Anti-collision control method and device for vehicle in remote control driving mode

Abstract

The invention discloses an anti-collision control method and device for a vehicle in a remote control driving mode, and relates to the technical field of remote control driving. The method comprises the steps that when a vehicle is in a remote control driving mode, feature information of the vehicle is obtained, and the feature information comprises at least one of driving control information, driving scene information, driving position information, service type information and vehicle state information; determining a target anti-collision strategy according to the feature information of the vehicle; determining a driving planning track of the vehicle based on the target anti-collision strategy and the driving control information of the vehicle; and controlling the vehicle to run according to the driving planning track. The technical problem that in the mine environment, anti-collision control over the vehicle in the remote control driving mode is difficult is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control driving, and in particular to a collision avoidance control method and device for a vehicle in a remote control driving mode. Background Art

[0002] Remote control driving plays an important role in assisting escape in unmanned mine operation scenarios. When an unmanned vehicle encounters a fault that cannot be repaired autonomously or the site does not meet the conditions for unmanned driving, remote control driving will undoubtedly be much more efficient than the driver taking over directly.

[0003] However, since the network quality in the mining scene cannot be guaranteed, there may be technical problems such as excessive data transmission delay, which may cause the surveillance camera screen seen by the remote control driving object to freeze, or the control instructions issued by the remote control driving object to the unmanned vehicle cannot be transmitted, resulting in a large safety hazard when the remote control driving object controls the unmanned vehicle. In addition, the mining environment has certain particularities. For unmanned vehicles in remote control driving in the mining environment, they need to be protected by the anti-collision function, but also prevent the protection from being too strong and affecting the vehicle's escape function. Therefore, in the mining environment, it is difficult to perform anti-collision control on vehicles in remote control driving mode.

[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 method and device for anti-collision control of a vehicle in a remote control driving mode, so as to at least solve the technical problem that it is difficult to perform anti-collision control on a vehicle in a remote control driving mode in a mining environment.

[0006] According to one aspect of an embodiment of the present invention, there is provided a collision avoidance control method for a vehicle in a remote control driving mode, comprising: when the vehicle is in the remote control driving mode, acquiring characteristic information of the vehicle, wherein the characteristic information comprises at least one of the following: driving control information, driving scene information, driving position information, service type information and vehicle status information, the driving control information is relevant information for controlling the driving of the vehicle, the driving scene information is used to represent the driving scene of the vehicle, the driving position information is used to represent the driving position of the vehicle, the service type information is used to represent the type of service that the vehicle is executing or is about to execute, the vehicle status information is used to characterize the current state of the vehicle, the driving control information comprises at least a remote control driving instruction; determining a target collision avoidance strategy according to the characteristic information of the vehicle; determining a driving planning trajectory of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle; and controlling the driving of the vehicle according to the driving planning trajectory.

[0007] Optionally, the driving control information also includes at least one of the following: perception information and map information.

[0008] Optionally, based on the characteristic information of the vehicle, a target collision avoidance strategy is determined, including: performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; in response to the delay duration being greater than a duration threshold, determining to switch the target collision avoidance strategy from the current collision avoidance mode to a first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or the first collision avoidance mode is used to maintain the current position of the vehicle unchanged.

[0009] Optionally, based on the characteristic information of the vehicle, a target collision avoidance strategy is determined, including: performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; in response to the delay duration being less than a duration threshold, determining a preset collision avoidance strategy corresponding to at least one of the following information: a driving scene indicated by the vehicle's driving scene information, a driving position indicated by the driving position information, a business type indicated by the business type information, and a vehicle status indicated by the vehicle status information; and determining the preset collision avoidance strategy as the target collision avoidance strategy.

[0010] Optionally, in the case where the driving control information includes perception information, a target collision avoidance strategy is determined according to the characteristic information of the vehicle, including: based on the perception information of the vehicle, determining whether the vehicle meets the usage conditions of the collision avoidance mode corresponding to the target business type, and switching the target collision avoidance strategy from the current collision avoidance mode to a second collision avoidance mode, wherein the usage conditions of the collision avoidance mode are used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target business type is within a distance threshold range, and the second collision avoidance mode is the collision avoidance mode corresponding to the target business type.

[0011] Optionally, when the driving control information includes perception information, a target collision avoidance strategy is determined based on characteristic information of the vehicle, including: determining a working state of a perception system of the vehicle based on the perception information; in response to the perception system being in an abnormal working state, switching the target collision avoidance strategy from a current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirement of the third collision avoidance mode is lower than that of the current collision avoidance mode.

[0012] Optionally, the method further includes: in response to the vehicle receiving a mode switching instruction, switching the vehicle's target collision avoidance strategy from a current collision avoidance mode to a fourth collision avoidance mode, wherein the collision avoidance requirement of the fourth collision avoidance mode is lower or higher than that of the current collision avoidance mode.

