Vehicle control method and device and electronic equipment

Abstract

The invention discloses a vehicle control method and device and electronic equipment. The method comprises the following steps: determining a target operation position of a vehicle according to operation state information of at least one operation position in a target operation area; according to the target operation position, a target guiding road is determined, a target driving path of the vehicle is determined based on the target guiding road, and the target guiding road is used for guiding the vehicle from the main road to the direction close to the target operation position or guiding the vehicle from the target operation position to the main road. The difference between at least part of the target guide road and the trend of the dumping line corresponding to the target operation position is smaller than a first preset difference threshold value; and controlling the vehicle to run from the main road to the target operation position according to the target running path or controlling the vehicle to run from the target operation position to the main road according to the target running path. According to the invention, the technical problem of low operation efficiency of the vehicle in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a vehicle control method, device and electronic equipment. Background Art

[0002] The operation process of unmanned vehicles in mines includes loading, transportation, unloading and other processes. When unmanned vehicles are unloading at non-fixed unloading locations, they need to select appropriate unloading locations for unloading.

[0003] Taking soil discharge as an example, in the related technology, when an unmanned vehicle discharges soil, the vehicle's soil discharge trajectory needs to be obtained by searching in an open area, which may easily lead to an irregular trajectory and excessive conflicts, thus affecting the soil discharge efficiency; at the same time, if the soil discharge site is large and the soil discharge line is long or complex, it is difficult to obtain a better soil discharge trajectory that meets the needs of different areas; and, when multiple unmanned vehicles are performing soil discharge operations at the same time, the vehicle trajectories are prone to conflict with each other, affecting driving efficiency, thereby resulting in low operating efficiency of the vehicles in the related technology.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a vehicle control method, device and electronic device to at least solve the technical problem of low vehicle operation efficiency in the related art.

[0006] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: determining a target working position of the vehicle based on working status information of at least one working position in a target working area; determining a target guide road based on the target working position, and determining a target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from a main road to a direction close to the target working position or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least a portion of the target guide road and the dumping line corresponding to the target working position is less than a first preset difference threshold; controlling the vehicle to travel from the main road to the target working position according to the target driving path or controlling the vehicle to travel from the target working position to the main road according to the target driving path.

[0007] Further, the target guiding path is a target guiding path group, and the target guiding path group includes a first guiding path and a second guiding path whose direction difference is less than a second preset difference threshold.

[0008] Furthermore, the first guide road is a heavy-load guide road, and the second guide road is an unloaded guide road. The heavy-load guide road is used for vehicles to travel when loaded with materials, and the unloaded guide road is used for vehicles to travel when not loaded with materials.

[0009] Furthermore, the target operation area includes a plurality of operation sections, each operation section includes a plurality of operation positions, wherein a guide road is used to guide a vehicle to approach or leave one or more operation sections.

[0010] Furthermore, the target guide road includes a third guide road and a fourth guide road, the third guide road is used to guide the vehicle to approach or leave the working position in the first working section, and the fourth guide road is used to guide the vehicle to approach or leave the working position in the second working section; wherein, the first transport distance is less than the second transport distance, and the first driving time is less than the second driving time, the first transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road, the second transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the fourth guide road, and the first driving time is the driving time corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road, The second driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section; the third transport distance is less than the fourth transport distance, the third driving time is less than the fourth driving time, the third transport distance is the transport distance corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, the fourth transport distance is the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section, the third driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, and the fourth driving time is the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section.

[0011] Further, determining a target driving path of the vehicle based on the target guide road includes: determining a switching path according to a target working position; and generating a target driving path of the vehicle according to the target guide road, the switching path and the target working position.

[0012] Furthermore, determining a target driving path of the vehicle based on the target guide road includes: determining a target position on the target guidance path according to a target working position, wherein the target position is used to enter or leave the target guidance path; generating a first working path based on the target position and the target working position; and determining a target driving path based on the target guide road and the first working path.

[0013] Furthermore, the method also includes: outputting a target guide path; receiving an adjusted guide path corresponding to the target guide path, wherein the adjusted guide path is a guide path obtained by adjusting the target guide path; and generating a target driving path based on the adjusted guide path and the target working position.

[0014] Furthermore, the target guide road meets the distance requirement from the dumping line, wherein the distance requirement is related to the reverse slope width corresponding to the dumping line.

[0015] Furthermore, the target guidance roads include multiple roads, and there is no intersection between the multiple target guidance roads.

[0016] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, including: a first determination module, used to determine the target working position of the vehicle based on the working status information of at least one working position in the target working area; a second determination module, used to determine the target guide road according to the target working position, and determine the target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from the main road to the direction close to the target working position, or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least part of the target guide road and the soil discharge line corresponding to the target working position is less than a first preset difference threshold; a control module, used to control the vehicle to travel from the main road to the target working position according to the target driving path, or to control the vehicle to travel from the target working position to the main road according to the target driving path.

