A method, device and equipment for determining a stop point for avoiding vehicles on a one-way road in a mine

Abstract

The present invention discloses a method, device and equipment for determining a stop point for avoiding vehicles on a one-way underground road. The method includes obtaining a stop path for a vehicle to enter a stop point from a starting point to an end point based on a preset path coordinate system, and constructing a set of stop point coordinates according to the stop path; obtaining a straight path for a vehicle to pass through corresponding stop points from a starting point to an end point, and constructing a set of straight vehicle coordinates corresponding to the stop points according to the straight path; traversing and calculating the minimum distance between each coordinate point in the stop vehicle coordinate set and a coordinate point in the straight vehicle coordinate set, and constructing a set of minimum parking distances; determining the difference between each minimum distance in the set of minimum parking distances and a threshold value, and determining the stop point of the straight vehicle corresponding to the current stop point according to the size of the difference. The present invention solves the problem of difficulty in calibrating the stop point and the stop judgment point when autonomous driving vehicles meet and dispatch in mines.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle dispatching, and in particular to a method, device and equipment for determining a stopping point for vehicles to avoid meeting on a one-way road in a mine. Background Art

[0002] At present, the traditional underground mining industry uses manually driven vehicles to transport ore materials. Due to the harsh environment of underground mines and the shortage of labor resources, it is difficult to recruit truck drivers underground, so it is necessary to replace manually driven vehicles. In the process of replacing manually driven vehicles, due to the limitations of the underground environment, the communication width of the autonomous driving vehicle is limited and can only support one-way traffic. However, underground transportation operations are busy, and there are often multiple vehicles driving in opposite directions. At present, to solve the problem of meeting on a one-way street, it is usually necessary to set an avoidance point at a certain distance on the two-way one-way street, and the avoidance vehicle drives into the avoidance point for the straight-moving vehicles to pass, and the problem of chaotic vehicle traffic management is solved.

[0003] However, when autonomous driving vehicles meet, after the avoiding vehicle enters the avoidance point, how to design the route so that the straight-moving vehicle stops at the optimal waiting point to ensure the shortest parking waiting time; and how to design the route so that the straight-moving vehicle travels the shortest distance when the avoiding vehicle exits the avoidance point to ensure the shortest driving time for the straight-moving vehicle are design challenges.

[0004] Existing technologies mainly rely on maps to manually determine parking spots and avoid vehicles to determine the passing points of straight vehicles. Figure 1 The avoidance point No. 28 in the map, the avoidance vehicle turns right from point 5 to point 4, and then starts to reverse to the avoidance point No. 28. Currently, the parking and waiting vehicles can only be parked at point 3 by manually looking at the map, or a point is determined between points 3 and 4 by manual measurement. Using the estimation method to confirm the parking at point 3 may result in a long parking distance from the avoidance point, which is inefficient. Manual measurement needs to be measured according to the vehicle's driving process, and is related to the speed of the measured vehicle, and there is a certain degree of danger. Solve the problem through sensors. First, add distance sensors to the avoidance vehicle and the parking and waiting vehicle, so that the avoidance vehicle and the parking and waiting vehicle can continuously adjust their position points until there is no collision and the parking distance is the shortest. This method is inefficient and has a certain degree of danger. If there are many avoidance points, it will take a long time. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a method, device and equipment for determining a stop point for avoiding a vehicle when meeting on a one-way street underground, so as to solve the technical problem in the prior art that when two-way vehicles meet on a one-way street underground, the stop point for avoiding a vehicle going straight is unclear, resulting in low meeting efficiency.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for determining a stop point for avoiding vehicles on a one-way road in a mine, comprising:

[0008] Based on the preset path coordinate system, an avoidance path of the avoidance vehicle entering the avoidance point from the starting point to the end point is obtained, and a coordinate set of the avoidance vehicle entering the avoidance point is constructed according to the avoidance path; and a straight path of the straight-moving vehicle passing the corresponding avoidance point from the starting point to the end point is obtained, and a coordinate set of the straight-moving vehicle passing the corresponding avoidance point is constructed according to the straight-moving path;

[0009] Traversing and calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set, and constructing a parking minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set;

[0010] The difference between each minimum distance in the parking minimum distance set and a threshold is determined, and the parking point of the straight-moving vehicle corresponding to the current avoidance point is determined according to the size of the difference.

[0011] In some embodiments, the avoidance path includes the original direction driving path segment before avoidance and the reverse driving path segment when entering the avoidance point, and the straight path includes the stop area path segment close to the avoidance point;

[0012] The step of constructing the avoidance vehicle coordinate set and the straight-moving vehicle coordinate set includes:

[0013] Constructing the avoidance vehicle coordinate set according to the coordinates corresponding to each point of the original direction driving path segment and the reverse direction driving path segment;

[0014] The straight-moving vehicle coordinate set is constructed according to the coordinates corresponding to each point of the path segment of the stop area.

[0015] In some embodiments, the calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and a coordinate point in the straight-moving vehicle coordinate set includes:

[0016] A preset distance calculation method between two points is used to traverse and calculate the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set.

