments of this application provide a vehicle control device, the device comprising:

[0010] The first acquisition module is used to acquire the vehicle's pose information relative to the cargo platform while the vehicle is moving toward the cargo platform.

[0011] The second acquisition module is used to acquire ground slope information when the pose information meets the preset pose conditions. The preset pose conditions include that the distance from the vehicle to the loading platform is less than or equal to a first distance threshold and greater than a second distance threshold.

[0012] The first control module is used to control the vehicle's speed toward the loading platform based on the ground slope information.

[0013] Thirdly, embodiments of this application provide an electronic device, the device including: a processor and a memory storing computer program instructions;

[0014] When the processor executes computer program instructions, it implements the vehicle control method as described in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle control method as described in the first aspect.

[0016] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect.

[0017] The vehicle control method provided in this application acquires the vehicle's pose information relative to the loading dock as the vehicle travels towards it. If the pose information meets preset pose conditions, ground slope information is acquired. Based on the ground slope information, the vehicle's speed towards the loading dock is controlled. The preset pose conditions include the distance from the vehicle to the loading dock being less than or equal to a first distance threshold and greater than a second distance threshold. In this application embodiment, the ground slope information is considered when controlling the vehicle speed as it travels towards the loading dock, which helps the vehicle adapt to loading dock scenarios with different terrains and improves the reliability of the vehicle-loading dock connection. Attached Figure Description

[0018] 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.

[0019] Figure 1 This is a schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0020] Figure 2 This is an example diagram of an application scenario where a vehicle moves towards a loading dock;

[0021] Figure 3 This is a schematic diagram illustrating the principle of closed-loop speed control when the ground slope information indicates a downhill slope.

[0022] Figure 4 This is a schematic diagram illustrating the principle of closed-loop speed control when the ground slope information indicates uphill or flat ground.

[0023] Figure 5 This is a diagram showing the vehicle arriving at the docking position with the loading platform;

[0024] Figure 6 This is a flowchart illustrating the above vehicle control method in a specific application example;

[0025] Figure 7 This is a schematic diagram of the vehicle control device provided in the embodiments of this application;

[0026] Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0027] 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.

[0028] 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 the element.

[0029] To address the problems of the prior art, embodiments of this application provide a vehicle control method, apparatus, device, and computer storage medium. The vehicle control method provided in this application embodiment will be described first below.

[0030] Figure 1 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown. Figure 1 As shown, the method includes:

[0031] Step 101: During the process of the vehicle moving towards the cargo platform, obtain the vehicle's position and pose information relative to the cargo platform.

[0032] Step 102: If the pose information meets the preset pose conditions, obtain the ground slope information. The preset pose conditions include that the distance from the vehicle to the loading platform is less than or equal to a first distance threshold and greater than a second distance threshold.

[0033] Step 103: Control the vehicle's speed toward the loading platform based on the ground slope information.

[0034] The vehicle control method provided in this application can be applied to autonomous vehicles. Autonomous vehicles can be driverless vehicles or other vehicles with driver assistance functions, and no specific limitation is made here.

[0035] In step 101, the vehicle can be in a state of moving towards the cargo platform.

[0036] For example, a vehicle may need to travel towards a known loading dock in order to load and unload goods. If the location of the loading dock is known, the vehicle can plan its route based on its starting point and the location of the loading dock, and then travel along the planned route towards the loading dock.

[0037] In some application scenarios, when a vehicle is within a preset distance range from the loading dock, such as a distance of less than or equal to 200m from the loading dock, a partial driving path can be planned for the vehicle to reach the loading dock. This partial driving path can take into account the vehicle's starting and ending poses.

[0038] Of course, in other application scenarios, the vehicle may be driving towards the loading dock from a relatively far location. When the vehicle is more than 200 meters away from the loading dock, it still plans a global navigation path. Accordingly, the planned driving path used by the vehicle when moving towards the loading dock may also include the global navigation path.

[0039] In some possible application scenarios, when the vehicle is a manned vehicle with assisted driving functions, there may be a process of manual intervention during the process of the vehicle moving towards the cargo platform.

[0040] The above are examples illustrating some scenarios of a vehicle moving towards a loading platform. While moving towards the loading platform, the vehicle can obtain its positional information relative to the platform.