[0013] Optionally, the working state of the vehicle's perception system is determined based on the perception information, including: obtaining a matching result between a target operation performed by the vehicle and a guidance operation corresponding to the perception information of the vehicle; in response to the matching result indicating that the target operation matches the guidance operation, determining that the working state of the perception system is a normal working state; in response to the matching result indicating that the target operation does not match the guidance operation, determining that the working state of the perception system is an abnormal working state.

[0014] Optionally, the business type includes at least one of the following: loading business, unloading business, transportation business and parking business.

[0015] According to another aspect of an embodiment of the present invention, there is also provided an anti-collision control device for a vehicle in a remote control driving mode, comprising: an acquisition unit, for acquiring characteristic information of the vehicle when the vehicle is in the remote control driving mode, wherein the characteristic information comprises at least one of the following: driving control information, driving scene information, driving position information, business type information and vehicle status information, the driving control information is relevant information for controlling the driving of the vehicle, the driving scene information is used to indicate the driving scene of the vehicle, the driving position information is used to indicate the driving position of the vehicle, the business type information is used to indicate the type of business that the vehicle is executing or is about to execute, the vehicle status information is used to characterize the current state of the vehicle, and the driving control information at least comprises a remote control driving instruction; a first determination unit, for determining a target anti-collision strategy according to the characteristic information of the vehicle; a second determination unit, for determining a driving planning trajectory of the vehicle based on the target anti-collision strategy and the driving control information of the vehicle; a control unit, for controlling the driving of the vehicle according to the driving planning trajectory.

[0016] In an embodiment of the present invention, when the vehicle is in a remote control driving mode, characteristic information of the vehicle is obtained, wherein the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, business type information, and vehicle status information; a target collision avoidance strategy is determined according to the characteristic information of the vehicle; a driving planning trajectory of the vehicle is determined based on the target collision avoidance strategy and the driving control information of the vehicle; and the vehicle is controlled to travel according to the driving planning trajectory. That is to say, in an embodiment of the present invention, a target collision avoidance strategy is determined by fine-grained analysis of the characteristic information of the acquired vehicle, and then based on the target collision avoidance strategy and the driving control information of the vehicle, the driving trajectory information for controlling the vehicle's travel is further determined, and a driving planning trajectory that conforms to the current vehicle characteristic information and driving control information is determined, and the vehicle is controlled to travel according to the driving planning trajectory, thereby achieving a technical effect of reasonable collision avoidance control of a vehicle in a remote control driving mode, thereby solving the technical problem of the difficulty of collision avoidance control of a vehicle in a remote control driving mode in a mining environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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:

[0018] Figure 1 is a flow chart of a collision avoidance control method when a vehicle is in a remote control driving mode according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of an optional anti-collision control method according to an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of an anti-collision control device for a vehicle in a remote control driving mode according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] Example 1

[0024] According to an embodiment of the present invention, an embodiment of a collision avoidance control method for a vehicle in a remote control driving mode 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.

[0025] Figure 1is a collision avoidance control method for a vehicle in a remote control driving mode according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0026] Step S102, when the vehicle is in remote control driving mode, obtaining characteristic information of the vehicle.

[0027] Among them, the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, business type information and vehicle status information. The driving control information is related information used to control the driving of the vehicle. The driving scene information is used to indicate the driving scene of the vehicle. The driving position information is used to indicate the driving position of the vehicle. The business type information is used to indicate the type of business that the vehicle is executing or is about to execute. The vehicle status information is used to characterize the current state of the vehicle. The driving control information at least includes remote control driving instructions.

[0028] The characteristic information in the above steps is used to characterize the driving characteristics of the vehicle in the remote control driving mode in the mining environment.

[0029] The driving control information in the above steps is used to control the driving of the vehicle, and may include but is not limited to remote control driving instructions. Remote control driving instructions may include but are not limited to acceleration instructions, deceleration instructions, steering instructions, forward instructions, reverse instructions, etc.

[0030] The driving scenario information in the above steps is used to indicate the driving scenario of the vehicle in the mining environment, which may include but is not limited to loading scenario, unloading scenario, transportation scenario, parking scenario, etc.

[0031] The driving position information in the above steps is used to indicate the current position of the vehicle, and may be indicated by latitude and longitude coordinates, or by a location point on a map, but is not limited thereto.

[0032] The business type information in the above steps is used to indicate the business type that the vehicle is performing or is about to perform in the mining environment, such as loading, unloading, transportation, parking, etc.

[0033] The vehicle status information in the above steps is used to characterize the current status of the vehicle, which may include but is not limited to loading status, unloading status, transportation status, parking status, etc.