[0017] In some embodiments, the step of determining the difference between each minimum distance in the minimum distance set and a threshold value, and determining the parking point of the straight-moving vehicle corresponding to the current avoidance point according to the size of the difference, includes:

[0018] Determine whether the difference between each minimum distance and the threshold is a positive number;

[0019] If the difference is positive, then a minimum distance set to be selected with positive difference is constructed;

[0020] Each minimum distance in the minimum distance set to be selected is traversed and compared, and the straight-moving vehicle coordinate value corresponding to the minimum distance with the smallest value is marked as the straight-moving vehicle parking point corresponding to the current avoidance point.

[0021] In some embodiments, the avoidance path further includes an exit path segment when exiting the avoidance point, and the straight path further includes a meeting path segment when crossing the avoidance point from the parking point; and further includes:

[0022] The method for determining the exit point of the vehicle to be avoided when meeting and avoiding vehicles on a one-way road underground includes:

[0023] Constructing a set of coordinates for returning the avoiding vehicle to the correct position according to the coordinates corresponding to each point in the exit path segment;

[0024] Constructing a straight-moving vehicle meeting coordinate set according to the coordinates corresponding to each point in the meeting path segment;

[0025] Traversing and calculating the minimum distance between each coordinate point in the avoiding vehicle's return-to-alignment coordinate set and the coordinate point in the straight-moving vehicle's meeting coordinate set, and constructing a meeting minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle's return-to-alignment coordinate set and the coordinate point in the straight-moving vehicle's meeting coordinate set;

[0026] The difference between each minimum distance in the minimum meeting distance set and a threshold is determined, and the avoidance vehicle exit point corresponding to the current avoidance point is determined according to the size of the meeting difference.

[0027] In some embodiments, determining the difference between each minimum distance in the minimum meeting distance set and a threshold, and determining the avoidance vehicle exit point corresponding to the current avoidance point according to the size of the meeting difference, includes:

[0028] Determine whether the difference between each minimum distance and the threshold is a positive number;

[0029] If the meeting difference is positive, the minimum distance in the meeting minimum distance set corresponding to the positive meeting difference is used to construct the candidate meeting minimum distance set;

[0030] Determine each minimum distance in the set of minimum distances to be selected for meeting, and mark the coordinate value of the straight-moving vehicle corresponding to the smallest minimum distance value as the exit point of the avoiding vehicle corresponding to the current avoiding point;

[0031] When the straight-moving vehicle drives to the avoiding vehicle exit point, the avoiding vehicle starts to drive out of the avoiding point.

[0032] In some embodiments, the determining whether the difference between each minimum distance and the threshold is a positive number further includes:

[0033] If the oncoming vehicle difference is not a positive number, it indicates that the minimum distance corresponding to the oncoming vehicle difference is not a positive number does not meet the vehicle safety driving requirement.

[0034] In a second aspect, the present invention further provides a device for determining a stop point for avoiding vehicles on a one-way road in a mine, comprising:

[0035] A coordinate set construction module is used to obtain an avoidance path of an avoidance vehicle entering an avoidance point from a starting point to an end point based on a preset path coordinate system, and to construct a coordinate set of the avoidance vehicle entering the avoidance point according to the avoidance path; and to obtain a straight path of a straight-moving vehicle passing through a corresponding avoidance point from a starting point to an end point, and to construct a coordinate set of the straight-moving vehicle passing through the corresponding avoidance point according to the straight path;

[0036] a minimum distance determination module, configured to traverse and calculate the minimum distance between each coordinate point in the avoidance vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set, and construct a parking minimum distance set based on the minimum distance between each coordinate point in the avoidance vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set;

[0037] The straight vehicle parking point determination module is used to determine the difference between each minimum distance in the parking minimum distance set and a threshold value, and determine the straight vehicle parking point corresponding to the current avoidance point according to the size of the difference.

[0038] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0039] The memory stores a computer-readable program executable by the processor;

[0040] When the processor executes the computer-readable program, the steps in the method for determining a stopping point for avoiding vehicles on a one-way underground road as described above are implemented.

[0041] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement the steps in the method for determining a stopping point for avoiding vehicles on a one-way street underground as described above.

[0042] Compared with the prior art, the method, device and equipment for determining the stopping point for avoiding vehicles on a one-way underground road provided by the present invention first obtain the avoiding path of the avoiding vehicle entering the avoiding point from the starting point to the end point based on the preset path coordinate system, and construct the avoiding vehicle coordinate set entering the avoiding point according to the avoiding path; and obtain the straight path of the straight-moving vehicle passing the corresponding avoiding point from the starting point to the end point, and construct the straight-moving vehicle coordinate set of the avoiding point according to the straight-moving path; by constructing the coordinate set of the avoiding path and the straight-moving path, the correlation between the avoiding path and the diameter path can be established, thereby improving the accuracy of vehicle meeting and avoiding; then, the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set is traversed and calculated, and a parking minimum distance set is constructed; finally, the difference between each minimum distance in the parking minimum distance set and the threshold is determined, and the parking point of the straight-moving vehicle corresponding to the current avoiding point is determined according to the size of the difference. The present invention uses the correlation between the avoidance path and the straight path to calculate the position with the shortest distance between the avoidance path and the straight path in the same coordinate system, thereby determining the parking avoidance point and improving the accuracy of parking point selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flow chart of an embodiment of the method for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention, compared with a traditional method for determining a stopping point;