[0041] In some implementations, the vehicle may be equipped with sensors such as lidar or cameras, and based on the sensing information collected by these sensors, the vehicle can obtain its own position and orientation information relative to the cargo platform.

[0042] For example, when a vehicle is equipped with a lidar, feature extraction can be performed on the point cloud data collected by the lidar to obtain the position and orientation of the loading platform, and then the relative pose of the vehicle and the loading platform can be obtained.

[0043] For example, if a vehicle is equipped with a camera, features can be extracted from the images captured by the camera to obtain the position and orientation of the cargo platform, and then the relative pose of the vehicle and the cargo platform can be obtained.

[0044] In other implementations, the vehicle can also obtain the position and orientation of the cargo platform in the map coordinate system or the geodetic coordinate system by means of a map, and obtain its own position and orientation in the map coordinate system or the geodetic coordinate system by means of positioning equipment and inertial sensing units installed on the vehicle, thereby obtaining its own position and orientation information relative to the cargo platform.

[0045] In step 102, if the pose information meets the preset pose conditions, the vehicle can acquire ground slope information.

[0046] In this step, the preset pose conditions may include the distance from the vehicle to the loading platform being less than or equal to a first distance threshold and greater than a second distance threshold.

[0047] In some application scenarios, when a vehicle is near the loading dock but there is still a certain distance between it and the loading dock, the vehicle should have a continuous tendency to move towards the loading dock. On the other hand, it should often drive at a reasonable speed to avoid large misalignment between the vehicle and the loading dock due to interference, and also to avoid a violent collision between the vehicle and the loading dock during braking.

[0048] A distance from the vehicle to the loading dock that is less than or equal to a first distance threshold means that the vehicle has reached the vicinity of the loading dock. For example, the first distance threshold could be 1 meter. A distance from the vehicle to the loading dock that is greater than a second distance threshold means that the vehicle is still some distance away from the loading dock and may not have reached the optimal loading / unloading position. For example, the second distance threshold could be any value between 0.1 and 0.15 meters.

[0049] Of course, the examples of the first and second distance threshold values ​​above are for the purpose of making it easier to understand the vehicle's location more intuitively. In practical applications, these distance thresholds can be set as needed, and no specific restrictions are made here.

[0050] In some application scenarios, when the distance between the vehicle and the loading platform is between a second distance threshold and a third distance threshold, the vehicle can be considered to have met the preset pose conditions. At this time, the vehicle can further acquire ground slope information to better achieve stable control of the vehicle's driving process under different slope environments.

[0051] Of course, in other application scenarios, preset position and pose conditions can take into account more factors, such as the relative posture or lateral distance between the vehicle and the platform.

[0052] In some examples, ground slope information can be determined using Euler angle information collected by the positioning module in the vehicle. In other examples, ground slope information can be obtained using high-precision maps with elevation information.

[0053] Ground slope information indicates whether a vehicle is on an uphill, downhill, or flat surface. Uphill, downhill, or flat surface can be defined based on the road surface angle. For example, a road surface with an angle greater than 5° can be defined as uphill, a road surface with an angle greater than or equal to -5° and less than or equal to 5° can be defined as flat, and a road surface with an angle less than -5° can be defined as downhill. Of course, these angle values ​​are just examples; in practical applications, adjustments can be made as needed.

[0054] In step 103, the vehicle can control its speed toward the loading platform based on the ground slope information.

[0055] In this embodiment, the vehicle controls its speed toward the loading platform based on the ground slope information. This can be done by controlling the numerical value of the vehicle's speed, by selectively controlling the actuators that affect the vehicle's speed, or by a combination of both.

[0056] For example, when the ground slope information indicates that the vehicle is going uphill, it can be controlled to travel at a first speed value. When the ground slope information indicates that the vehicle is going downhill, it can be controlled to travel at a second speed value. Both the first and second speed values ​​can be small speed values, but their specific values ​​can be different.

[0057] For example, when the vehicle is going uphill, the ground slope information can indicate that it should be in a gear that can output power, such as reverse or drive, and the throttle should be controlled to regulate the vehicle's speed. When the vehicle is going downhill, the ground slope information can indicate that it should be in neutral and the brakes should be controlled to regulate the vehicle's speed.