[0034] In an optional embodiment, when the vehicle is in remote control driving mode, the remote control driving system of the vehicle can receive driving control information sent by the remote control driving object; can sense the environment around the vehicle through the perception system to obtain driving scene information in the feature information, wherein the perception system of the vehicle can at least include sensor equipment; can obtain driving position information in the feature information through the Global Positioning System (GPS), including latitude and longitude coordinates, altitude, etc.; can receive map information sent by the cloud platform; can access the vehicle-mounted device, and obtain the type of business currently executed by the vehicle through the vehicle-mounted device, such as loading, unloading, transportation, etc. When obtaining vehicle status information, the vehicle-mounted sensor can be accessed to obtain the vehicle status information through the vehicle-mounted sensor.

[0035] Step S104, determining a target collision avoidance strategy based on the characteristic information of the vehicle.

[0036] The target collision avoidance strategy in the above steps is obtained by analyzing the characteristic information of the vehicle. The collision avoidance strategy that the vehicle should currently use can be characterized by collision avoidance safety parameters. The collision avoidance safety parameters can include but are not limited to collision avoidance safety distance, etc.

[0037] In an optional embodiment, a mapping relationship between the characteristic information of the vehicle and the target collision avoidance strategy can be preset. After the characteristic information of the vehicle is obtained, the target collision avoidance strategy corresponding to the characteristic information of the vehicle is searched according to the mapping relationship, thereby determining the target collision avoidance strategy. Exemplarily, the vehicle scene information can be selected as the characteristic information of the vehicle, and the mapping relationship between the characteristic information of the vehicle and the target collision avoidance strategy can be set as follows: the safety protection distance corresponding to the loading scene is 40 meters, the safety protection distance corresponding to the unloading scene is 50 meters, and the safety protection distance corresponding to the running scene is 20 meters. After the characteristic information of the vehicle is obtained, the corresponding target collision avoidance strategy can be determined according to the driving scene information in the characteristic information.

[0038] It should be noted that the specific numerical values ​​involved in the above examples are only examples, and the specific data used in actual applications may not be limited to these.

[0039] In another optional embodiment, based on the vehicle status information, it is determined whether the vehicle is in an emergency situation, such as the vehicle is out of control, encountering an obstacle, etc.; if so, the target collision avoidance strategy is to take immediate measures to avoid the collision; if not, the surrounding environment and road conditions can be analyzed based on the driving scene information and driving position information to determine whether the vehicle is in an area with a risk of collision. If the vehicle is in an area with a risk of collision, the target collision avoidance strategy is to increase the safety protection distance to ensure that the vehicle is not collided; if the vehicle is not in an area with a risk of collision, the target collision avoidance strategy is to shorten the safety protection distance to facilitate the smooth passage of the vehicle.

[0040] Step S106, determining the planned driving trajectory of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle.

[0041] The vehicle's driving planning trajectory in the above steps is determined based on the vehicle's characteristic information, target collision avoidance strategy, and driving control information. The vehicle's driving path in the mining environment. The driving planning path includes information such as how the vehicle should drive, when to change lanes, when to slow down or accelerate, etc., to ensure the safety and smoothness of the vehicle's driving in the mining environment.

[0042] In an optional embodiment, a remote control driving algorithm can be used to determine the vehicle's planned driving trajectory based on the target collision avoidance strategy and the vehicle's driving control information. The remote control driving algorithm models and perceives the surrounding environment based on the map information, obstacle information, positioning information, etc. in the driving control information. Then, combined with the remote control driving instructions in the driving control information, the driving target and the state to be achieved are determined. Then, based on the collision avoidance safety parameters in the target collision avoidance strategy, a safe driving trajectory is planned taking into account factors such as the location, size, and speed of surrounding obstacles as the vehicle's planned driving trajectory.

[0043] In another optional embodiment, the driving plan trajectory prediction model can be used to predict the driving plan trajectory of the vehicle. The previously existing target collision avoidance strategy, driving control information and driving plan trajectory can be used as training data to train the driving plan trajectory prediction model, so that the driving plan trajectory prediction model has the ability to predict the driving plan trajectory of the vehicle based on the target collision avoidance strategy and driving control information. Then, the target collision avoidance strategy and the driving control information of the vehicle are input into the trained driving plan trajectory prediction model, so that the driving plan trajectory prediction model outputs the predicted driving plan trajectory.

[0044] Step S108, controlling the vehicle to travel according to the planned travel trajectory.

[0045] In an optional embodiment, the vehicle travels according to the path and speed determined by the driving planning trajectory. During the driving process, the actual position and status of the vehicle are monitored and compared with the driving planning trajectory. When there is a difference with the driving planning trajectory, the speed and direction of the vehicle are adjusted in time to ensure that the vehicle travels stably according to the planned trajectory.