[0044] Figure 2 It is a flow chart of an embodiment of a method for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention;

[0045] Figure 3 It is a flow chart of an embodiment of step S103 in the method for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention;

[0046] Figure 4 It is a flow chart of an embodiment of a method for determining an exit point for an avoiding vehicle in a method for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention;

[0047] Figure 5 It is a schematic diagram of avoiding vehicles driving out in the method for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention;

[0048] Figure 6 It is a schematic diagram of an embodiment of a device for determining a stopping point for avoiding vehicles on a one-way underground road provided by the present invention;

[0049] Figure 7 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] In an underground environment, transport vehicles must travel in two directions when carrying out transport operations. As underground road construction is restricted by factors such as mining areas, mining difficulty, or mining personnel, it is difficult to build two-way lanes underground. Therefore, underground driving is achieved by building avoidance points on one side of the one-way road that can accommodate at least one vehicle. The avoidance points are distributed on one side of the road at intervals, and due to the complex environment underground, each avoidance point is of different sizes and shapes. It is understandable that each avoidance point can meet the requirements of avoiding vehicles entering, exiting, and parking.

[0052] Furthermore, if the parking point of the straight-moving vehicle is not properly selected, the straight-moving vehicle stops at a position far from the avoidance point and waits for the avoidance vehicle to enter the avoidance point before going straight, which will lead to low efficiency of meeting other vehicles and the time it takes for the straight-moving vehicle to pass the avoidance point is too long. If the parking point of the straight-moving vehicle is just the closest to the avoidance point and does not affect the avoidance vehicle's entry into the avoidance point, the efficiency of meeting other vehicles can be improved. Specifically, for example Figure 1 At the No. 28 meeting point, the vehicle avoids the vehicle by turning right from No. 5 to No. 4, and then starts to reverse to the No. 28 meeting point. Currently, the only way to manually look at the map is to park the waiting vehicle at No. 3 or determine a point between No. 3 and No. 4 by manual measurement. Using the estimation method to confirm the parking at No. 3 may result in a long distance from the meeting point, which is inefficient. Manual measurement needs to be measured according to the vehicle's driving process, and is related to the speed of the measured vehicle, and there is a certain degree of danger. Therefore, it is necessary to select an optimal parking point for straight vehicles to improve the efficiency of meeting.

[0053] The embodiment of the present invention provides a method for determining a stop point for avoiding vehicles on a one-way road in a mine. Figure 2 ,include:

[0054] S201, based on a preset path coordinate system, obtaining an avoidance path of an avoidance vehicle entering an avoidance point from a starting point to an end point, and constructing a coordinate set of the avoidance vehicles entering the avoidance point according to the avoidance path; and obtaining a straight path of a straight-moving vehicle passing through a corresponding avoidance point from a starting point to an end point, and constructing a coordinate set of the straight-moving vehicles passing through the corresponding avoidance point according to the straight path;

[0055] S202, traversing and calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set, and constructing a parking minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set;

[0056] S203: Determine the difference between each minimum distance in the parking minimum distance set and a threshold value, and determine the parking point of the straight-moving vehicle corresponding to the current avoidance point according to the size of the difference.

[0057] In this embodiment, firstly, based on the preset path coordinate system, the avoidance path of the avoidance vehicle entering the avoidance point from the starting point to the end point is obtained, and the avoidance vehicle coordinate set entering the avoidance point is constructed according to the avoidance path; and the straight path of the straight-moving vehicle passing the corresponding avoidance point from the starting point to the end point is obtained, and the straight-moving vehicle coordinate set corresponding to the avoidance point is constructed according to the straight-moving path; by constructing the coordinate set of the avoidance path and the straight-moving path, the association between the avoidance path and the diameter path can be established, thereby improving the accuracy of vehicle meeting and avoidance; then, the minimum distance between each coordinate point in the avoidance vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set is calculated by looping and traversing, and a parking minimum distance set is constructed; finally, the difference between each minimum distance in the parking minimum distance set and the threshold is traversed and compared, and the straight-moving vehicle parking point corresponding to the current avoidance point is determined according to the size of the difference. The present invention calculates the position with the shortest distance between the avoidance path and the straight-moving path in the same coordinate system through the association between the avoidance path and the straight-moving path, thereby determining the parking avoidance point, thereby improving the accuracy of parking point selection.

[0058] It should be noted that the preset path coordinate system can be a three-dimensional coordinate system or a two-dimensional coordinate system. Since the calculation of the parking point can be represented according to the two-dimensional coordinate system, in this embodiment, the preset path coordinate system is a two-dimensional coordinate system, and the horizontal coordinate X and the vertical coordinate Y represent each point of the avoidance path and the straight path.