[0017] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the above-mentioned vehicle control method is executed when the program is running.

[0018] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute the above-mentioned vehicle control method.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0020] According to another aspect of an embodiment of the present invention, a computer program is further provided, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0021] In an embodiment of the present invention, the target working position of the vehicle is first determined through the working status information of at least one working position in the target working area, and then the target guide road is determined according to the target working position, and then the target driving path of the vehicle is determined based on the target guide road, and finally the vehicle is controlled to realize the driving of the vehicle from the main road to the target working position or from the target working position to the main road according to the target driving path, so as to achieve the purpose of controlling the vehicle operation. It is easy to notice that the function of the target guide road is to guide the vehicle from the main road to the direction close to the target working position or to guide the vehicle from the target position to the main road, wherein the difference between at least part of the target guide road and the direction of the soil removal line corresponding to the target working position is less than the first preset difference threshold, so as to ensure that the direction of the target guide road is basically consistent with the direction of the soil removal line, so that the vehicle can drive to the soil removal line around the target driving path determined based on the target guide road to perform soil removal operations. In the above process, the target driving path ultimately used to control the vehicle to travel between the main road and the target working position is determined based on the target guide road, and the target guide road is determined based on the target working position. It can be seen that the target driving path of the vehicle is determined based on the target working position. Therefore, the target driving path of the vehicle is targeted, thereby avoiding the trajectory conflict problem that may occur when multiple vehicles are operating. At the same time, when determining the target driving path of the vehicle in the target guide road, an efficient target driving path can be determined according to demand, thereby shortening the vehicle's operating path and reducing the vehicle's operating time, thereby solving the technical problem of low vehicle operating efficiency in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a target operation area division situation according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a guide path planning situation of an operation section according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of a target driving path of a vehicle according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to an embodiment of the present invention, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0032] Step S102: determining a target operating position of the vehicle according to operating status information of at least one operating position in the target operating area.

[0033] The target operation area in the above steps can be used to describe a specific geographical area or space where the vehicle needs to perform and complete the operation task, which includes but is not limited to unloading (for example, soil discharge, coal discharge, etc.), loading, refueling, inspection, etc., and this application does not make specific restrictions on this. For the convenience of explanation, the following mainly uses soil discharge as an example for explanation, but it should be clarified that the explanation for soil discharge is also applicable to other operations or after simple conversion, and this application does not elaborate on it for the sake of conciseness of the description.

[0034] The working locations in the above steps can be used to describe multiple specific locations within the target working area where soil discharge operations can be carried out during soil discharge operations. The working locations may include but are not limited to one or more locations, and should be determined based on the number of locations suitable for soil discharge operations within the target working area. No limitation is made here.

[0035] The operation status information in the above steps can be data information used to describe the current status of the operation position. The operation status information can be used to help the vehicle understand the specific situation of the current operation position, so as to make corresponding decisions. The types of operation status information may include but are not limited to the soil discharge capacity of the current operation position, the operation efficiency of the vehicle at the current operation position, and the operation progress and queuing status of the vehicle at the current position. The specific operation status information can be determined based on the specific situation of the current operation position and factors such as the vehicle operation requirements, which are not limited here.

[0036] The target working position in the above steps may be used to describe a specific position where the vehicle should work among multiple working positions determined according to the working status information, and subsequent vehicles will work at the target working position.

[0037] In an optional embodiment, the operation status information of multiple operation positions in the target operation area is obtained, and the specific operation position suitable for the vehicle to perform soil dumping operation is determined according to the operation status information, that is, the target operation position of the vehicle is determined. The above process determines a suitable soil dumping operation position as the target operation position based on the operation status information of the operation position, which facilitates the determination of the target guide road in the subsequent steps, and then determines an efficient driving path, thereby improving the soil dumping efficiency of the vehicle.

[0038] Step S104, determining a target guide road according to the target working position, and determining a target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from the main road to a direction close to the target working position or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least a portion of the target guide road and the earth removal line corresponding to the target working position is less than a first preset difference threshold.

[0039] The target guide road in the above steps can be used to describe the path used to guide the vehicle from the main road to the target work location or return to the main road from the target work location. The target guide road can be a combination of one road or multiple roads. The specific number of roads needs to be determined based on the specific situation between the target work location and the main road.

[0040] The target driving path in the above steps can be used to describe the specific driving route of the vehicle from the main road to the target work location or from the target work location back to the main road. The target driving path can be determined from the target guidance road based on factors such as the length of the path and the driving time, and is not limited here.

[0041] The trunk road in the above steps can be used to describe the main road in the mine, connecting various working areas and entrances and exits, and is the main passage for vehicles.

[0042] At least part of the above steps may be used to describe a portion of the target guidance path, or may be the entire target guidance path, which is not limited here and can be determined based on actual conditions.