[0046] In an embodiment of the present invention, when the vehicle is in a remote control driving mode, characteristic information of the vehicle is obtained, wherein the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, business type information, and vehicle status information; a target collision avoidance strategy is determined according to the characteristic information of the vehicle; a driving planning trajectory of the vehicle is determined based on the target collision avoidance strategy and the driving control information of the vehicle; and the vehicle is controlled to travel according to the driving planning trajectory. That is to say, in an embodiment of the present invention, a target collision avoidance strategy is determined by fine-grained analysis of the characteristic information of the acquired vehicle, and then based on the target collision avoidance strategy and the driving control information of the vehicle, the driving trajectory information for controlling the vehicle's travel is further determined, and a driving planning trajectory that conforms to the current vehicle characteristic information and driving control information is determined, and the vehicle is controlled to travel according to the driving planning trajectory, thereby achieving a technical effect of reasonable collision avoidance control of a vehicle in a remote control driving mode, thereby solving the technical problem of the difficulty of collision avoidance control of a vehicle in a remote control driving mode in a mining environment.

[0047] Optionally, the driving control information also includes at least one of the following: perception information and map information.

[0048] The perception information in the above steps is obtained by the vehicle through sensors. The perception information may include: the position, speed, movement direction and other information of other vehicles, pedestrians and obstacles around the vehicle in the mining environment. The sensors may include but are not limited to cameras, millimeter wave radars, lidars, etc., which are only illustrative examples.

[0049] The map information in the above steps is map data around the location of the vehicle in the mining environment, and may include but is not limited to road information, traffic signs, etc.

[0050] Optionally, based on the characteristic information of the vehicle, a target collision avoidance strategy is determined, including: performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; in response to the delay duration being greater than a duration threshold, determining to switch the target collision avoidance strategy from the current collision avoidance mode to a first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or the first collision avoidance mode is used to maintain the current position of the vehicle unchanged.

[0051] The duration threshold in the above steps is a preset duration reference value, which can be used to compare with the delay duration to determine whether the delay duration is abnormal, and then determine the target collision avoidance strategy.

[0052] The safety protection distance in the above steps is set to ensure vehicle safety. It is the safety distance between the vehicle and the obstacle. When the distance between the vehicle and the obstacle is greater than the safety protection distance, the vehicle can drive normally. When the distance between the vehicle and the obstacle is less than the safety protection distance, the vehicle needs to stop suddenly. The safety protection distance can change with the change of the collision avoidance mode.

[0053] In an optional embodiment, when performing delay detection on driving control information, a timestamp for recording the time when the driving control information is sent can be added to the driving control information when the driving control information is sent. When the vehicle receives the driving control information, the delay duration can be calculated by subtracting the sending time recorded in the timestamp from the receiving time.

[0054] Compare the delay time with the time threshold. If the delay time is greater than the time threshold, it can be considered that the network quality in the current mining environment is poor, resulting in a problem of excessive data transmission. In this case, the vehicle is likely to receive the driving control information sent by the control driving system to the vehicle with a delay, resulting in the vehicle failing to make a driving action in time, posing a safety hazard.

[0055] Therefore, the anti-collision mode should be adjusted in time to minimize safety hazards. The target anti-collision strategy should be determined as switching the current anti-collision mode to the first anti-collision mode to increase the safety protection distance or control the vehicle to stop suddenly, thereby improving the safety of the vehicle under network fluctuations.

[0056] Optionally, based on the characteristic information of the vehicle, a target collision avoidance strategy is determined, including: performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; in response to the delay duration being less than a duration threshold, determining a preset collision avoidance strategy corresponding to at least one of the following information: a driving scene indicated by the vehicle's driving scene information, a driving position indicated by the driving position information, a business type indicated by the business type information, and a vehicle status indicated by the vehicle status information; and determining the preset collision avoidance strategy as the target collision avoidance strategy.

[0057] The preset anti-collision strategy in the above steps is a pre-set anti-collision strategy, which has a corresponding relationship with the driving scene, driving position, business type, and vehicle status. The preset anti-collision strategy can be determined by any one of the driving scene, driving position, business type, and vehicle status, or it can be determined by any multiple of the driving scene, driving position, business type, and vehicle status.

[0058] In an optional embodiment, after determining the driving control information, the delay duration is compared with the duration threshold. If the delay duration is less than the duration threshold, it can be considered that the network in the current mining environment is good and there is no delay in data transmission. The preset anti-collision strategy can be further determined based on the driving scenario, driving position, business type, and vehicle status.

[0059] A mapping relationship between the vehicle status and the preset anti-collision strategy is established, and the loading status, unloading status, transportation status, and parking status are respectively mapped to different preset anti-collision strategies.