[0059] Furthermore, the straight path and the avoidance path may be in the same coordinate system or in different coordinate systems. It is understandable that in order to establish the correlation between the straight path and the avoidance path and to make the calculation easier, the straight path and the avoidance path are in the same coordinate system. Furthermore, the coordinate origin may be any position within the driving area, specifically the starting point of the straight vehicle, the starting point of the avoidance vehicle, the first avoidance point on the avoidance vehicle's path, etc. In this embodiment, the origin of the path coordinate system is the starting point of the avoidance vehicle.

[0060] Furthermore, in order to improve the accuracy of determining the parking point of the straight-moving vehicle, the coordinate sets of the straight-moving vehicle and the avoiding vehicle are continuous coordinate points.

[0061] It should be noted that, in order to ensure that the avoiding vehicle and the straight-moving vehicle both stop and wait for meeting at the parking point provided in the embodiment of the present invention on the same underground path, and in order to reduce the amount of calculation based on the path and the parking point by the control center, in this embodiment, it is defined that all vehicles traveling from direction a to direction b in two-way driving are avoiding vehicles, and all vehicles traveling from direction b to direction a on the same path are straight-moving vehicles. In the same two-way driving path, when a straight-moving vehicle and an avoiding vehicle meet, the straight-moving vehicle stops and waits at the parking point until the avoiding vehicle enters the avoiding point and the straight-moving vehicle enters again.

[0062] Furthermore, in order to further reduce the amount of calculation and the accuracy of the avoiding vehicle's avoidance, in this embodiment, it is defined that when the avoiding vehicle travels to any avoidance point, the avoiding vehicle enters the avoidance point for avoidance regardless of whether there is a straight-moving vehicle coming from the opposite direction.

[0063] In step S103, the threshold value is not required, and the threshold value can be set according to actual needs, wherein the threshold value is a quantity that characterizes whether the minimum distance meets the actual driving requirements. In a specific embodiment, the threshold value can be the length of the vehicle, and it is necessary to ensure that the straight-moving vehicle and the avoidance vehicle are at the minimum distance without collision.

[0064] In some embodiments, the avoidance path includes the original direction driving path segment before avoidance and the reverse driving path segment when entering the avoidance point, and the straight path includes the stop area path segment close to the avoidance point;

[0065] The step of constructing the avoidance vehicle coordinate set and the straight-moving vehicle coordinate set includes:

[0066] Constructing the avoidance vehicle coordinate set according to the coordinates corresponding to each point of the original direction driving path segment and the reverse direction driving path segment;

[0067] The straight-moving vehicle coordinate set is constructed according to the coordinates corresponding to each point of the path segment of the stop area.

[0068] It should be noted that since the avoidance path and the straight path obtained in advance are the distances from the starting point to the end point of the same path segment, when determining the parking point corresponding to the independent avoidance point, in order to reduce the amount of calculation and improve the calculation efficiency, in this embodiment, some sections of the road near the avoidance point are selected to construct the straight-ahead vehicle coordinate set and the avoidance vehicle coordinate set.

[0069] Specifically, when the avoiding vehicle enters the avoidance point, it will experience two states: straight driving and turning driving, which is similar to parallel parking.

[0070] Specifically, according to the analysis of the prior art, the approximate location of the parking point of the straight-moving vehicle is determined, and the area where the approximate location is located is used as the path segment of the stop area to construct the coordinate set of the straight-moving vehicle.

[0071] In some embodiments, the calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and a coordinate point in the straight-moving vehicle coordinate set includes:

[0072] A preset distance calculation method between two points is used to traverse and calculate the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set.

[0073] In this embodiment, the minimum distance between the avoiding vehicle and the straight-moving vehicle is determined by the distance calculation method between two points, which can achieve fast and accurate calculation and improve the efficiency and accuracy of determining the parking point.

[0074] In a specific embodiment, the first avoidance point is searched according to the avoidance vehicle driving path, and the original direction driving path segment and the reversing driving path segment of the avoidance vehicle near the first avoidance point, as well as the stop zone path segment of the straight-moving vehicle near the first avoidance point are determined. The avoidance vehicle coordinate set B1 is constructed according to the original direction driving path segment and the reversing driving path segment, and the straight-moving vehicle coordinate set B2 is constructed according to the stop zone path segment. Then, the first point in the straight-moving vehicle coordinate value set B2 is first selected, and then the first point in the avoidance vehicle coordinate value set B1 is selected, and the distance between the two points is calculated as d=√[(x1-x2)²+(y1-y2)²], and the non-avoidance vehicle coordinate value and distance are cached. All distances can be calculated by looping all the avoidance vehicle coordinate values ​​B1, and then the smallest distance among all distances is cached, and then all the non-avoidance vehicle coordinates B2 are looped and repeated to obtain the smallest value of all distances, which is cached and recorded as a minimum distance set d{d0,d1…} from the straight-moving vehicle to the avoidance vehicle point set.

[0075] In the above formula d = In the equation, d represents the distance between two points. Indicates the horizontal coordinate value of the first point. Indicates the horizontal coordinate value of the second point. Indicates the ordinate value of the second point.