[0058] The vehicle control method provided in this application acquires the vehicle's pose information relative to the loading dock as the vehicle travels towards it. If the pose information meets preset pose conditions, ground slope information is acquired. Based on the ground slope information, the vehicle's speed towards the loading dock is controlled. The preset pose conditions include the distance from the vehicle to the loading dock being less than or equal to a first distance threshold and greater than a second distance threshold. In this application embodiment, the ground slope information is considered when controlling the vehicle speed as it travels towards the loading dock, which helps the vehicle adapt to loading dock scenarios with different terrains and improves the reliability of the vehicle-loading dock connection.

[0059] Optionally, the preset pose conditions also include:

[0060] The angle between the vehicle's heading angle and the cargo platform's orientation direction is less than the included angle threshold.

[0061] The lateral distance error between the vehicle and the loading platform is less than or equal to the third distance threshold.

[0062] like Figure 2 As shown, Figure 2 This is an example diagram of an application scenario where a vehicle travels towards a loading dock. In this scenario, the loading dock can be located at the entrance of the warehouse, and the vehicle travels towards the loading dock, either towards a target parking space adjacent to the loading dock.

[0063] Combination Figure 2 As can be seen, the platform can have a directional orientation, corresponding to... Figure 2 The upward direction in the middle. In order to facilitate loading and unloading at the loading dock, the vehicle often needs to have a suitable relative positional relationship with the loading dock.

[0064] For example, when loading and unloading goods from the rear, the vehicle's length direction (corresponding to the heading angle) often needs to be parallel to (or perpendicular to) the orientation of the loading platform. In addition, the lateral distance between the vehicle and the loading platform should not be too large; this lateral distance can be the distance between the vehicle and the cargo door in the vehicle's width direction, to facilitate loading and unloading.

[0065] like Figure 2 As shown, Figure 2 The target parking space is marked with a reference line, which can be referred to as the stop line for ease of explanation. This stop line corresponds to the endpoint position in the local path planning described above. In one example, the distance from the stop line to the loading dock can be equal to or approximately equal to the first distance threshold mentioned above.

[0066] When the vehicle reaches the stop line, its position relative to the loading platform can meet the above-mentioned preset position conditions. Under these circumstances, the vehicle can reliably dock with the loading platform without needing or requiring minimal adjustments to its attitude during its journey from the stop line to the loading platform.

[0067] In other words, in this embodiment, by setting preset position and posture conditions, the vehicle can be aligned with the docking position when it is near the dock but at a certain distance from it. Subsequently, the vehicle can simply control its speed according to the ground slope information to accurately dock with the dock, avoiding repeated adjustments to the vehicle's posture and simplifying the docking process between the vehicle and the dock.

[0068] Optionally, based on ground slope information, the vehicle's speed toward the loading platform is controlled, including:

[0069] When the ground slope information indicates a downhill slope, control the vehicle to drive in neutral and control the vehicle speed by controlling the brakes.

[0070] As shown above, vehicle speed control can include controlling the vehicle's speed data and / or selecting and controlling the vehicle's actuators. In this embodiment, when the ground slope information indicates a downhill slope, the vehicle can be controlled to drive in neutral, and the vehicle speed can be controlled based on the control of actuators such as brakes.

[0071] like Figure 3 As shown, Figure 3 This is a schematic diagram of the closed-loop control principle for vehicle speed when the ground slope information indicates a downhill slope in one implementation.

[0072] In this implementation, the vehicle can plan its speed towards the loading platform (corresponding to the precise stopping speed planning in the diagram) to obtain the desired speed. For example, if the ground slope information indicates a downhill slope, the vehicle can set the desired speed to 0.2–0.5 m / s and keep the gear in neutral. Of course, the above desired speed can also be adjusted as needed.

[0073] The vehicle may include a PID controller (corresponding to the precise stopping PID controller in the diagram), which can control the vehicle's actuators according to the desired speed.

[0074] It is easy to understand that when the vehicle is in neutral, the control of the throttle usually does not affect the speed of the vehicle. Therefore, in this embodiment, the PID controller can send a braking control signal to the vehicle's brakes to control the speed of the vehicle.