[0060] The vehicle status can be determined based on the driving scenario, driving position or business type. When the vehicle's driving position is in the loading area, or the driving scenario is a loading scenario, or the business type is a loading business, the vehicle status can be determined to be a loading state; when the vehicle's driving position is in the unloading area, or the driving scenario is an unloading scenario, or the business type is an unloading business, the vehicle status can be determined to be an unloading state; when the vehicle's driving position is in the transportation area, or the driving scenario is a transportation scenario, or the business type is a transportation business, the vehicle status can be determined to be a transportation state; when the vehicle's driving position is in the parking area, or the driving scenario is a parking scenario, or the business type is a parking business, the vehicle status can be determined to be a parking state. The vehicle status can also be determined directly by accessing the on-board sensors.

[0061] After the vehicle state is determined, the preset collision avoidance strategy corresponding to the vehicle state is determined according to the mapping relationship between the vehicle state and the preset collision avoidance strategy, and the preset collision avoidance strategy is determined as the target collision avoidance strategy.

[0062] Optionally, in the case where the driving control information includes perception information, a target collision avoidance strategy is determined according to the characteristic information of the vehicle, including: based on the perception information of the vehicle, determining whether the vehicle meets the usage conditions of the collision avoidance mode corresponding to the target business type, and switching the target collision avoidance strategy from the current collision avoidance mode to a second collision avoidance mode, wherein the usage conditions of the collision avoidance mode are used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target business type is within a distance threshold range, and the second collision avoidance mode is the collision avoidance mode corresponding to the target business type.

[0063] The target business type in the above steps is the business type corresponding to the target collision avoidance strategy. After determining that the vehicle's business type is the target business type, the vehicle must also meet the usage conditions of the collision avoidance mode corresponding to the target business type before the collision avoidance mode can be switched according to the target collision avoidance strategy.

[0064] The interactive objects in the above steps may be other vehicles, equipment, pedestrians, obstacles, etc. around the vehicle in the mining environment.

[0065] The distance threshold in the above steps is a preset distance, which can be preset according to the actual application situation and is used to compare with the distance between the vehicle and the target object, so as to determine whether the vehicle meets the use conditions of the anti-collision mode corresponding to the target business type.

[0066] In an optional embodiment, the current business type of the vehicle is determined, and the current business type is used as the target business type. For example, the target business type can be a loading type, and the interactive object can be an excavator. The distance threshold corresponding to the loading type is determined, and the distance between the vehicle and the interactive object is determined based on the perception information of the vehicle. Then, the distance between the vehicle and the interactive object is compared with the distance threshold. If the distance between the vehicle and the interactive object is less than the distance threshold, it can be determined that the vehicle is performing a loading type of business in the loading area, that is, it is determined that the vehicle meets the use conditions of the anti-collision mode corresponding to the loading type.

[0067] The target collision avoidance strategy is determined to switch from the current collision avoidance mode to the second collision avoidance mode. The second collision avoidance mode is the collision avoidance mode corresponding to the loading service. When the vehicle performs loading-type services in the loading area, it will operate in an environment with a lot of fallen soil and rocks. Therefore, the second collision avoidance mode can be a mode that reduces the collision avoidance requirements and is a mode in which the collision avoidance requirements are lower than the current collision avoidance requirements. When the vehicle performs loading-type services, even if fallen soil and rocks are detected, it can continue to perform loading-type services and reduce the interference of fallen soil and rocks.

[0068] Optionally, when the driving control information includes perception information, a target collision avoidance strategy is determined based on characteristic information of the vehicle, including: determining a working state of a perception system of the vehicle based on the perception information; in response to the perception system being in an abnormal working state, switching the target collision avoidance strategy from a current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirement of the third collision avoidance mode is lower than that of the current collision avoidance mode.

[0069] The working state in the above steps may include a normal working state and an abnormal working state, and different working states correspond to different target collision avoidance strategies.

[0070] The anti-collision requirement in the above steps can be characterized by a safety protection distance, but is not limited thereto. The larger the safety protection distance, the higher the anti-collision requirement, and the smaller the safety protection distance, the lower the anti-collision requirement.

[0071] In an optional embodiment, it can be determined whether the vehicle perception system is in an abnormal working state based on the perception information. For example, the driver of the remotely controlled vehicle can view the perception information provided by the perception system through the interface of the remote control system, and can also view the situation of the vehicle operation site through the video of the interface. If the perception information indicates that the vehicle is parked due to an obstacle, but there is no obstacle in the video display, it means that the perception system has failed and is in an abnormal working state.

[0072] At this time, the driver of the remote control vehicle can send a mode switching command to the vehicle to control the vehicle's target collision avoidance strategy to switch from the current collision avoidance mode to the third collision avoidance mode, that is, to enter the emergency mode and lower the collision avoidance requirements. In the emergency collision avoidance mode, while retaining the collision avoidance capability for the vehicle, the collision avoidance capability for small obstacles such as stones is reduced, so that in the presence of small obstacles such as stones, the vehicle can also drive normally and complete the evacuation, meeting the remote control driving's escape needs.