[0043] The soil discharge line in the above steps can be used to describe the soil discharge retaining wall where vehicles discharge soil. The length of the soil discharge line can include but is not limited to tens of meters, hundreds of meters, etc. The specific length of the soil discharge line should be determined according to the specific soil discharge scenario and is not limited here.

[0044] The first preset difference threshold in the above steps can be used to describe a preset threshold, which is used to measure the difference between the direction of the target guide road and the dumping line. If the difference is less than this threshold, it means that the direction of the target guide road is similar to that of the dumping line, and can be used as a guide path for subsequent vehicles. The specific setting of the first preset difference threshold can be determined based on the distance between the target guide road and the dumping line and other influencing factors, which are not limited here. The target guide road can be generated in advance in the map. Optionally, it can be generated in the map based on a specified algorithm, or generated in the map based on any automated or semi-automated method. The vehicle can obtain map information and determine the guide road information based on the map information.

[0045] In an optional embodiment, to determine the target driving path of the vehicle, it is first necessary to determine the target operating position of the vehicle, and then determine one or more target guide roads according to the target operating position, and determine whether the difference between at least part of the target guide road and the direction of the soil removal line corresponding to the target operating position is less than a first preset difference threshold. If the difference is less than the threshold, it means that the direction of the target guide road and the soil removal line is relatively consistent and can be used as an effective guide path. Finally, the target driving path of the vehicle is determined based on the target guide road, and it is used as the specific driving route of the vehicle from the main road to the target operating position or from the target operating position to the main road, so that the vehicle can travel along the target driving path, reducing the deviation during the driving process, thereby reducing the driving time of the vehicle, and then improving the overall operating efficiency of the vehicle. At the same time, since the target driving path is determined based on the target guide road, and the target guide road is determined based on the target operating position, then the target driving paths of all vehicles are determined for their own target operating positions, which is targeted. When the target operating positions of the vehicles do not conflict, the trajectory conflict problem that may occur when multiple vehicles are driving is avoided.

[0046] Step S106, controlling the vehicle to travel from the main road to the target operating position according to the target driving path, or controlling the vehicle to travel from the target operating position to the main road according to the target driving path.

[0047] The control of vehicle driving in the above steps may include two situations:

[0048] In the first case, after the vehicle obtains the target driving path from the main road to the target working position, the vehicle is controlled to drive to the target working position along the target driving path.

[0049] In the second case, after the vehicle obtains the target driving path from the target work position to the main road, the vehicle is controlled to return to the main road according to the target driving path.

[0050] In an optional embodiment, after obtaining the target driving path of the vehicle, the vehicle is controlled to travel from the main road to the target working position according to the target driving path, or the vehicle is controlled to return to the main road from the target driving position according to the target driving path. The above process achieves efficient driving of the vehicle between the main road and the target working position by determining the target driving path between the main road and the target working position, reduces possible interference during driving, improves the driving efficiency of the vehicle, and thereby improves the work efficiency of the vehicle's earthmoving operation.

[0051] In an embodiment of the present invention, the target working position of the vehicle is first determined through the working status information of at least one working position in the target working area, and then the target guide road is determined according to the target working position, and then the target driving path of the vehicle is determined based on the target guide road, and finally the vehicle is controlled to realize the driving of the vehicle from the main road to the target working position or from the target working position to the main road according to the target driving path, so as to achieve the purpose of controlling the vehicle operation. It is easy to notice that the function of the target guide road is to guide the vehicle from the main road to the direction close to the target working position or to guide the vehicle from the target position to the main road, wherein the difference between at least part of the target guide road and the direction of the soil removal line corresponding to the target working position is less than the first preset difference threshold, so as to ensure that the direction of the target guide road is basically consistent with the direction of the soil removal line, so that the vehicle can drive to the soil removal line around the target driving path determined based on the target guide road to perform soil removal operations. In the above process, the target driving path ultimately used to control the vehicle to travel between the main road and the target working position is determined based on the target guide road, and the target guide road is determined based on the target working position. It can be seen that the target driving path of the vehicle is determined based on the target working position. Therefore, the target driving path of the vehicle is targeted, thereby avoiding the trajectory conflict problem that may occur when multiple vehicles are driving. At the same time, when determining the target driving path of the vehicle in the target guide road, an efficient target driving path can be determined according to demand, thereby shortening the vehicle's operating path and reducing the vehicle's operating time, thereby solving the technical problem of low vehicle operating efficiency in related technologies.

[0052] Optionally, the target guiding path is a target guiding path group, and the target guiding path group includes a first guiding path and a second guiding path whose direction difference is less than a second preset difference threshold.

[0053] The above-mentioned target guidance road group may refer to a combination of paths used to describe the path used to guide a vehicle from a main road to a target work location or from a target work location back to the main road. The target guidance road group may include multiple roads, and the specific number of roads in the target guidance road group needs to be determined based on the specific conditions between the target work location and the main road.

[0054] The above-mentioned first guiding road may refer to a guiding road in the target guiding road group, which is referred to as the first guiding road and is used for the subsequent travel of a specific vehicle or a vehicle in a specific state.

