Method, device and vehicle for detecting parking of dumping position of vehicle

Abstract

The present invention relates to a method, device and vehicle for detecting a dumping position of a vehicle. The method can determine a dumping position to be docked and a docking planning trajectory matching the dumping position to be docked; determine a target docking point based on a mapping result of a dumping retaining wall of the dumping position to be docked; determine whether the vehicle to be docked meets a docking accuracy requirement based on a first distance between an end position of the docking planning trajectory and a real-time position of the vehicle to be docked, and a second distance between the target docking point and the real-time position of the vehicle to be docked; and determine that the vehicle to be docked completes docking when the vehicle to be docked meets the docking accuracy requirement and the vehicle state of the vehicle to be docked meets a preset state condition. The present invention can ensure the docking safety and docking accuracy of the vehicle to be docked.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a method and device for detecting a vehicle stopping at a dumping position, and a vehicle. Background Art

[0002] At present, in the mining operation scene, the unmanned vehicle of the mine stops at the dumping position for dumping, which is a very important operation link. Among them, the dumping position in the mine refers to the operation position set for dumping during the mining process.

[0003] In practice, it is found that when unmanned vehicles in mines stop at the soil dumping site, the distance between the parking position and the end of the soil dumping site is often too close or too far. If the distance is too close, the wheels will be too close to the discharge area, which may cause safety accidents; if the distance is too far, the soil will be discharged to the soil dumping site, affecting the use of the soil dumping site.

[0004] It can be seen that the current unmanned vehicles in mines have poor accuracy in parking at the dumping site, which affects the parking safety and the normal use of the dumping site. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a method, device and vehicle for detecting a vehicle stopping at a soil dumping position, which can improve the accuracy of the vehicle stopping at the soil dumping position.

[0006] According to a first aspect of an embodiment of the present invention, there is provided a method for detecting a vehicle stopping at a dumping position, comprising:

[0007] Determine a soil dumping position to be docked and a docking planning trajectory matching the soil dumping position to be docked;

[0008] Determine a target stop point based on a mapping result of the earthwork retaining wall at the earthwork position to be stopped;

[0009] Determining whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked;

[0010] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets a preset state condition, it is determined that the vehicle to be parked completes the parking.

[0011] Optionally, determining whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked, includes:

[0012] When the first distance is less than a first distance threshold and the second distance is less than a second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement, wherein the second distance threshold is less than the first distance threshold.

[0013] Optionally, the method further includes:

[0014] Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle;

[0015] And, when the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0016] When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0017] Optionally, when the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0018] After detecting that the second distance is less than the second distance threshold, continue to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continue to detect whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold;

[0019] When it is detected that the first distance is less than the first distance threshold and the second distance is continuously less than the third distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0020] Optionally, the method further includes at least one of the following:

[0021] When the vehicle to be parked does not meet the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, determining that the parking of the vehicle to be parked has timed out;

[0022] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked does not meet the preset state condition, continue to plan the vehicle to be parked for parking;

[0023] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, the vehicle to be parked is controlled to perform a designated operation task.

[0024] Optionally, controlling the vehicle to be parked to perform a designated operation task includes:

[0025] The vehicle to be parked is controlled to report a parking completion message, and in response to the parking completion message, the vehicle to be parked is controlled to lift the bucket and unload.

[0026] According to a second aspect of an embodiment of the present invention, there is provided a vehicle dumping position parking control device, comprising:

[0027] A data determination unit, used for determining a dumping position to be docked and a docking planning trajectory matching the dumping position to be docked;

[0028] A stop point determination unit, configured to determine a target stop point based on a mapping result of the dumping retaining wall at the dumping position to be docked;

[0029] A parking accuracy determination unit, configured to determine whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked;

[0030] The parking detection unit is used to determine that the parking of the vehicle to be parked has been completed when the parking accuracy requirement is met and the vehicle state of the vehicle to be parked meets a preset state condition.

[0031] Optionally, the parking accuracy determination unit is used to:

[0032] When the first distance is less than a first distance threshold and the second distance is less than a second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement, wherein the second distance threshold is less than the first distance threshold.