[0075] Generally, vehicles may experience various disturbances during operation. Vehicles can obtain status information such as speed through speed sensors or positioning modules, and feed this status information back to the controller and PID controller used for speed planning to achieve closed-loop control of vehicle speed.

[0076] Of course, the above are some examples of vehicle speed control methods when the ground slope information indicates a downhill slope. In practical applications, the PID controller described above can be replaced with a PI controller or other types of controllers. Alternatively, in some feasible solutions, the closed-loop speed control process described above can be replaced with open-loop control, etc. Feasible vehicle speed control methods will not be listed here.

[0077] In this embodiment, when the ground slope information indicates a downhill slope, the vehicle is controlled to drive in neutral. The vehicle speed is controlled by controlling the vehicle's brakes, which can reduce vehicle energy consumption and simplify vehicle speed control.

[0078] Optionally, after controlling the vehicle to travel in neutral and controlling the vehicle's speed by controlling the vehicle's brakes, the method further includes:

[0079] If the vehicle fails to reach the loading dock within the preset time range, control the vehicle to reverse and control the vehicle's speed by controlling the throttle.

[0080] In some application scenarios, vehicles may be affected by factors such as slope and driving resistance, making it difficult to reach the location of the loading dock (hereinafter referred to as the docking position with the loading dock) by driving in neutral.

[0081] Therefore, in this embodiment, a preset time range can be set, for example, the preset time range can be 20 seconds. The timer starts when the vehicle's position information meets the preset position conditions. If the vehicle fails to reach the docking position with the platform within 20 seconds, it means that the vehicle has difficulty reaching the docking position under neutral conditions.

[0082] If the vehicle fails to reach the dock within the preset time frame, the vehicle can be put into reverse gear so that the vehicle's power unit can continue to drive the vehicle. The vehicle speed can be controlled by controlling the throttle to ensure that the vehicle can reach the docking position.

[0083] In some implementations, if the ground slope information indicates a downhill slope, and the vehicle travels to the loading dock while being in neutral and reverse gear, the desired speed when the vehicle is in neutral can be set to be greater than the desired speed when the vehicle is in reverse gear.

[0084] For example, the expected speed when the vehicle is in neutral can be 0.2-0.5 m / s, while the expected speed when in reverse can be 0.06-0.1 m / s. On the one hand, after driving in neutral, the vehicle is already relatively close to the loading platform. Using a lower expected speed when driving in reverse can avoid a violent collision between the vehicle and the loading platform. On the other hand, it can also avoid the vehicle speed being too high due to the speed increase effect of going downhill.

[0085] Optionally, based on ground slope information, the vehicle's speed toward the loading platform is controlled, including:

[0086] If the ground slope information does not indicate a downhill slope, control the vehicle to reverse and control the vehicle's speed by controlling the accelerator.

[0087] When the ground slope information is not downhill, there may be two situations: uphill or flat ground. In this case, it is often necessary to provide power to the vehicle so that it can move further to the docking position with the loading platform.

[0088] Therefore, in this embodiment, when the ground slope information indicates that it is not downhill, the vehicle is controlled to reverse. It is easy to understand that in this embodiment, the controlled vehicle speed is specifically the speed at which the vehicle moves towards the loading platform. Driving in reverse can allow the vehicle to proceed to the docking position, enabling loading and unloading from behind the vehicle.

[0089] If the ground slope information is not downhill, and the vehicle is in reverse gear, the vehicle speed can be controlled by controlling the accelerator.

[0090] It's easy to understand that in practical applications, the vehicle can be a gasoline-powered car, an electric car, or a hybrid electric car. The accelerator can be the actuator in these vehicles used to control the power delivery.

[0091] like Figure 4 As shown, Figure 4 This is a schematic diagram of the closed-loop control principle for vehicle speed when the ground slope information indicates uphill or flat ground in one implementation.

[0092] In this implementation, the vehicle can plan its speed towards the loading platform (corresponding to the precise stopping speed planning in the diagram) to obtain the desired speed. For example, if the ground slope information indicates a downhill slope, the vehicle can set the desired speed to 0.2–0.5 m / s and control the gear to be in reverse. Of course, the above desired speed can also be adjusted as needed.