[0055] The above-mentioned second guiding road may refer to another guiding road in the target guiding road group, which is referred to as the second guiding road and is used for the subsequent travel of a specific vehicle or a vehicle in a specific state.

[0056] The above-mentioned direction difference may refer to the angle difference between the directions of the first guide road and the second guide road, which is used to determine the direction state between the first guide road and the second guide road, ensuring that there is no road intersection between the two guide roads, thereby ensuring the driving efficiency and safety of vehicles on the guide roads.

[0057] The above-mentioned second preset difference threshold may refer to a pre-set threshold, which is used to measure the difference between the directions of the first guide road and the second guide road. If the difference is less than this threshold, it means that the directions of the first guide road and the second guide road are similar, and there will be no road intersection. It can be used as a guide path for subsequent vehicles. The specific setting of the second preset difference threshold can be determined based on the distance between the first guide road and the second guide road and other influencing factors, and is not limited here.

[0058] In an optional embodiment, the target guide path group consists of at least two guide paths whose directions differ by less than a second preset difference threshold. These guide paths may be a first guide path and a second guide path, and their directions have a certain similarity, that is, the direction difference between the first guide path and the second guide path is less than a second preset difference threshold. The second preset difference threshold is used to measure the direction difference between the two guide paths, while ensuring that the directions of the first guide path and the second guide path are similar, and there will be no intersection of the guide paths, thereby avoiding the problem of vehicle trajectory conflict and improving the safety of vehicle driving.

[0059] Optionally, the first guide road is a heavy-load guide road, and the second guide road is an unloaded guide road. The heavy-load guide road is used for vehicles to travel when loaded with materials, and the unloaded guide road is used for vehicles to travel when not loaded with materials.

[0060] The above-mentioned heavy-load guide road may refer to a guide road designed for vehicles to travel when loading materials. The function of the heavy-load guide road is to ensure that the vehicle can travel safely and efficiently when loading materials, and to avoid accidents caused by overloading or other reasons.

[0061] The above-mentioned empty guide road may refer to a guide road designed for vehicles to travel when they are not loaded with materials. The function of the empty guide road is to ensure that the vehicle can travel quickly and flexibly in an empty state, thereby improving transportation efficiency.

[0062] In an optional embodiment, during soil discharge operation, the vehicle is in a heavy-loaded state before soil discharge and in an unloaded state after soil discharge. Vehicles in different states have different requirements for guide roads, and different guide roads can be matched for vehicles in different states to make the vehicles travel more efficiently. Matching different guide roads for vehicles in different states includes: matching a first guide road for a vehicle in a heavy-loaded state, that is, a heavy-loaded guide road, and matching a second guide road for a vehicle in an unloaded state, that is, an unloaded guide road. By allowing vehicles in different states to travel on different guide roads, the safety of vehicles on the heavy-loaded guide road and the flexibility and efficiency of vehicles on the unloaded guide road are ensured, while avoiding the problem of track conflicts that are prone to occur when multiple vehicles travel on the guide road.

[0063] Optionally, the target operation area includes a plurality of operation sections, each operation section includes a plurality of operation positions, wherein a guide road is used to guide a vehicle to approach or leave one or more operation sections.

[0064] The above-mentioned working section may refer to a section divided in the target working area where soil discharge operations can be carried out. Each working section may include multiple working positions. The working section is used to divide the target working area into smaller sections to facilitate management and improve working efficiency.

[0065] The above-mentioned division of the target operation area into operation sections may include the following two situations:

[0066] In the first case, when the target operation area is small or relatively regular, it can be divided into only one operation section;

[0067] In the second case, the target operation area is large and can be divided into multiple operation sections according to the specific conditions of the area. The specific division method and the specific number of divisions need to be determined according to the specific conditions of the target operation area and are not limited here.

[0068] The above-mentioned guide road may refer to a path used to guide the vehicle to move within the target operation area. The guide road may connect different operation sections to facilitate the smooth progress of the operation.

[0069] In an optional embodiment, the target operation area needs to be divided before the soil dumping operation is performed, so as to determine the specific operation position according to the divided operation sections, and facilitate the subsequent determination of the guide road according to the operation position. First, the target operation area is divided into one or more operation sections according to the specific situation, and each operation section includes multiple operation positions; secondly, the guide road is matched for the operation section, and the guide road is used to guide the vehicle to approach or leave one or more operation sections, wherein the specific matching situation of the guide road and the operation section needs to be determined according to the location distribution of the operation section, which is not limited here. The above process divides the target operation area into multiple operation sections, and then determines the corresponding guide road based on the operation section, so as to facilitate the independent management of a single operation section, thereby improving the operation efficiency of the vehicle. At the same time, since different guide roads arrive at or leave the designated operation section, the overlap of the target driving paths of multiple vehicles is avoided, thereby avoiding the trajectory conflict problem that multiple vehicles are prone to.