[0033] Optionally, the data determination unit is further used for:

[0034] Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle;

[0035] And, the parking accuracy determination unit is used for:

[0036] When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0037] Optionally, the parking accuracy determination unit is used to:

[0038] When the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0039] After detecting that the second distance is less than the second distance threshold, continue to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continue to detect whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold;

[0040] When it is detected that the first distance is less than the first distance threshold and the second distance is continuously less than the third distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0041] Optionally, the docking detection unit is further used for at least one of the following:

[0042] When the vehicle to be parked does not meet the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, determining that the parking of the vehicle to be parked has timed out;

[0043] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked does not meet the preset state condition, continue to plan the vehicle to be parked for parking;

[0044] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, the vehicle to be parked is controlled to perform a designated operation task.

[0045] Optionally, the docking detection unit is used to:

[0046] The vehicle to be parked is controlled to report a parking completion message, and in response to the parking completion message, the vehicle to be parked is controlled to lift the bucket and unload.

[0047] According to a third aspect of an embodiment of the present invention, a vehicle is provided for executing the method for detecting a vehicle stopping at a dumping position according to the first aspect. The technical solution provided by the embodiment of the present invention may have the following beneficial effects:

[0048] Through the real-time mapping results, the target stop point is determined to guide the vehicle to stop at the target stop point (the second distance is less than the threshold). On the basis of the rough position stop (the first distance is less than the threshold), the more refined mapping results are further combined to obtain the target stop point and perform stop control, thereby improving the stop accuracy. In addition, since the target stop point is determined by real-time mapping, it can obtain the latest end after invading the dumping position based on real-time mapping when the last dumping invaded the dumping position, and determine the target stop point based on the latest end position, ensuring the parking safety and parking accuracy of the vehicle to be parked.

[0049] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0051] Figure 1 is a flow chart showing a method for detecting a vehicle stopping at a dumping position according to an exemplary embodiment;

[0052] Figure 2 is a schematic diagram of a soil dumping position of a vehicle according to an exemplary embodiment;

[0053] Figure 3 It is a schematic block diagram of a dumping position parking control device 100 for a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0055] Figure 1 is a flow chart of a method for detecting a vehicle stopping at a dumping position according to an exemplary embodiment. Figure 1 As shown, the method is applicable to a vehicle to be parked, and includes:

[0056] Step S11, determining a soil dumping position to be docked and a docking planning trajectory matching the soil dumping position to be docked;

[0057] Step S12, determining a target stop point based on the mapping result of the dumping retaining wall at the dumping position to be stopped;

[0058] Step S13, determining whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between the end position of the parking planning trajectory and the real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked;

[0059] Step S14: When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets a preset state condition, determining that the vehicle to be parked has completed parking.

[0060] Among them, the execution subject of the present invention can be a vehicle to be parked (autonomous driving vehicle), such as an unmanned mining vehicle.

[0061] Specifically, when the vehicle to be parked needs to dock at the soil dumping position for soil dumping, the corresponding soil dumping position to be parked can be allocated to the vehicle to be parked first, and a docking planning trajectory for guiding the vehicle to be parked to travel from the current position to the soil dumping position to be parked is generated. It can be understood that in the actual docking scene, there are usually multiple soil dumping positions, and multiple vehicles to be parked need to dock at the soil dumping position for docking. At this time, the corresponding soil dumping position to be parked can be allocated to each vehicle to be parked based on the real-time position of each vehicle to be parked, the use status of each soil dumping position and other dimensions. And, for each vehicle to be parked, after determining to obtain the corresponding soil dumping position to be parked, it is possible to generate a docking planning trajectory for guiding the vehicle to be parked to travel from the current position to the soil dumping position to be parked based on the real-time position of the vehicle to be parked and the position of the soil dumping position to be parked. Among them, the starting point of the docking planning trajectory is the current real-time position of the vehicle to be docked, and the end point is the position of the dumping position to be docked (the position coordinates of each dumping position to be docked can be set in advance, such as setting it to a coordinate point at a specified distance from the end of the dumping position). The specific path from the starting point to the end point can be planned and generated in combination with the vehicle data, obstacle data, road data, etc. in the current environment.