[0073] Optionally, the method further includes: in response to the vehicle receiving a mode switching instruction, switching the vehicle's target collision avoidance strategy from a current collision avoidance mode to a fourth collision avoidance mode, wherein the collision avoidance requirement of the fourth collision avoidance mode is lower or higher than that of the current collision avoidance mode.

[0074] The mode switching command in the above steps can be actively sent by the driver of the remote-controlled vehicle. When the driver of the remote-controlled vehicle observes that the safety protection distance of the current anti-collision mode is inappropriate, he can operate on the remote control system to generate a mode switching command and send it to the vehicle to instruct the vehicle to switch the current anti-collision mode.

[0075] In an optional embodiment, the safety protection distance that is usually set is relatively conservative, and the driver of the remote control vehicle can modify the safety protection distance if it is assessed to be feasible.

[0076] If the driver of the remote control vehicle assesses that the current safety protection distance is too small and is not conducive to the safe driving of the vehicle, the safety protection distance can be modified to a larger value on the remote control system and the modification button can be pressed. After detecting the driver's operation, the remote control system can generate a mode switching instruction and send it to the vehicle. Based on the mode switching instruction, the vehicle switches to the fourth collision avoidance mode with a higher collision avoidance requirement than the current collision avoidance mode.

[0077] If the driver of the remote-controlled vehicle assesses that the current safety protection distance is too large and is not conducive to the flexibility and smoothness of the vehicle's driving, the driver can modify the safety protection distance to a smaller value on the remote control system and press the modification button. After detecting the driver's operation, the remote control system can generate a mode switching instruction and send it to the vehicle. Based on the mode switching instruction, the vehicle switches to the fourth collision avoidance mode with a lower collision avoidance requirement than the current collision avoidance mode.

[0078] Optionally, the working state of the vehicle's perception system is determined based on the perception information, including: obtaining a matching result between a target operation performed by the vehicle and a guidance operation corresponding to the perception information of the vehicle; in response to the matching result indicating that the target operation matches the guidance operation, determining that the working state of the perception system is a normal working state; in response to the matching result indicating that the target operation does not match the guidance operation, determining that the working state of the perception system is an abnormal working state.

[0079] The target operation in the above steps is the operation that the vehicle is performing.

[0080] The guidance operation in the above steps is generated by the perception system based on the perception information, and is the operation that the vehicle needs to perform.

[0081] In an optional embodiment, the guidance operation corresponding to the perception information can be obtained from the vehicle perception system, and the vehicle control system can be accessed to obtain the target operation being performed by the vehicle.

[0082] By comparing the target operation and the guidance operation, it can be determined whether the working state of the perception system is a normal working state. For example, if the target operation performed by the vehicle is to move forward, but because the perception information indicates that there is an obstacle ahead, the guidance operation given by the perception system is to stop or detour, then the two operations do not match, and the perception system is determined to be in an abnormal working state. If the target operation matches the guidance operation, the working state of the perception system is determined to be a normal working state.

[0083] Optionally, the business type includes at least one of the following: loading business, unloading business, transportation business and parking business.

[0084] The loading business in the above steps is the business of loading ore or other mineral materials excavated from a mine into a vehicle.

[0085] The unloading business in the above steps is the business of unloading the ore or other mineral materials loaded in the vehicle to a designated location or facility.

[0086] The transportation business in the above steps is the business of vehicles carrying ore or other mineral materials traveling in the mining area.

[0087] The parking service in the above steps is the service of parking the vehicle at a designated location in the mining area.

[0088] A preferred embodiment is described below. Figure 2 is a flow chart of an optional anti-collision control method according to an embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0089] Step S202, receiving information such as obstacles, maps, driving instructions, etc. and performing delayed detection.

[0090] In this embodiment, the vehicle is controlled to receive information such as obstacles, maps, and driving instructions, and a delayed detection is performed on the received information. The corresponding collision avoidance mode of the vehicle is determined according to the delayed detection result, wherein the obstacles, maps, and driving instructions are also the perception information, map information, and remote control driving instructions mentioned above.

[0091] Step S204, selecting corresponding anti-collision parameters according to the anti-collision mode of the vehicle and the location thereof.

[0092] In this embodiment, corresponding anti-collision parameters may be selected according to the anti-collision mode of the vehicle and the location information thereof, wherein the anti-collision parameters may be used to characterize the target anti-collision strategy.

[0093] Step S206, planning the driving trajectory according to information such as obstacles and driving instructions.

[0094] In this embodiment, the vehicle's driving trajectory is planned based on obstacles, driving instructions and other information through a remote control driving algorithm, wherein the driving trajectory is also the driving planning trajectory mentioned above.