[0070] In an optional embodiment, Figure 2 is a schematic diagram of a target operation area division situation according to an embodiment of the present invention, such as Figure 2 As shown, the target operation area is divided into four operation sections, namely, operation section 1, operation section 2, operation section 3 and operation section 4. Figure 2 The target operation area is divided into four operation sections according to its size and actual conditions, which facilitates the subsequent determination of the guide roads corresponding to the operation sections based on their locations and directions, thereby achieving independent management of the operation sections and improving vehicle operation efficiency. At the same time, due to the different guide roads, the trajectory conflict problem that is prone to occur when multiple vehicles are driving is avoided.

[0071] In an optional embodiment, Figure 3 is a schematic diagram of a guide path planning situation of an operation section according to an embodiment of the present invention, such as Figure 3As shown, the target operation area is divided into four operation sections, namely operation section 1, operation section 2, operation section 3 and operation section 4, and there are two unloaded guide roads and two heavy-loaded guide roads, namely unloaded guide road 1, unloaded guide road 2 and heavy-loaded guide road 1, heavy-loaded guide road 2, wherein unloaded guide road 1 and heavy-loaded guide road 1 constitute guide road group 1, unloaded guide road 2 and heavy-loaded guide road 2 constitute guide road group 2, and guide road group 1 is used to guide vehicles to approach or leave operation section 1; since operation section 2, operation section 3 and operation section 4 have similar directions, these three operation sections share one guide road group 2, and vehicles are guided to approach or leave the above three operation sections through guide road group 2. In the planning process of the above-mentioned guide road group, a sufficient distance should be maintained between the unloaded guide road and the heavy-loaded guide road so that vehicles will not interfere with each other when traveling on the guide road. In the above process, the corresponding guide road group is determined for each operating section according to its direction. At the same time, the unloaded guide road and the heavy-loaded guide road are used to guide the vehicle away from or approach the target operating position, respectively, thereby realizing the reasonable allocation of the guide road group, meeting the driving needs of vehicles under different conditions, and thus improving the operating efficiency of the vehicle.

[0072] Optionally, the target guide road includes a third guide road and a fourth guide road, the third guide road is used to guide the vehicle to approach or leave the working position in the first working section, and the fourth guide road is used to guide the vehicle to approach or leave the working position in the second working section; wherein the first transport distance is less than the second transport distance, and the first driving time is less than the second driving time, the first transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road, the second transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the fourth guide road, and the first driving time is the driving time corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road, The second driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section; the third transport distance is less than the fourth transport distance, the third driving time is less than the fourth driving time, the third transport distance is the transport distance corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, the fourth transport distance is the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section, the third driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, and the fourth driving time is the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section.

[0073] The third guide path mentioned above may refer to a guide path in the target guide path group, which is used to guide the vehicle to approach or leave the working position in the first working section, and is referred to as the third guide path.

[0074] The above-mentioned first working section may refer to one of the working sections after the target working area is divided into multiple working sections. The working section corresponds to the third guide road and is called the first working section. The vehicle guided by the third guide road will operate at the working position of the first working section.

[0075] The fourth guide road mentioned above may refer to a guide road in the target guide road group, which is used to guide the vehicle to approach or leave the working position in the second working section, and is referred to as the fourth guide road.

[0076] The above-mentioned second working section may refer to one of the working sections after the target working area is divided into multiple working sections. The working section corresponds to the fourth guide road and is called the second working section. The vehicle guided by the fourth guide road will operate at the working position in the second working section.

[0077] The first transport distance may refer to the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the first working section, and the first transport distance is smaller than the second transport distance.

[0078] The second transport distance may refer to the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the fourth guide road. The second transport distance is used as a reference distance to facilitate the judgment and selection of a shorter transport distance.

[0079] The first driving time may refer to the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the first working section, and the first driving time is less than the second driving time.

[0080] The second driving time mentioned above may refer to the driving time corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section. The second driving time is used as a reference driving time to facilitate the judgment and selection of a shorter driving time.

[0081] The third transport distance may refer to the transport distance corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, and the third transport distance is smaller than the fourth transport distance.

[0082] The fourth transport distance may refer to the transport distance corresponding to the vehicle entering the working position in the second working section from the main road via the third guide road. The fourth transport distance is used as a reference distance to facilitate the judgment and selection of a shorter transport distance.

[0083] The third driving time mentioned above may refer to the driving time corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section, and the third driving time is less than the fourth driving time.

[0084] The fourth driving time may refer to the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section. The fourth driving time is used as a reference driving time to facilitate the judgment and selection of a shorter driving time.