[0062] Since the initially generated docking planning trajectory is a coarse-grained trajectory that guides the current real-time position of the vehicle to be docked to the dumping position to be docked, it has not been refined to the specific docking point in the dumping position. Therefore, the present invention can perform real-time mapping of the dumping retaining wall of the dumping position to be docked when entering the dumping position to be docked for precise docking position control, obtain a mapping result, and select a target docking point based on the mapping result. Specifically, data acquisition equipment such as a camera or a sensor can be used to collect the end retaining wall data (image data, sensor data, etc.) of the dumping position to be docked, and then the collected end retaining wall data is mapped to obtain a mapping result, and the mapping result at least includes the position data of the end retaining wall. Afterwards, the position point whose distance value to the end retaining wall is a preset distance value can be used as the target docking point. The preset distance value here can be set based on the fact that the vehicle to be parked in the actual soil discharge scenario can discharge soil normally, there will be no safety risk due to being close to the end retaining wall, and the soil will not invade the soil discharge position due to being far away from the end retaining wall.

[0063] After obtaining the target stop point, the first distance between the end position of the stop planning trajectory and the real-time position of the vehicle to be stopped, and the second distance between the target stop point and the real-time position of the vehicle to be stopped can be calculated in real time, and whether the vehicle to be stopped meets the stop accuracy requirement is determined based on the first distance and the second distance. At this time, if the stop accuracy requirement is met, it means that the vehicle to be stopped has entered the dumping position to be stopped (the deviation value of the first distance is small), and the vehicle to be stopped has stopped at the target stop point (the deviation value of the second distance is small). Among them, the calculation of the first distance and the second distance can adopt the calculation formula of Euclidean distance.

[0064] When it is determined that the vehicle to be parked meets the parking accuracy requirements, the parking detection can be further completed in combination with the vehicle status of the vehicle to be parked. Among them, the vehicle status of the vehicle to be parked may include but is not limited to the vehicle speed, gear position, and handbrake status (pulled up, lowered). In addition, the state condition can be preset, and the preset state condition is the state corresponding to the vehicle being stationary, such as the vehicle speed is less than the threshold, the gear position is in the parking gear position, and the handbrake is pulled up. If the vehicle to be parked meets the parking accuracy requirements and the vehicle status of the vehicle to be parked meets the preset state condition, it means that the vehicle to be parked has been parked in place and has completed parking, which means that the vehicle to be parked has completed parking.

[0065] It can be seen that by executing a method for detecting a vehicle stopping at a dumping position provided by the present invention, it is possible to determine a target stop point based on real-time mapping results to guide the vehicle to be stopped to the target stop point (the second distance is less than the threshold), and on the basis of stopping at a rough position (the first distance is less than the threshold), a more refined mapping result is combined to obtain the target stop point and perform docking control, thereby improving the docking accuracy. In addition, since the target stop point is determined by real-time mapping, it can obtain the latest end after invading the dumping position based on real-time mapping in the case of the last dumping invading the dumping position, and determine the target stop point based on the latest end position, thereby ensuring the parking safety and parking accuracy of the vehicle to be stopped.

[0066] Please also read Figure 2 , Figure 2 is a schematic diagram of a soil dumping position of a vehicle according to an exemplary embodiment. Figure 2 As shown, Figure 2 It is a schematic diagram of the soil discharge position in the mining scene. It can be seen that there are multiple soil discharge positions in the mining area. The vehicles to be parked (unmanned mining vehicles) need to park at the designated soil discharge position for soil discharge. The area behind the end of the soil discharge position is the soil discharge area. For the earth and stone stripping business in the mine, the soil discharge position is a very important position for the entire transportation link. Soil discharge at the soil discharge position is also an important part of the business flow. If the position of the vehicle entering the soil discharge position is not appropriate, it will greatly affect the operation of the site. If the parking is too close, the soil will be discharged into the soil discharge position, affecting the utilization rate of the soil discharge position. If the parking is too far, the wheels may be too far back, causing safety problems. In this regard, the present invention introduces the judgment of multiple conditions to ensure that the vehicle can accurately dock at the end of the soil discharge position while ensuring the safety of the docking. The execution of the task on the current trajectory is determined by judging the first distance between the end position of the planned docking trajectory and the real-time position of the vehicle to be parked, the heading angle of the vehicle parking (to determine whether the vehicle is parked straight), and the second distance between the target docking point and the real-time position of the vehicle to be parked to determine the position of the dumping position. If the vehicle state is stationary after meeting multiple thresholds, the task is considered completed. In addition, it is preferred to map the retaining wall of the dumping position in real time when entering the dumping position, and select the target parking point based on the mapping results to ensure parking safety and docking accuracy. In addition, in the case where the dumping position is invaded too much, the first distance cannot meet the threshold value of less than the first distance, and the docking failure will be reported. Optionally, a prompt message of dumping invasion of the dumping position can be triggered for the case where the second distance is less than the second distance threshold and the first distance cannot meet the threshold value of less than the first distance.