[0093] The vehicle may include a PID controller (corresponding to the precise stopping PID controller in the diagram), which controls the vehicle's actuators according to the desired speed. In this embodiment, the PID controller may send a throttle control signal to the vehicle's throttle to control the vehicle's throttle.

[0094] Generally, vehicles may experience various disturbances during operation. Vehicles can obtain status information such as speed through speed sensors or positioning modules, and feed this status information back to the controller and PID controller used for speed planning to achieve closed-loop control of vehicle speed.

[0095] In this embodiment, when the ground slope information indicates that it is not downhill, the vehicle is controlled to drive in reverse. The vehicle speed is controlled by controlling the throttle, which can ensure that the vehicle can reliably reach the cargo platform. At the same time, the vehicle speed is controlled by controlling the throttle, and the control process is relatively simple.

[0096] Optionally, before obtaining the vehicle's pose information relative to the loading platform, the method further includes:

[0097] Determine the starting point and the route locations;

[0098] The vehicle is planned to travel from the starting point to the passing point. When the vehicle travels to the passing point according to the first travel path, the position and posture information meets the preset position and posture conditions.

[0099] During the vehicle's journey to the platform, local path planning may be necessary. For example, when the vehicle reaches within 200 meters of the platform, obstacle avoidance algorithms may be used to plan a local travel path. The starting position mentioned above can be the starting position of a rectangular travel path, and correspondingly, the first travel path can be a local travel path.

[0100] Of course, as shown above, there may also be a global navigation path planning process during vehicle operation. The starting position can be the starting position of the global navigation path, and the first driving path can include both the global navigation path and the local driving path.

[0101] The route location can be the end point of the first driving path. At the same time, the route location can also be understood as the route location of the vehicle's driving path from the starting point to the docking point with the cargo platform.

[0102] In the process of planning the first driving path, the above-mentioned preset position and posture conditions can be used as constraints so that when the vehicle travels to the location it passes through according to the first driving path, the position and posture information meets the preset position and posture conditions.

[0103] In conjunction with the above text Figure 2 Explanation of the corresponding application scenarios, Figure 2 The stop line can be located at the path location in this embodiment.

[0104] In one example, the position of the stop line can be obtained by shifting the edge line of the platform in the direction the platform is facing by a first distance threshold, thereby ensuring that the lateral and longitudinal distances between the stop line and the edge line of the platform are within a suitable range.

[0105] When planning the first driving path, the position of the stop line can be determined as the transit position, and the orientation of the cargo platform can be determined as the attitude constraint of the transit position. In this way, when the vehicle travels to the transit position according to the first driving path, the pose information can satisfy the above-mentioned pose conditions.

[0106] In this embodiment, by planning the first driving path, the vehicle can be precisely aligned with the platform when it is some distance away from the platform. Subsequently, the vehicle can drive to the docking position by simply planning the speed. This can effectively avoid the vehicle having to repeatedly adjust its posture while driving to the platform, thus reducing the difficulty of vehicle control.

[0107] Optionally, after controlling the vehicle's speed based on ground slope information, the method further includes:

[0108] If the distance between the vehicle and the loading platform is less than or equal to the second distance threshold, control the vehicle to brake.

[0109] In some examples, the second distance threshold can be any value between 0.1 and 0.15 m. When the distance between the vehicle and the loading platform is less than or equal to the second distance threshold, the vehicle can brake. On the one hand, the vehicle can move further toward the loading platform by deceleration. On the other hand, it can also prevent the vehicle from having a violent collision with the loading platform when it reaches the docking position, thus improving the stability of the vehicle.

[0110] like Figure 5 As shown, Figure 5 This is a diagram showing the vehicle's arrival at the docking position with the loading platform. (Combined with...) Figure 2 and Figure 5 As can be seen, a simple reversing maneuver of the vehicle can move it from the stop line to the docking position with little or no adjustment to the vehicle's posture, while also effectively ensuring the docking accuracy between the vehicle and the loading platform.

[0111] It is worth noting that the above is an example of the value of the second distance threshold. In practical applications, the second distance threshold can be adjusted according to actual needs.