[0085] In an optional embodiment, in order to determine whether the third guide road and the fourth guide road in the target guide road are suitable for the current working section, further judgment can be performed. First, it is clarified that the third guide road is used to guide the vehicle to approach or drive away from the working position in the first working section, and the fourth guide road is used to guide the vehicle to approach or drive away from the working position in the second working section; then, the vehicle is driven from the main road via the third guide road to the working position in the first working section, and the transportation distance and driving time of the vehicle at this time are obtained as the first transportation distance and the first driving time, and the vehicle is driven from the main road via the fourth guide path to the working position in the first working section, and the transportation distance and driving time of the vehicle at this time are obtained as the second transportation distance and the second driving time, and the first transportation distance is compared with the second transportation distance, and the first driving time is compared with the second driving time, and it is obtained that the first transportation distance is less than the second transportation distance, and the first driving time is less than the second driving time. The third guide road is suitable for guiding vehicles to approach or leave the first operation section if the third guide road is smaller than the fourth guide road, and the third travel time is smaller than the fourth travel time. The above process determines the guide road suitable for the operation section by exchanging the operation sections of the third guide road and the fourth guide road, which provides an explanation for the determination of the guide road. At the same time, it is concluded that the guide road finally determined should be the guide road with a shorter transportation distance or a shorter travel time between the main road and the operation section.

[0086] Optionally, determining a target driving path of the vehicle based on the target guide road includes: determining a switching path according to a target working position; and generating a target driving path of the vehicle according to the target guide road, the switching path and the target working position.

[0087] The above-mentioned switching path may refer to a direction adjustment path that exists during vehicle driving in order to achieve the direction change of the target guide road. The functions of the switching path include but are not limited to adjusting the direction of the vehicle, ensuring driving safety, improving the driving path, etc. The switching path may be determined based on but not limited to factors such as the vehicle's steering and speed change. The specific determination method needs to be determined based on actual conditions and is not limited here.

[0088] In an optional embodiment, Figure 4 is a schematic diagram of a target driving path of a vehicle according to an embodiment of the present invention, such as Figure 4 As shown in the figure, the upper horizontal straight line part represents the target guide path, the middle curved line segment part represents the switching path, and the lower square part represents the target working position. The above target guide path, switching path and target working position together constitute a complete target driving path. Figure 4 The process of the target driving path of the vehicle in the vehicle is as follows: first, the target guide road needs to be determined, and then the reversing path is determined based on the target working position, so that the vehicle can get off the target guide road, turn and drive into the target working position, or the vehicle can leave the target working position and turn into the target guide road. Then, based on the target guide road, the reversing path and the target working position, the target driving path of the vehicle is jointly generated. In the above process, the target guide road is the basis for generating the target driving path. The target guide road determines the basic trajectory of the vehicle approaching or leaving the target working position. The reversing path is used to realize the road direction conversion in the target driving path, and then control the direction of the vehicle approaching or leaving the target working position. The target working position determines the end point of the target driving path. The above three elements jointly determine the generation of the target driving path.

[0089] Optionally, determining a target driving path of the vehicle based on the target guide road includes: determining a target position on the target guidance path according to a target working position, wherein the target position is used to enter or leave the target guidance path; generating a first working path based on the target position and the target working position; and determining the target driving path based on the target guide road and the first working path.

[0090] The above-mentioned target position may refer to a specific point on the target guidance path, which can be used to instruct the vehicle to enter or leave the target guidance path. The target position can provide the vehicle with clear instructions for entering or leaving a specific area, ensuring that the vehicle can safely and accurately reach or leave the predetermined work site.

[0091] The above-mentioned first operation path may refer to a path generated based on the target position and the target operation position. The first operation path is a specific driving route for the vehicle to reach the target operation position from the target position, which can ensure that the vehicle arrives at or leaves the target operation position in a predetermined order and direction.

[0092] In an optional embodiment, to determine the target driving path of the vehicle based on the target guide road, it is first necessary to generate a first working path based on the target position and the target working position on the target guide road, and then determine the target driving path based on the target guide road and the first working path. The target position in the above process is used to guide the vehicle to enter or leave the target guide road, the first working path is the connecting path between the target position and the target working position, and the first guiding path and the target guide road jointly determine the complete target driving path, so that the vehicle can achieve complete driving from the main road to the target working position.

[0093] Optionally, the method further includes: outputting a target guide path; receiving an adjusted guide path corresponding to the target guide path, wherein the adjusted guide path is a guide path obtained by adjusting the target guide path; and generating a target driving path based on the adjusted guide path and the target working position.

[0094] The above-mentioned adjusted guide path may refer to a new guide path obtained by adjusting the guide path on the basis of the target guide path according to the actual driving conditions and operational requirements of the vehicle. The functions of the adjusted guide path include but are not limited to adapting to complex environments, improving driving safety, etc. The types of adjusted guide paths may include but are not limited to obstacle-based adjusted guide paths, driving speed-based adjusted guide paths, and operational requirements-based adjusted guide paths. The type of adjusted guide path may be determined based on the specific operational situation and is not limited here.