[0067] Optionally, determining whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked, includes:

[0068] When the first distance is less than a first distance threshold and the second distance is less than a second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement, wherein the second distance threshold is less than the first distance threshold.

[0069] In this embodiment, a first distance threshold and a second distance threshold may be preset, and the second distance threshold is smaller than the first distance threshold, for example, the first distance threshold may be set to 2 m, and the second distance threshold may be set to 0.3 m. This embodiment does not limit specific values.

[0070] Through this implementation, a first distance threshold with a relatively large value can be set for the first distance between the end position of the parking planning trajectory and the real-time position of the vehicle; and a second distance threshold with a relatively small value can be set for the second distance between the target parking point and the real-time position of the vehicle. By judging that the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirements, thereby improving the accuracy of judging the parking accuracy of the vehicle.

[0071] Optionally, the method may further include:

[0072] Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle;

[0073] And, when the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0074] When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0075] In this embodiment, after obtaining the docking planning trajectory, the standard heading angle corresponding to the vehicle normally docking to the end position when the distance value from the end position is less than the first distance threshold can be determined based on the end position of the docking planning trajectory, and the standard heading angle is used as the heading angle corresponding to the end position of the docking planning trajectory. In the process of the vehicle docking, the current heading angle of the vehicle is obtained, and the difference between the heading angle corresponding to the end position of the docking planning trajectory and the current heading angle of the vehicle is calculated as the heading angle deviation data.

[0076] Afterwards, when judging whether the vehicle to be parked meets the parking accuracy requirements, a judgment condition for the heading angle deviation data can be introduced, that is, whether the heading angle deviation data is less than a preset deviation threshold. Among them, the preset deviation threshold can be 10 degrees, and the present embodiment does not limit the specific value. If the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than the preset deviation threshold, it means that the parking point of the vehicle to be parked is accurate and the vehicle body is aligned, meeting the parking accuracy requirements. By using triple judgment conditions to judge whether the vehicle to be parked meets the parking accuracy requirements, the accuracy of the judgment of the parking accuracy can be further improved.

[0077] Optionally, when the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0078] After detecting that the second distance is less than the second distance threshold, continue to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continue to detect whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold;

[0079] When it is detected that the first distance is less than the first distance threshold and the second distance is continuously less than the third distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0080] In this embodiment, when judging whether the vehicle to be parked meets the parking accuracy requirement, it is possible to first detect whether the second distance is less than the second distance threshold. After the second distance is detected to be less than the second distance threshold for the first time, it is possible to continuously detect whether the first distance is less than the first distance threshold. In the process of detecting whether the first distance is less than the first distance threshold, it is possible to continuously detect whether the second distance is less than the third distance threshold. Among them, the third distance threshold is greater than the second distance threshold, for example, the third distance threshold is 0.5m, and the second distance threshold is 0.3m. If it is detected that the first distance is less than the first distance threshold, and the second distance is continuously less than the distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0081] Through the parking accuracy judgment method of this embodiment, the problem of sliding down the slope can be solved by setting a third distance threshold whose value is greater than the second distance threshold. Since the process of shifting gears and pulling the handbrake during the parking process takes time, it is inevitable that the vehicle will slide down the slope after the parking is completed. For a small sliding slope, the bucket is allowed to be unloaded within the allowed range, thereby ensuring efficient parking. At the same time, it is also ensured that if the sliding slope is too large, it is necessary to continue to request to start and approach the target parking point to ensure the overall parking accuracy. In this regard, a hysteresis state can be set in the control system, and the hysteresis state is true or false. If it is detected that the second distance is less than the second distance threshold, the hysteresis state is set to true, and the hysteresis threshold condition judgment stage is entered, that is, in the process of detecting whether the first distance is less than the first distance threshold, the second distance is continuously detected to be less than the third distance threshold. If the hysteresis threshold condition is met, it is determined that the vehicle to be parked meets the parking accuracy condition. If the hysteresis threshold condition is not met, it is determined that the vehicle to be parked does not meet the parking accuracy requirement, and the hysteresis state is set to false.