[0112] like Figure 6 As shown, Figure 6 This is a flowchart illustrating the vehicle control method described above in a specific application example. The method can be applied to autonomous vehicles and includes steps 601 to 613.

[0113] Step 601: The vehicle approaches the target loading dock.

[0114] As a vehicle moves from one loading dock to another, the first scenario can be a lane-following scenario. In this scenario, the planning module generates a motion trajectory curve based on upstream perception and map data, taking into account various elements such as avoidance and lane changing. The motion trajectory curve includes a speed curve and a trajectory curve. Based on the motion trajectory curve and the actual state of the vehicle, the vehicle control module generates reasonable throttle / brake control and steering control to control the vehicle to travel along the trajectory curve at the desired speed, completing various scenario functions such as exiting the warehouse, stopping when encountering obstacles, slowing down when encountering speed bumps, avoiding obstacles, and changing lanes, driving the vehicle to approach the target loading dock.

[0115] Step 602: Park the car.

[0116] There is a target parking space near the target loading dock. During the process of the vehicle parking into the target parking space, trajectory tracking and speed tracking can be performed.

[0117] Once a vehicle moves from the structured road to a certain distance from the target parking space (e.g., ≤200m from the target parking space), it enters the parking scenario and selects the target parking space, for example... Figure 2 The parking space is shown on the left side of the middle section.

[0118] At the same time, the vehicle control module will also receive the scene mode issued by the planning module, denoted as ScenarioType. ScenarioType includes lane following scene mode (denoted as LaneFollow), crossroads scene mode (denoted as CrossRoad), parking scene mode (denoted as ValetParking), etc.

[0119] The control module can switch control strategies according to ScenarioType, including lateral and longitudinal control strategies, to control the vehicle to travel along the parking trajectory at a certain speed, achieving trajectory tracking and speed tracking, while controlling the vehicle's lateral position error and heading angle error.

[0120] When the vehicle is near the parking trajectory dividing point (e.g.) Figure 2 When the vehicle's actual position error and heading angle error are within a certain range (as indicated by the pentagram position in the diagram), the planning module plans a speed curve with a final speed of 0. The control module then stops the vehicle and simultaneously executes the planned target gear reverse, entering reverse mode, tracking the reverse trajectory, and controlling the vehicle to slowly drive into the target parking space while ensuring accuracy. Figure 2 Near the stop line shown.

[0121] Step 603: Wait for the docking signal.

[0122] The vehicle can have preset operating modes (denoted as OperationMode), which can be divided into cargo docking mode (denoted as CargoDocking) and parking braking mode (denoted as Parking). The operating mode can be determined based on the distance between the vehicle and the cargo dock. Before entering cargo docking mode, the vehicle can wait for the cargo docking signal.

[0123] Step 604: Determine whether a docking signal has been received. If yes, proceed to step 605; otherwise, return to step 603.

[0124] From the vehicle's perspective, it can be determined whether the value of OperationMode is CargoDocking. If so, the vehicle receives the docking signal and will soon enter the docking mode; otherwise, it continues to determine whether the value of OperationMode is CargoDocking.

[0125] Step 605: Determine if the ground is downhill. Proceed to step 606. If not, proceed to step 610.

[0126] In one example, a vehicle can determine the current road slope based on the Euler angle information in the relative positioning information (odometry) from the positioning module.

[0127] Because the lateral position error and heading angle error are kept within a small range (e.g., lateral position error less than 10cm, heading angle error less than 1 degree) when the vehicle enters the warehouse and reaches the stop line, and the distance between the vehicle and the loading platform is not far (e.g., within 1 meter), Figure 5 The precise longitudinal distance for docking shown in the figure (the arrow on the right side of the vehicle indicates the direction of vehicle movement) has a limited range of vehicle attitude that can be adjusted by turning the steering wheel within this distance. Therefore, this process only controls the longitudinal speed to ensure the accuracy of the vehicle docking with the platform, while keeping the lateral steering wheel position at zero.

[0128] Step 606: Shift to neutral.

[0129] Step 607, Brake closed-loop control.