[0095] In an optional embodiment, generating the target driving path may further include: first outputting the target guide path, then determining the adjustment guide path based on the target guide path, and finally generating the target driving path based on the target guide path and the adjustment guide path. The adjustment guide path in the above process may be an adjustment guide path obtained by adjusting the target guide path according to special circumstances, and the special circumstances include but are not limited to obstacles, changes in operating requirements, etc. The existence of the adjustment guide path ensures that the target driving path can be adjusted in time under special circumstances, and does not affect the operating efficiency of the vehicle while ensuring the safe driving of the vehicle.

[0096] Optionally, the target guide road meets a distance requirement with the dumping line, wherein the distance requirement is related to a reverse slope width corresponding to the dumping line.

[0097] The above distance requirement may refer to the minimum distance that needs to be maintained between the target guide line and the dumping line. The distance requirement may be adjusted according to the type of vehicle and the characteristics of the dumping operation, and is not limited here.

[0098] The above-mentioned reverse slope width may refer to the width corresponding to the angle between the slope on both sides of the earth discharge line and the horizontal plane. The reverse slope width is used to provide sufficient space for the vehicle to ensure that the vehicle will not roll over or deviate from the predetermined trajectory when driving close to the earth discharge line. The types of reverse slope width may include but are not limited to fixed width, adjustable width and adaptive width. The specific reverse slope width can be determined according to the needs of the earth discharge operation and the terrain conditions, and is not limited here.

[0099] In an optional embodiment, when determining the target guide path of the vehicle, the minimum distance that needs to be maintained between the target guide path and the dumping line needs to be considered, wherein the minimum distance needs to be determined based on the reverse slope width of the dumping line. After the minimum distance is determined, it can be ensured that when the vehicle is driving close to the dumping line, it will not roll over due to the effect of lateral force, or deviate from its predetermined driving trajectory, thereby effectively ensuring the safety of the vehicle's driving and ensuring that it can drive stably and safely under various road conditions.

[0100] Optionally, the target guiding roads include multiple roads, and there is no intersection between the multiple target guiding roads.

[0101] In an optional embodiment, the target guidance road generally includes multiple target guidance roads, and the multiple target guidance roads cannot intersect with each other to avoid safety problems and trajectory conflicts when the vehicle travels on the target guidance road.

[0102] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, which can execute the vehicle energy control method provided in the above embodiment. The specific implementation method and preferred application scenario are the same as the above embodiment and will not be repeated here.

[0103] Figure 5 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 5 As shown, the device includes: a first determination module 502, used to determine the target working position of the vehicle according to the working status information of at least one working position in the target working area; a second determination module 504, used to determine the target guide road according to the target working position, and determine the target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from the main road to the direction close to the target working position, or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least part of the target guide road and the soil discharge line corresponding to the target working position is less than a first preset difference threshold; a control module 506, used to control the vehicle to travel from the main road to the target working position according to the target driving path, or to control the vehicle to travel from the target working position to the main road according to the target driving path.

[0104] Optionally, the second determination module includes that the target guiding path is a target guiding path group, and the target guiding path group includes a first guiding path and a second guiding path whose direction difference is less than a second preset difference threshold.

[0105] Optionally, the second determination module also includes that the first guide road is a heavy-load guide road, and the second guide road is an unloaded guide road, the heavy-load guide road is used for the vehicle to travel when loaded with materials, and the unloaded guide road is used for the vehicle to travel when not loaded with materials.

[0106] Optionally, the first determination module includes that the target operation area includes a plurality of operation sections, each operation section includes a plurality of operation positions, and a guide road is used to guide the vehicle to approach or leave one or more operation sections.

[0107] Optionally, the second determination module also includes that the target guide road includes a third guide road and a fourth guide road, the third guide road is used to guide the vehicle to approach or leave the working position in the first working section, and the fourth guide road is used to guide the vehicle to approach or leave the working position in the second working section; wherein, the first transport distance is less than the second transport distance, the first driving time is less than the second driving time, the first transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road, the second transport distance is the transport distance corresponding to the vehicle entering the working position in the first working section from the main road via the fourth guide road, and the first driving time is the distance corresponding to the vehicle entering the working position in the first working section from the main road via the third guide road. Driving time, the second driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section; the third transport distance is less than the fourth transport distance, the third driving time is less than the fourth driving time, the third transport distance is the transport distance corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the first working section, the fourth transport distance is the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section, the third driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the first working section, the fourth driving time is the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section.

[0108] Optionally, the second determination module also includes a first determination unit for determining a switching path according to a target working position; and a first generation unit for generating a target driving path of the vehicle according to the target guide path, the switching path and the target working position.

[0109] Optionally, the second determination module also includes a second determination unit, used to determine the target position on the target guidance path according to the target working position, wherein the target position is used to enter or leave the target guidance path; a second generation unit, used to generate a first working path based on the target position and the target working position; and a third determination unit, used to determine the target driving path based on the target guidance path and the first working path.