[0076] It should be noted that in order to avoid errors caused by calculating the distances between points on the straight path and the avoidance path as much as possible, the distances between and the number of coordinate points in the straight path coordinate set and the avoidance path coordinate set are consistent.

[0077] In some embodiments, see Figure 3, the step of determining the difference between each minimum distance in the minimum distance set and a threshold value, and determining the straight-moving vehicle parking point corresponding to the current avoidance point according to the difference, comprises:

[0078] S301, determining whether the difference between each minimum distance and the threshold is a positive number;

[0079] S302, if the difference is positive, construct a minimum distance set to be selected with positive difference;

[0080] S303, traversing and comparing each minimum distance in the minimum distance set to be selected, and marking the straight-moving vehicle coordinate value corresponding to the minimum distance with the smallest value as the straight-moving vehicle parking point corresponding to the current avoidance point.

[0081] It should be noted that the constructed diameter path is a theoretical path for the straight-moving vehicle without considering the driving of the avoiding vehicle and whether a collision will occur, and the constructed avoidance path is a theoretical path for the avoiding vehicle without considering the driving status of the straight-moving vehicle and whether a collision will occur with the straight-moving vehicle. Therefore, there may be intersections between the constructed avoidance path and the straight-moving path, where the intersection is the collision point, which does not meet the requirements of actual driving at all. In addition, in the theoretical straight-moving path and avoidance path, the straight-moving vehicle and the avoidance vehicle continue to move after passing the intersection, resulting in invalid coordinate points in the constructed straight-moving vehicle coordinate set and the avoidance vehicle coordinate set, which results in invalid distance in the calculated minimum distance.

[0082] Furthermore, in order to eliminate invalid distances in the straight path and the avoidance path, a threshold is set, where the threshold is the minimum distance between the straight vehicle and the avoidance vehicle without collision. It can be understood that the larger the threshold is set, the greater the distance between the straight vehicle and the avoidance vehicle when they are closest, and the safer it is. However, if the threshold is set too large, the accuracy of parking point selection will be reduced. Therefore, the threshold should be selected reasonably.

[0083] In this embodiment, the threshold is the turning radius of the vehicle. As long as the distance between the straight-moving vehicle and the avoiding vehicle is greater than the turning radius of the avoiding vehicle, it can be ensured that the straight-moving vehicle and the avoiding vehicle will not collide.

[0084] Furthermore, by calculating the difference between each minimum distance in the minimum distance set d{d0, d1…} and the threshold, if the minimum distance difference is negative, it means that the straight path coordinate point corresponding to the minimum distance at this time and the avoidance path coordinate point are the coordinate point when they intersect or after they intersect, which is an invalid path, and the minimum distance with a negative difference is discarded. If the minimum distance difference is positive, it means that the straight path coordinate point corresponding to the minimum distance at this time and the avoidance path coordinate point are the coordinate point before they intersect, which means that the path corresponding to the minimum distance at this time is a valid path, and the minimum distance at this time is retained and the candidate minimum distance set is constructed.

[0085] Finally, a minimum distance is selected from the set of candidate minimum distances, and the parking point corresponding to the current avoidance point is determined according to the coordinates of the straight-moving vehicle corresponding to the minimum distance at this time.

[0086] In some embodiments, see Figure 4 The avoidance path also includes an exit path segment when driving out of the avoidance point, and the straight path also includes a meeting path segment when crossing the avoidance point from the parking point; the method for determining the exit point of the avoidance vehicle when avoiding meeting vehicles on a one-way road underground includes:

[0087] S401, constructing a coordinate set for returning the avoiding vehicle to the center according to the coordinates corresponding to each point in the exit path segment; and

[0088] S402, constructing a straight-moving vehicle meeting coordinate set according to the coordinates corresponding to each point in the meeting path segment;

[0089] S403, traversing and calculating the minimum distance between each coordinate point in the avoiding vehicle's return-to-alignment coordinate set and the coordinate point in the straight-moving vehicle's meeting coordinate set, and constructing a meeting minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle's return-to-alignment coordinate set and the coordinate point in the straight-moving vehicle's meeting coordinate set;

[0090] S404: Determine a meeting difference between each minimum distance in the meeting minimum distance set and a threshold, and determine an avoidance vehicle exit point corresponding to the current avoidance point according to the size of the meeting difference.

[0091] It should be noted that after the avoidance vehicle enters the avoidance point, the straight-moving vehicle passes smoothly. However, how long the straight-moving vehicle travels and where the avoidance vehicle travels to before leaving the avoidance point can ensure that the waiting time of the avoidance vehicle is the shortest, thereby achieving the highest efficiency of meeting vehicles. This is an urgent problem to be solved. In this embodiment, the avoidance vehicle return coordinate set is constructed based on the exit path segment when the avoidance vehicle leaves the avoidance point, and the straight-moving vehicle meeting coordinate set is constructed based on the meeting path segment when the straight-moving vehicle crosses the avoidance point from the parking point. The shortest distance between the avoidance vehicle return coordinate set and the straight-moving vehicle meeting coordinate set is calculated by using the minimum distance formula, and the exit point of the avoidance vehicle leaving the avoidance point is determined when the straight-moving vehicle travels to a certain point.