[0130] When the ground between the stop line and the loading platform is downhill, the specific closed-loop braking control process is as follows: Shift the gear to N (neutral) and allow the vehicle to coast freely under gravity. By controlling the opening and closing of the brakes, the closed-loop control maintains the vehicle speed within a certain range (0.2-0.5 m / s, configurable).

[0131] Step 608: Determine if the parking time is too long. If yes, proceed to step 609; otherwise, proceed to step 612.

[0132] During the reversing process, factors such as slope and driving resistance may cause the vehicle speed to be too slow or even stop, resulting in an excessively long parking time.

[0133] Step 609: Engage reverse gear and start again.

[0134] After the parking time exceeds the preset time, the vehicle shifts to reverse gear, controls the throttle to start the vehicle and continue reversing, and controls the vehicle to hit the rubber block on the cargo platform at a small speed (e.g., about 0.06-0.1 m / s) and with appropriate force.

[0135] After the vehicle is put into reverse and restarted, the vehicle speed can still be controlled using closed-loop control.

[0136] Step 610: Shift into reverse.

[0137] When the ground between the parking space and the loading dock is flat or uphill, take the following measures: shift the gear to reverse and release the brake at the same time.

[0138] Step 611, throttle closed-loop control.

[0139] Closed-loop control keeps the vehicle speed within a certain range (0.2-0.5m / s, configurable) to control the vehicle to impact the rubber blocks on the cargo platform with a small speed and appropriate force.

[0140] Step 612, successful docking.

[0141] Once the distance between the vehicle's cargo box and the loading platform is within a certain range (the sensing device detects the distance between the vehicle's cargo box and the loading platform, for example, 0.1-0.15m), the gear is shifted to neutral, the parking brake is activated, and the loading platform is parked.

[0142] Step 613: Exit autonomous driving.

[0143] Disengage from autonomous driving and wait for loading and unloading.

[0144] In this specific application example, the vehicle drives to the target platform through a reasonable operating procedure, performs high-precision parking, and accurately stops at the platform. Based on different road features (such as slope), different platform stopping actions are performed to adapt to different platform scenarios. Sensors detect the distance between the rear cargo box of the vehicle and the platform, and brake in time when approaching the platform to ensure that the autonomous vehicle approaches the platform at a low speed, achieving precise alignment between the vehicle and the platform.

[0145] As can be seen from the above specific application examples, the embodiments of this application can design a reasonable work process so that after a vehicle departs from one loading dock, it drives towards the target loading dock under the guidance of a reasonable trajectory. When the vehicle is about to arrive at the target loading dock, it stops in the target parking space through a high-precision parking method. Finally, the vehicle is slowly controlled to stop at the loading dock without repeated adjustments to its posture. It has the characteristics of simple process, adaptability to different loading dock scenarios, and high fitting accuracy.

[0146] like Figure 7 As shown in the figure, this application embodiment also provides a vehicle control device, the device including:

[0147] The first acquisition module 701 is used to acquire the vehicle's pose information relative to the cargo platform during the process of the vehicle moving towards the cargo platform.

[0148] The second acquisition module 702 is used to acquire ground slope information when the pose information meets the preset pose conditions. The preset pose conditions include that the distance from the vehicle to the loading platform is less than or equal to a first distance threshold and greater than a second distance threshold.

[0149] The first control module 703 is used to control the vehicle's speed toward the loading platform based on the ground slope information.

[0150] Optionally, the preset pose conditions also include:

[0151] The angle between the vehicle's heading angle and the cargo platform's orientation direction is less than the included angle threshold.

[0152] The lateral distance error between the vehicle and the loading platform is less than or equal to the third distance threshold.

[0153] Optionally, the first control module 703 may include:

[0154] The first control unit is used to control the vehicle to drive in neutral when the ground slope information indicates a downhill slope, and to control the vehicle speed by controlling the vehicle's brakes.

[0155] Optionally, the first control module 703 may further include:

[0156] The second control unit is used to control the vehicle to reverse if the vehicle fails to reach the loading dock within a preset time range, and to control the vehicle's speed by controlling the vehicle's throttle.

[0157] Optionally, the first control module 703 includes:

[0158] The third control unit is used to control the vehicle to reverse when the ground slope information indicates that it is not downhill, and to control the vehicle speed by controlling the throttle.