[0110] Optionally, the above-mentioned device also includes: an output module for outputting a target guide road; a receiving module for receiving an adjusted guide road corresponding to the target guide road, wherein the adjusted guide road is a guide road obtained by adjusting the target guide road; and a generating module for generating a target driving path based on the adjusted guide road and the target working position.

[0111] Optionally, the second determination module further includes: satisfying a distance requirement between the target guide road and the dumping line, wherein the distance requirement is related to a reverse slope width corresponding to the dumping line.

[0112] Optionally, the second determination module further includes: the target guiding roads include multiple roads, and there is no intersection between the multiple target guiding roads.

[0113] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program. When the program is executed, a processor of a device is controlled to execute the methods of various embodiments of the present invention.

[0114] The computer storage medium in the above steps can be a medium used to store certain discontinuous physical quantities in a computer memory, and the computer storage medium mainly includes semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc. The stored program included in the computer-readable storage medium can be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool that meets certain needs of people.

[0115] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0116] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0117] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0120] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0122] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Determining a target operating position of the vehicle according to operating status information of at least one operating position in the target operating area; Determine a target guide road according to the target working position, and determine a target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from a main road to a direction close to the target working position or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least a portion of the target guide road and the dumping line corresponding to the target working position is less than a first preset difference threshold; The vehicle is controlled to travel from the main road to the target working position according to the target driving path, or the vehicle is controlled to travel from the target working position to the main road according to the target driving path.

2. The method according to claim 1, characterized in that The target guiding path is a target guiding path group, and the target guiding path group includes a first guiding path and a second guiding path whose direction difference is less than a second preset difference threshold.

3. The method according to claim 2, characterized in that The first guide road is a heavy-load guide road, and the second guide road is an unloaded guide road. The heavy-load guide road is used for vehicles to travel when they are loaded with materials, and the unloaded guide road is used for vehicles to travel when they are not loaded with materials.

4. The method according to claim 1, characterized in that: The target operation area includes a plurality of operation sections, each operation section includes a plurality of operation positions, wherein a guide road is used to guide the vehicle to approach or leave one or more operation sections.

5. The method according to claim 1, characterized in that: The target guide path includes a third guide path and a fourth guide path, the third guide path is used to guide the vehicle to approach or leave the working position in the first working section, and the fourth guide path is used to guide the vehicle to approach or leave the working position in the second working section; The first transport distance is smaller than the second transport distance, and the first driving time is smaller than the second driving time. The first transport distance is the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the first working section, the second transport distance is the transport distance corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section, the first driving time is the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the first working section, and the second driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide path into the working position in the first working section; The third transport distance is smaller than the fourth transport distance, and the third driving time is smaller than the fourth driving time. The third transport distance is the transport distance corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section. The fourth transport distance is the transport distance corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section. The third driving time is the driving time corresponding to the vehicle driving from the main road via the fourth guide road into the working position in the second working section. The fourth driving time is the driving time corresponding to the vehicle driving from the main road via the third guide road into the working position in the second working section.

6. The method according to any one of claims 1 to 5, characterized in that The determining the target driving path of the vehicle based on the target guide road includes: Determine a reversing path according to the target operation position; A target driving path of the vehicle is generated according to the target guide path, the switching path and the target working position.

7. The method according to claim 1 or 5, characterized in that: The determining the target driving path of the vehicle based on the target guide road includes: Determining a target position on the target guidance path according to the target working position, wherein the target position is used to enter or leave the target guidance path; generating a first operation path based on the target position and the target operation position; The target driving path is determined based on the target guide path and the first working path.

8. The method according to any one of claims 1 to 5, characterized in that The method further comprises: outputting the target guidance path; Receiving an adjusted guiding path corresponding to the target guiding path, wherein the adjusted guiding path is a guiding path obtained by adjusting the target guiding path; The target travel path is generated based on the adjustment guide path and the target work position.

9. The method according to claim 1, characterized in that: The target guide road meets the distance requirement with the dumping line, wherein the distance requirement is related to the reverse slope width corresponding to the dumping line.

10. The method according to claim 1, characterized in that The target guide roads include a plurality of target guide roads, and there is no intersection between the plurality of target guide roads.

11. A vehicle control device, characterized in that: include: A first determination module, configured to determine a target operating position of the vehicle according to operating status information of at least one operating position in a target operating area; A second determination module is used to determine a target guide road according to the target working position, and determine a target driving path of the vehicle based on the target guide road, wherein the target guide road is used to guide the vehicle from a main road to a direction close to the target working position, or to guide the vehicle from the target working position to the main road, and the difference between the direction of at least a portion of the target guide road and the dumping line corresponding to the target working position is less than a first preset difference threshold; The control module is used to control the vehicle to travel from the main road to the target working position according to the target driving path, or to control the vehicle to travel from the target working position to the main road according to the target driving path.

12. An electronic device, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 10 when running.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 10.

14. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.

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