[0092] It should be noted that due to the limitations of the underground site, environment and construction, the size of the avoidance point is different and affected. There are at least two situations for the avoidance vehicle to drive out of the avoidance point, including reversing out from the direction of entering the avoidance point and driving out of the avoidance point in the opposite direction of entering the avoidance point. Therefore, there are two different options for the exit path segment. Different situations of the avoidance vehicle driving out of the avoidance point correspond to different straight-moving vehicle passing path segments.

[0093] It should be noted that the first avoidance point is searched according to the avoidance vehicle's driving path, and the exit path segment of the avoidance vehicle near the first avoidance point and the oncoming path segment of the straight-moving vehicle near the first avoidance point are determined. The avoidance vehicle return coordinate set B3 is constructed according to the exit path segment, and the straight-moving vehicle oncoming coordinate set B4 is constructed according to the oncoming path segment. Then, the first point in the straight-moving vehicle coordinate value set B4 is first selected, and then the first point in the avoidance vehicle coordinate value set B3 is selected. The distance between the two points is calculated using the formula d=√[(x1-x2)²+(y1-y2)²], and the non-avoidance vehicle coordinate value and distance are cached. All distances can be calculated by looping all the coordinate values ​​B3 of the avoidance vehicle, and then the smallest distance among all distances is cached. Then, all the coordinate values ​​B4 of the straight-moving vehicle are looped and repeated to obtain the smallest values ​​of all distances, which are cached and recorded as a minimum distance set d1{d0,d1…} from the straight-moving vehicle to the avoidance vehicle point set.

[0094] In a specific embodiment, see Figure 5 , A is the avoiding vehicle, B is the straight-moving vehicle. 1,2 is B1, 3 is B2, loop to get the point in B2, use the coordinates of this point to loop to calculate all the points on B1, calculate all the distances, select the minimum distance, if the minimum distance is 0, or the distance is less than the body radius, it means that the point will affect the A car on 1,2, save the minimum distance and point coordinates to the set. After looping through all the points in B2, you can get a point distance set, and select the point whose distance is greater than the body radius and the smallest.

[0095] In another embodiment, A is the avoiding vehicle, and B is the straight-moving vehicle. 1 and 2 are the paths entering the meeting point, 3 and 4 are the paths leaving the meeting point, and B1 and 6 are B2. Loop through the points in B2, use the coordinates of this point to loop through all the points on B1, calculate all the distances, and select the minimum distance. If the minimum distance is 0, or the distance is less than the vehicle body radius, it means that the point will affect vehicle A on 3 and 4. Save the minimum distance and point coordinates in the set. After looping through all the points in B2, a point distance set can be obtained, and the point with the smallest distance greater than the vehicle body radius can be selected.

[0096] In some embodiments, determining the difference between each minimum distance in the minimum meeting distance set and a threshold, and determining the avoidance vehicle exit point corresponding to the current avoidance point according to the size of the meeting difference, includes:

[0097] Determine whether the difference between each minimum distance and the threshold is a positive number;

[0098] If the meeting difference is positive, the minimum distance in the meeting minimum distance set corresponding to the positive meeting difference is used to construct the candidate meeting minimum distance set;

[0099] Determine each minimum distance in the set of minimum distances to be selected for meeting, and mark the coordinate value of the straight-moving vehicle corresponding to the smallest minimum distance value as the exit point of the avoiding vehicle corresponding to the current avoiding point;

[0100] When the straight-moving vehicle drives to the avoiding vehicle exit point, the avoiding vehicle starts to drive out of the avoiding point.

[0101] The constructed diameter path is a theoretical path for the straight-moving vehicle without considering the driving of the avoiding vehicle and whether a collision will occur. The constructed avoidance path is a theoretical path for the avoiding vehicle without considering the driving status of the straight-moving vehicle and whether a collision will occur with the straight-moving vehicle. Therefore, there may be intersections between the constructed avoidance path and the straight-moving path, where the intersection is the collision point, which does not meet the requirements of actual driving. In addition, in the theoretical straight-moving path and avoidance path, the straight-moving vehicle and the avoiding vehicle continue to move after passing the intersection, resulting in invalid coordinate points in the constructed straight-moving vehicle meeting coordinate set and the avoiding vehicle return coordinate set, which leads to invalid distances in the calculated minimum meeting distance.

[0102] Furthermore, in order to eliminate invalid distances in the straight path and the avoidance path, a threshold is set, where the threshold is the minimum distance between the straight vehicle and the avoidance vehicle without collision. It can be understood that the larger the threshold is set, the greater the distance between the straight vehicle and the avoidance vehicle when they are closest, and the safer it is. However, if the threshold is set too large, the accuracy of parking point selection will be reduced. Therefore, the threshold should be selected reasonably.

[0103] In this embodiment, the threshold is the turning radius of the vehicle. As long as the distance between the straight-moving vehicle and the avoiding vehicle is greater than the turning radius of the avoiding vehicle, it can be ensured that the straight-moving vehicle and the avoiding vehicle will not collide.