[0159] Optionally, the vehicle control device may also include:

[0160] The determination module is used to determine the starting point and the path location;

[0161] The planning module is used to plan the first driving path of the vehicle from the starting position to the passing position. When the vehicle travels to the passing position according to the first driving path, the pose information meets the preset pose conditions.

[0162] Optionally, the vehicle control device may also include:

[0163] The second control module is used to control the vehicle braking when the distance from the vehicle to the loading platform is less than or equal to a second distance threshold.

[0164] It should be noted that the vehicle control device is a device corresponding to the above-described vehicle control method. All implementation methods in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0165] Figure 8 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0166] Electronic devices may include a processor 801 and a memory 802 storing computer program instructions.

[0167] Specifically, the processor 801 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0168] Memory 802 may include mass storage for data or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 802 may include removable or non-removable (or fixed) media. Where appropriate, memory 802 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 802 is non-volatile solid-state memory.

[0169] In a particular embodiment, memory 802 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0170] The processor 801 implements any of the vehicle control methods described in the above embodiments by reading and executing computer program instructions stored in the memory 802.

[0171] In one example, the electronic device may also include a communication interface 803 and a bus 810. For example, Figure 8 As shown, the processor 801, memory 802, and communication interface 803 are connected through bus 810 and complete communication with each other.

[0172] The communication interface 803 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0173] Bus 810 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 810 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0174] Furthermore, in conjunction with the vehicle control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle control methods in the above embodiments.

[0175] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0176] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0177] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0178] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0179] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: During the process of the vehicle moving toward the loading platform, the vehicle's position and pose information relative to the loading platform is acquired; If the pose information meets the preset pose conditions, the ground slope information is obtained. The preset pose conditions include that the distance from the vehicle to the loading platform is less than or equal to a first distance threshold and greater than a second distance threshold. Based on the ground slope information, control the vehicle's speed toward the loading platform; The step of controlling the vehicle's speed toward the loading platform based on the ground slope information includes: When the ground slope information indicates a downhill slope, the vehicle is controlled to drive in neutral, and the vehicle's speed is controlled by controlling the vehicle's brakes. If the vehicle fails to reach the loading dock within a preset time range, the vehicle is controlled to reverse, and the vehicle's speed is controlled by adjusting the throttle.

2. The method according to claim 1, characterized in that, The preset pose conditions also include: The angle between the vehicle's heading angle and the cargo platform's orientation direction is less than the included angle threshold. The lateral distance error between the vehicle and the cargo platform is less than or equal to the third distance threshold.

3. The method according to claim 1, characterized in that, The step of controlling the vehicle's speed toward the loading platform based on the ground slope information includes: If the ground slope information indicates that it is not downhill, control the vehicle to drive in reverse and control the vehicle's speed by controlling the accelerator.

4. The method according to claim 1 or 2, characterized in that, Before obtaining the pose information of the vehicle relative to the loading platform, the method further includes: Determine the starting point and the route locations; A first driving path is planned for the vehicle from the starting position to the passing position. When the vehicle travels to the passing position according to the first driving path, the pose information satisfies the preset pose condition.

5. The method according to claim 1, characterized in that, After controlling the vehicle's speed based on the ground slope information, the method further includes: If the distance from the vehicle to the loading platform is less than or equal to a second distance threshold, the vehicle is controlled to brake.

6. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the position and pose information of the vehicle relative to the cargo platform during the process of the vehicle moving towards the cargo platform. The second acquisition module is used to acquire ground slope information when the pose information meets the preset pose conditions. The preset pose conditions include that the distance from the vehicle to the cargo platform is less than or equal to a first distance threshold and greater than a second distance threshold. The first control module is used to control the speed at which the vehicle travels toward the loading platform based on the ground slope information; The first control module includes: The first control unit is used to control the vehicle to drive in neutral when the ground slope information indicates a downhill slope, and to control the vehicle's speed by controlling the vehicle's brakes. The second control unit is used to control the vehicle to reverse when the vehicle fails to reach the loading dock within a preset time range, and to control the vehicle's speed by controlling the throttle of the vehicle.

7. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the vehicle control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the vehicle control method as described in any one of claims 1-5.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the vehicle control method as described in any one of claims 1-5.

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