[0095] Step S208, controlling the vehicle to execute the driving trajectory through the driving module.

[0096] Example 2

[0097] According to an embodiment of the present invention, an embodiment of a collision avoidance control device for a vehicle in a remote control driving mode is provided. The device can execute the collision avoidance control method for a vehicle in a remote control driving mode provided in the above-mentioned embodiment 1. The specific implementation method and preferred application scenario are the same as those in the above-mentioned embodiment 1, and will not be repeated here.

[0098] Figure 3 A schematic diagram of a collision avoidance control device for a vehicle in a remote control driving mode according to an embodiment of the present invention is shown in FIG. Figure 3 As shown:

[0099] The acquisition module 30 is used to acquire characteristic information of the vehicle when the vehicle is in the remote control driving mode, wherein the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, business type information and vehicle status information. The driving control information is related information for controlling the driving of the vehicle, the driving scene information is used to indicate the driving scene of the vehicle, the driving position information is used to indicate the driving position of the vehicle, the business type information is used to indicate the type of business that the vehicle is executing or about to execute, the vehicle status information is used to characterize the current state of the vehicle, and the driving control information at least includes remote control driving instructions.

[0100] The first determination module 32 is used to determine a target collision avoidance strategy according to the characteristic information of the vehicle.

[0101] The second determination module 34 is used to determine the planned driving trajectory of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle.

[0102] The control module 36 is used to control the vehicle to travel according to the planned travel trajectory.

[0103] Optionally, the driving control information in the acquisition module also includes at least one of the following: perception information and map information.

[0104] Optionally, the first determination module also includes: a delay detection unit, used to perform delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; a first determination unit, used to determine, in response to the delay duration being greater than a duration threshold, to switch the target collision avoidance strategy from the current collision avoidance mode to the first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or the first collision avoidance mode is used to maintain the current position of the vehicle unchanged.

[0105] Optionally, the first determination module also includes: a delay detection unit, used to perform delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; a second determination unit, used to determine, in response to the delay duration being less than a duration threshold, a preset anti-collision strategy corresponding to at least one of the following information: the driving scene indicated by the vehicle's driving scene information, the driving position indicated by the driving position information, the service type indicated by the service type information, and the vehicle status indicated by the vehicle status information; a third determination unit, used to determine the preset anti-collision strategy as the target anti-collision strategy.

[0106] Optionally, the first determination module is also used to determine, based on the vehicle's perception information, whether the vehicle meets the usage conditions of the anti-collision mode corresponding to the target business type, and switch the target anti-collision strategy from the current anti-collision mode to a second anti-collision mode, wherein the usage conditions of the anti-collision mode are used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target business type is within a distance threshold range, and the second anti-collision mode is the anti-collision mode corresponding to the target business type.

[0107] Optionally, the first determination module is also used to determine the working status of the vehicle's perception system based on the perception information; in response to the perception system being in an abnormal working state, the target collision avoidance strategy is switched from the current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirement of the third collision avoidance mode is lower than that of the current collision avoidance mode.

[0108] Optionally, the first determination module also includes: a switching unit, used to switch the vehicle's target collision avoidance strategy from the current collision avoidance mode to a fourth collision avoidance mode in response to the vehicle receiving a mode switching instruction, wherein the collision avoidance requirement of the fourth collision avoidance mode is lower or higher than the current collision avoidance mode.

[0109] Optionally, the first determination module is also used to obtain a matching result between a target operation performed by the vehicle and a guidance operation corresponding to the perception information of the vehicle; in response to the matching result indicating that the target operation matches the guidance operation, determining that the working state of the perception system is a normal working state; in response to the matching result indicating that the target operation does not match the guidance operation, determining that the working state of the perception system is an abnormal working state.

[0110] Optionally, the business type in the acquisition module includes at least one of the following: loading business, unloading business, transportation business and parking business.

[0111] Example 3

[0112] According to an embodiment of the present invention, an electronic device is also provided, including: a memory storing an executable program; and a processor for running the program, wherein when the program is running, the anti-collision control method for a vehicle in a remote control driving mode in Example 1 is executed.

[0113] Example 4

[0114] An embodiment of the present application also provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the anti-collision control method for a vehicle in a remote control driving mode in various embodiments of the present invention.

[0115] Example 5

[0116] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the anti-collision control method for a vehicle in a remote control driving mode in various embodiments of the present invention.

[0117] Example 6

[0118] An embodiment of the present application also provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the anti-collision control method for a vehicle in a remote control driving mode in each embodiment of the present invention is implemented.