[0104] Furthermore, by calculating the difference between each minimum distance in the minimum distance set d1{d0,d1…} and the threshold, if the minimum distance difference is negative, it means that the straight path coordinate point corresponding to the minimum distance at this time and the avoidance path coordinate point are the coordinate point when they intersect or after the intersection, which is an invalid path, and the minimum distance with a negative difference is discarded. If the minimum distance difference is positive, it means that the straight path coordinate point corresponding to the minimum distance at this time and the avoidance path coordinate point are the coordinate point before the intersection, which means that the path corresponding to the minimum distance at this time is a valid path, and the minimum distance at this time is retained and the minimum distance set to be selected for meeting is constructed.

[0105] Finally, a minimum distance is selected from the set of candidate minimum distances for oncoming vehicles, and the exit point of the avoiding vehicle corresponding to the current avoiding point is determined according to the coordinates of the straight-moving vehicle corresponding to the minimum distance at this time.

[0106] The embodiments of the present invention also have the following beneficial effects:

[0107] 1. High efficiency. No matter how many meeting points there are, they can be generated at one time using the algorithm using the Internet of Vehicles data.

[0108] 2. Different vehicles obtain different meeting and stopping points and judgment points, which can be adapted to a variety of vehicles and has good adaptability.

[0109] 3. It is implemented through pure software, without human intervention and has high security.

[0110] 4. Low cost, implemented purely by software and algorithms, no additional sensors are required, and the characteristics of the autonomous driving vehicle are utilized to achieve no additional cost.

[0111] Based on the above-mentioned method for determining a stop point for avoiding a vehicle passing on a one-way road in a mine, the embodiment of the present invention also provides a device 600 for determining a stop point for avoiding a vehicle passing on a one-way road in a mine. Figure 6 The underground one-way street meeting and avoiding parking point determination device 600 includes a coordinate set construction module 610, a minimum distance determination module 620 and a straight-moving vehicle parking point determination module 630.

[0112] The coordinate set construction module 610 is used to obtain the avoidance path of the avoidance vehicle entering the avoidance point from the starting point to the end point based on the preset path coordinate system, and construct the coordinate set of the avoidance vehicle entering the avoidance point according to the avoidance path; and obtain the straight path of the straight vehicle passing the corresponding avoidance point from the starting point to the end point, and construct the coordinate set of the straight vehicle passing the corresponding avoidance point according to the straight path;

[0113] a minimum distance determination module 620, configured to traverse and calculate the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set, and construct a parking minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set;

[0114] The straight vehicle parking point determination module 630 is used to determine the difference between each minimum distance in the parking minimum distance set and a threshold, and determine the straight vehicle parking point corresponding to the current avoidance point according to the size of the difference.

[0115] like Figure 7 As shown, based on the above-mentioned method for determining the stop point for avoiding vehicles on a one-way underground road, the present invention also provides an electronic device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 710, a memory 720, and a display 730. Figure 7 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0116] In some embodiments, the memory 720 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 720 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 720 may also include both an internal storage unit of the electronic device and an external storage device. The memory 720 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 720 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 720 stores a determination program 740 for a one-way street meeting and avoiding parking point in a well, and the determination program 740 for a one-way street meeting and avoiding parking point in a well can be executed by the processor 710, thereby realizing the determination method for a one-way street meeting and avoiding parking point in a well in each embodiment of the present application.

[0117] In some embodiments, the processor 710 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 720, such as executing a method for determining a parking point for avoiding vehicles on a one-way street underground.

[0118] In some embodiments, the display 730 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 730 is used to display information of the determination device of the one-way road meeting and avoiding parking point in the well and to display a visual user interface. The components 710-730 of the electronic device communicate with each other through a system bus.

[0119] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The storage medium can be a memory, a disk, an optical disk, etc.

[0120] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for determining a stop point for avoiding vehicles on a one-way road underground, characterized in that: include: Based on a preset path coordinate system, an avoidance path of the avoidance vehicle entering the avoidance point from the starting point to the end point is obtained, the avoidance path includes the original direction driving path segment before avoidance, the reverse driving path segment when entering the avoidance point, and the exit path segment when exiting the avoidance point, and the avoidance vehicle coordinate set is constructed according to the coordinates corresponding to each point of the original direction driving path segment and the reverse driving path segment; and a straight path of the straight-moving vehicle passing the corresponding avoidance point from the starting point to the end point is obtained, the straight path includes the stop area path segment close to the avoidance point and the meeting path segment when crossing the avoidance point from the stop point, and the straight-moving vehicle coordinate set is constructed according to the coordinates corresponding to each point of the stop area path segment; Traversing and calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set, and constructing a parking minimum distance set based on the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight vehicle coordinate set; Determine the difference between each minimum distance in the set of minimum stopping distances and a threshold value, determine the straight-moving vehicle parking point corresponding to the current avoidance point according to the size of the difference, and construct a return-to-center coordinate set for the avoidance vehicle according to the coordinates corresponding to each point in the exit path segment; According to the coordinates corresponding to each point in the meeting path segment, a straight-moving vehicle meeting coordinate set is constructed; the minimum distance between each coordinate point in the avoiding vehicle return coordinate set and the coordinate point in the straight-moving vehicle meeting coordinate set is traversed and calculated, and a meeting minimum distance set is constructed based on the minimum distance between each coordinate point in the avoiding vehicle return coordinate set and the coordinate point in the straight-moving vehicle meeting coordinate set; The difference between each minimum distance in the minimum meeting distance set and a threshold is determined, and the avoidance vehicle exit point corresponding to the current avoidance point is determined according to the size of the meeting difference.