[0082] Optionally, the method further includes at least one of the following:

[0083] When the vehicle to be parked does not meet the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, determining that the parking of the vehicle to be parked has timed out;

[0084] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked does not meet the preset state condition, continue to plan the vehicle to be parked for parking;

[0085] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, the vehicle to be parked is controlled to perform a designated operation task.

[0086] In this embodiment, if the vehicle to be parked does not meet the parking accuracy requirements and the vehicle state of the vehicle to be parked meets the preset state conditions, it means that the vehicle has reached the parked and stationary state before it is parked (it has stopped at the required parking time but has not yet reached the parking position), which means that the parking of the vehicle to be parked has timed out, and a parking failure message can be further reported. If the vehicle to be parked meets the parking accuracy requirements and the vehicle state of the vehicle to be parked does not meet the preset state conditions, it means that the vehicle has basically reached the parking position but is still moving. At this time, the vehicle to be parked can continue to be planned for parking until the vehicle to be parked meets the parking accuracy requirements and the vehicle state meets the preset state conditions, and the parking is completed. When the vehicle to be parked meets the parking accuracy requirements and the vehicle state of the vehicle to be parked meets the preset state conditions, the vehicle to be parked is controlled to perform a specified operation task (such as bucket unloading).

[0087] Optionally, controlling the vehicle to be parked to perform a designated operation task includes:

[0088] The vehicle to be parked is controlled to report a parking completion message, and in response to the parking completion message, the vehicle to be parked is controlled to lift the bucket and unload.

[0089] In this implementation, if the vehicle to be parked has parked in place, the vehicle to be parked can be controlled to report a parking completion message and lift the bucket to unload.

[0090] Based on the same inventive concept, Figure 3 is a schematic block diagram of a vehicle dumping position parking control device 100 according to an exemplary embodiment. Figure 3 As shown, the device 100 includes:

[0091] A data determination unit 101 is used to determine a dumping position to be docked and a docking planning trajectory matching the dumping position to be docked;

[0092] A stop point determination unit 102 is used to determine a target stop point based on a mapping result of the dumping retaining wall at the dumping position to be docked;

[0093] A parking accuracy determination unit 103, configured to determine whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked, and a second distance between the target parking point and the real-time position of the vehicle to be parked;

[0094] The parking detection unit 104 is used to determine that the parking of the vehicle to be parked has been completed when the parking accuracy requirement is met and the vehicle state of the vehicle to be parked meets a preset state condition.

[0095] Optionally, the parking accuracy determination unit 103 is specifically used for:

[0096] When the first distance is less than a first distance threshold and the second distance is less than a second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement, wherein the second distance threshold is less than the first distance threshold.

[0097] Optionally, the data determination unit 101 is further configured to:

[0098] Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle;

[0099] And, the parking accuracy determination unit 103 is specifically used for:

[0100] When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0101] Optionally, the parking accuracy determination unit 103 is specifically used for:

[0102] When the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes:

[0103] After detecting that the second distance is less than the second distance threshold, continue to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continue to detect whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold;

[0104] When it is detected that the first distance is less than the first distance threshold and the second distance is continuously less than the third distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

[0105] Optionally, the docking detection unit 104 is further used for at least one of the following:

[0106] When the vehicle to be parked does not meet the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, determining that the parking of the vehicle to be parked has timed out;

[0107] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked does not meet the preset state condition, continue to plan the vehicle to be parked for parking;

[0108] When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, the vehicle to be parked is controlled to perform a designated operation task.

[0109] Optionally, the docking detection unit 104 is specifically used for:

[0110] The vehicle to be parked is controlled to report a parking completion message, and in response to the parking completion message, the vehicle to be parked is controlled to lift the bucket and unload.

[0111] The implementation methods and beneficial effects of each module in this embodiment can refer to the introduction of the corresponding method steps in the above embodiment, and will not be repeated in this embodiment.

[0112] Based on the same inventive concept, the present invention provides a vehicle for executing the above-mentioned vehicle dumping position parking detection method.