[0119] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 collision avoidance control method for a vehicle in a remote control driving mode, characterized in that: include: When the vehicle is in a remote control driving mode, characteristic information of the vehicle is obtained, wherein the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, service type information, and vehicle status information, the driving control information is related information for controlling the driving of the vehicle, the driving scene information is used to indicate the driving scene of the vehicle, the driving position information is used to indicate the driving position of the vehicle, the service type information is used to indicate the type of service that the vehicle is executing or is about to execute, the vehicle status information is used to characterize the current state of the vehicle, and the driving control information at least includes a remote control driving instruction; Determining a target collision avoidance strategy based on the characteristic information of the vehicle; Determining a planned driving trajectory of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle; The vehicle is controlled to travel according to the planned travel trajectory.

2. The method according to claim 1, characterized in that The driving control information also includes at least one of the following: perception information and map information.

3. The method according to claim 1 or 2, characterized in that: Determining a target collision avoidance strategy according to the characteristic information of the vehicle includes: Performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; In response to the delay duration being greater than a duration threshold, it is determined that the target collision avoidance strategy is switched from a current collision avoidance mode to a first collision avoidance mode, wherein the safety protection distance corresponding to the first collision avoidance mode is greater than the safety protection distance of the current collision avoidance mode, or the first collision avoidance mode is used to maintain the current position of the vehicle unchanged.

4. The method according to claim 1 or 3, characterized in that: Determining a target collision avoidance strategy according to the characteristic information of the vehicle includes: Performing delay detection on any type of driving control information to obtain a delay duration, wherein the delay duration is used to indicate the duration between the time when the driving control information is sent and the time when the vehicle receives the driving control information; In response to the delay duration being less than a duration threshold, determining a preset collision avoidance strategy corresponding to at least one of the following information: a driving scene indicated by the driving scene information of the vehicle, a driving position indicated by the driving position information, a service type indicated by the service type information, and a vehicle state indicated by the vehicle state information; The preset anti-collision strategy is determined as the target anti-collision strategy.

5. The method according to claim 2 or 4, characterized in that: In the case where the driving control information includes perception information, determining the target collision avoidance strategy according to the characteristic information of the vehicle includes: Based on the perception information of the vehicle, it is determined that the vehicle meets the usage conditions of the anti-collision mode corresponding to the target business type, and the target anti-collision strategy is switched from the current anti-collision mode to a second anti-collision mode, wherein the usage conditions of the anti-collision mode are used to at least indicate that the distance between the vehicle and the interactive object corresponding to the target business type is within a distance threshold range, and the second anti-collision mode is the anti-collision mode corresponding to the target business type.

6. The method according to claim 2, characterized in that In the case where the driving control information includes perception information, determining the target collision avoidance strategy according to the characteristic information of the vehicle includes: Determining a working state of a perception system of the vehicle according to the perception information; In response to the perception system being in an abnormal working state, the target collision avoidance strategy is switched from the current collision avoidance mode to a third collision avoidance mode, wherein the collision avoidance requirement of the third collision avoidance mode is lower than that of the current collision avoidance mode.

7. The method according to claim 1, characterized in that The method further comprises: In response to the vehicle receiving a mode switching instruction, the target collision avoidance strategy of the vehicle is switched from a current collision avoidance mode to a fourth collision avoidance mode, wherein the collision avoidance requirement of the fourth collision avoidance mode is lower than or higher than that of the current collision avoidance mode.

8. The method according to claim 6, characterized in that The determining, according to the perception information, a working state of a perception system of the vehicle includes: Acquire a matching result between a target operation performed by the vehicle and a guidance operation corresponding to the perception information of the vehicle; In response to the matching result indicating that the target operation matches the guidance operation, determining that the working state of the perception system is a normal working state; In response to the matching result indicating that the target operation does not match the guiding operation, it is determined that the operating state of the perception system is an abnormal operating state.

9. The method according to any one of claims 1 to 8, characterized in that The business type includes at least one of the following: loading business, unloading business, transportation business and parking business.

10. A collision avoidance control device for a vehicle in a remote control driving mode, characterized in that: include: an acquisition unit, configured to acquire characteristic information of the vehicle when the vehicle is in a remote control driving mode, wherein the characteristic information includes at least one of the following: driving control information, driving scene information, driving position information, service type information, and vehicle status information, wherein the driving control information is related information for controlling the driving of the vehicle, the driving scene information is used to indicate the driving scene of the vehicle, the driving position information is used to indicate the driving position of the vehicle, the service type information is used to indicate the type of service that the vehicle is executing or is about to execute, the vehicle status information is used to characterize the current state of the vehicle, and the driving control information at least includes a remote control driving instruction; A first determination unit, configured to determine a target collision avoidance strategy according to the characteristic information of the vehicle; A second determination unit, configured to determine a planned driving trajectory of the vehicle based on the target collision avoidance strategy and the driving control information of the vehicle; A control unit is used to control the vehicle to travel according to the travel planning trajectory.

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