2. The method for determining a stop point for avoiding vehicles on a one-way road in a mine according to claim 1, characterized in that: The calculating the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set includes: A preset distance calculation method between two points is used to traverse and calculate the minimum distance between each coordinate point in the avoiding vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set.

3. The method for determining a stop point for avoiding vehicles on a one-way road in a mine according to claim 1, characterized in that: The step of determining the difference between each minimum distance in the minimum distance set and a threshold value, and determining a parking point of the straight-moving vehicle corresponding to the current avoidance point according to the difference, comprises: Determine whether the difference between each minimum distance and the threshold is a positive number; If the difference is positive, then a minimum distance set to be selected with positive difference is constructed; Each minimum distance in the minimum distance set to be selected is traversed and compared, and the straight-moving vehicle coordinate value corresponding to the minimum distance with the smallest value is marked as the straight-moving vehicle parking point corresponding to the current avoidance point.

4. The method for determining a stop point for avoiding vehicles on a one-way road in a mine according to claim 1, characterized in that: The step of determining a difference between each minimum distance in the minimum meeting distance set and a threshold, and determining an avoidance vehicle exit point corresponding to a current avoidance point according to the size of the meeting difference, includes: Determine whether the difference between each minimum distance and the threshold is a positive number; If the meeting difference is positive, the minimum distance in the meeting minimum distance set corresponding to the positive meeting difference is used to construct the candidate meeting minimum distance set; Determine each minimum distance in the set of minimum distances to be selected for meeting, and mark the coordinate value of the straight-moving vehicle corresponding to the smallest minimum distance value as the exit point of the avoiding vehicle corresponding to the current avoiding point; When the straight-moving vehicle drives to the avoiding vehicle exit point, the avoiding vehicle starts to drive out of the avoiding point.

5. The method for determining a stop point for avoiding vehicles on a one-way road in a mine according to claim 4, characterized in that: The step of judging whether the difference between each minimum distance and the threshold is a positive number further includes: If the oncoming vehicle difference is not a positive number, it indicates that the minimum distance corresponding to the oncoming vehicle difference is not a positive number does not meet the vehicle safety driving requirement.

6. A device for determining a stop point for avoiding vehicles on a one-way underground road, characterized in that: include: A coordinate set construction module is used to obtain an avoidance path of an avoidance vehicle from a starting point to an end point into an avoidance point based on a preset path coordinate system, wherein the avoidance path includes an original direction driving path segment before avoidance, a direction-changing driving path segment when entering the avoidance point, and an exit path segment when exiting the avoidance point, and to construct the avoidance vehicle coordinate set according to the coordinates corresponding to each point of the original direction driving path segment and the direction-changing driving path segment; and to obtain a straight path of a straight-moving vehicle from a starting point to an end point via a corresponding avoidance point, wherein the straight path includes a stop area path segment close to the avoidance point and a meeting path segment when crossing the avoidance point from the stop point, and to construct the straight-moving vehicle coordinate set according to the coordinates corresponding to each point of the stop area path segment; a minimum distance determination module, configured to traverse and calculate the minimum distance between each coordinate point in the avoidance vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set, and construct a parking minimum distance set based on the minimum distance between each coordinate point in the avoidance vehicle coordinate set and the coordinate point in the straight-moving vehicle coordinate set; A straight vehicle parking point determination module is used to determine the difference between each minimum distance in the parking minimum distance set and a threshold value, determine the straight vehicle parking point corresponding to the current avoidance point according to the size of the difference, and construct a coordinate set for the avoidance vehicle to return to the center according to the coordinates corresponding to each point in the exit path segment; According to the coordinates corresponding to each point in the meeting path segment, a straight-moving vehicle meeting coordinate set is constructed; the minimum distance between each coordinate point in the avoiding vehicle return coordinate set and the coordinate point in the straight-moving vehicle meeting coordinate set is traversed and calculated, and a meeting minimum distance set is constructed based on the minimum distance between each coordinate point in the avoiding vehicle return coordinate set and the coordinate point in the straight-moving vehicle meeting coordinate set; The difference between each minimum distance in the minimum meeting distance set and a threshold is determined, and the avoidance vehicle exit point corresponding to the current avoidance point is determined according to the size of the meeting difference.

7. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the method for determining a stopping point for avoiding vehicles on a one-way street in an underground mine are implemented as described in claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the method for determining a stopping point for avoiding vehicles on a one-way street underground as described in claims 1-5.

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