[0113] The computer-readable storage medium disclosed in this embodiment includes, but is not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0114] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0115] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0116] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes other implementations in which the functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0117] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0118] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0119] Herein, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0120] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0121] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0122] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for detecting a vehicle stopping at a dumping position, characterized in that: include: Determine the soil dumping position to be docked and the docking planning trajectory matching the soil dumping position to be docked; wherein the end point of the docking planning trajectory is a coordinate point at a specified distance from the end of the soil dumping position; Determine a target stop point based on a mapping result of the earthwork retaining wall at the earthwork position to be stopped; After obtaining the target stop point, based on the first distance between the end position of the stop planning trajectory and the real-time position of the vehicle to be parked, and the second distance between the target stop point and the real-time position of the vehicle to be parked, jointly determine whether the vehicle to be parked meets the stop accuracy requirement, including: when the first distance is less than a first distance threshold, and the second distance is less than a second distance threshold, determine that the vehicle to be parked meets the stop accuracy requirement, wherein the second distance threshold is less than the first distance threshold, and further include: after detecting that the second distance is less than the second distance threshold, continue to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continue to detect whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold; when detecting that the first distance is less than the first distance threshold, and the second distance is continuously less than the third distance threshold, determine that the vehicle to be parked meets the stop accuracy requirement; When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, it is determined that the vehicle to be parked has completed parking, wherein the vehicle state includes at least one of the following: the vehicle speed is less than a threshold, the gear is in the parking gear, and the handbrake is pulled.

2. The method according to claim 1, characterized in that The method further comprises: Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle; And, when the first distance is less than the first distance threshold and the second distance is less than the second distance threshold, determining that the to-be-parked vehicle meets the parking accuracy requirement includes: When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

3. The method according to claim 1, characterized in that The method further comprises at least one of the following: When the vehicle to be parked does not meet the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, determining that the parking of the vehicle to be parked has timed out; When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked does not meet the preset state condition, continue to plan the vehicle to be parked for parking; When the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets the preset state condition, the vehicle to be parked is controlled to perform a designated operation task.

4. The method according to claim 3, characterized in that The controlling the vehicle to be parked to perform a designated operation task comprises: The vehicle to be parked is controlled to report a parking completion message, and in response to the parking completion message, the vehicle to be parked is controlled to lift the bucket and unload.

5. A vehicle dumping position parking detection device, characterized in that: include: A data determination unit, used to determine a dumping position to be docked and a docking planning trajectory matching the dumping position to be docked; wherein the end point of the docking planning trajectory is a coordinate point at a specified distance from the end of the dumping position; A stop point determination unit, configured to determine a target stop point based on a mapping result of the dumping retaining wall at the dumping position to be docked; A parking accuracy determination unit, configured to determine whether the vehicle to be parked meets the parking accuracy requirement based on a first distance between an end position of the parking planning trajectory and a real-time position of the vehicle to be parked and a second distance between the target parking point and the real-time position of the vehicle to be parked after obtaining the target parking point; A parking detection unit, used to determine that the vehicle to be parked has completed parking if the vehicle to be parked meets the parking accuracy requirement and the vehicle state of the vehicle to be parked meets a preset state condition, wherein the vehicle state includes at least one of the following: the vehicle speed is less than a threshold, the gear is in the parking gear, and the handbrake is pulled; The parking accuracy determination unit is used for: When the first distance is less than a first distance threshold and the second distance is less than a second distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement, wherein the second distance threshold is less than the first distance threshold, and further includes: after detecting that the second distance is less than the second distance threshold, continuing to detect whether the first distance is less than the first distance threshold, and in the process of detecting whether the first distance is less than the first distance threshold, continuously detecting whether the second distance is less than a third distance threshold, wherein the third distance threshold is greater than the second distance threshold; when detecting that the first distance is less than the first distance threshold and the second distance is continuously less than the third distance threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

6. The device according to claim 5, characterized in that The data determination unit is also used for: Determining heading angle deviation data based on the heading angle corresponding to the end position of the planned docking trajectory and the current heading angle of the vehicle; And, the parking accuracy determination unit is used for: When the first distance is less than the first distance threshold, the second distance is less than the second distance threshold, and the heading angle deviation data is less than a preset deviation threshold, it is determined that the vehicle to be parked meets the parking accuracy requirement.

7. A vehicle, characterized in that: Used to execute the dumping position detection method of a vehicle as described in any one of claims 1-4.

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