A driving control method, device, equipment and medium for unmanned vehicle

Abstract

The embodiment of the present invention discloses a driving control method, device, equipment and medium for an unmanned vehicle, which is applicable to the field of autonomous driving. The method includes: obtaining driving data of the current unmanned vehicle and other unmanned vehicles; determining a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from the other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles; determining the right of way priority of the current unmanned vehicle based on the driving data of the current unmanned vehicle and the target unmanned vehicle; determining the obstacle existence state of the current unmanned vehicle based on the right of way priority of the current unmanned vehicle, and controlling the driving state of the current unmanned vehicle based on the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle. The technical solution provided by the present invention can solve the right of way conflict problem of unmanned vehicles and improve the safety of unmanned vehicle driving.

Description

Technical Field

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

[0002] Railway freight yards contain a large amount of goods to be transported, which need to rely on the safe transfer of vehicles in order to achieve the purpose of safe and rapid delivery to the designated location.

[0003] There are two main ways to transport goods at present. The first way is to use manually driven vehicles for transportation. However, as the volume of goods increases, the labor cost gradually increases. The second way is to use unmanned vehicles to transport goods. However, since multiple unmanned vehicles may pass through the same intersection at the same time, there will be a dispute over road rights, and safety cannot be guaranteed. Summary of the invention

[0004] The embodiments of the present invention provide a driving control method, device, equipment and medium for an unmanned vehicle. The technical solution provided by the embodiments of the present invention can solve the problem of unmanned vehicles colliding due to disputes over road rights when passing through the same intersection, thereby improving the safety of unmanned vehicle driving.

[0005] In a first aspect, an embodiment of the present invention provides a driving control method for an unmanned vehicle, comprising:

[0006] Obtain the driving data of the current unmanned vehicle and other unmanned vehicles;

[0007] According to the driving data of the current unmanned vehicle and other unmanned vehicles, a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle is determined from among the other unmanned vehicles;

[0008] Determining the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle;

[0009] The obstacle existence status of the current unmanned vehicle is determined according to the road right priority of the current unmanned vehicle, and the driving state of the current unmanned vehicle is controlled according to the obstacle existence status of the current unmanned vehicle, wherein the obstacle existence status is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle.

[0010] In a second aspect, an embodiment of the present invention provides a driving control device for an unmanned vehicle, comprising:

[0011] The acquisition module is used to obtain the driving data of the current unmanned vehicle and other unmanned vehicles;

[0012] A target unmanned vehicle determination module, configured to determine a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from among the other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles;

[0013] A priority determination module, used to determine the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle;

[0014] A control module is used to determine the obstacle existence status of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and control the driving state of the current unmanned vehicle according to the obstacle existence status of the current unmanned vehicle, wherein the obstacle existence status is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0016] at least one processor; and,

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a driving control method for an unmanned vehicle as described in any one of the embodiments of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a driving control method for an unmanned vehicle described in any one of the embodiments of the present invention when executed.

[0020] The embodiment of the present invention provides a driving control method, device, equipment and medium for an unmanned vehicle, the method comprising: obtaining driving data of the current unmanned vehicle and other unmanned vehicles; determining a target unmanned vehicle from the other unmanned vehicles that has a right of way conflict with the current unmanned vehicle according to the driving data of the current unmanned vehicle and other unmanned vehicles; determining the right of way priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle; determining the obstacle existence state of the current unmanned vehicle according to the right of way priority of the current unmanned vehicle, and controlling the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle. Specifically, the right of way priority of the current unmanned vehicle can be determined by the driving data of the current unmanned vehicle and the target unmanned vehicle, and then the virtual obstacle of the current unmanned vehicle can be generated or cancelled according to the right of way priority of the current unmanned vehicle, and then the driving state of the unmanned vehicle can be controlled according to the right of way priority of the current unmanned vehicle and whether there is a virtual obstacle in front of the current unmanned vehicle. Through the technical solution of the embodiment of the present invention, the safety problem caused by the right of way competition when unmanned vehicles pass through the same intersection can be solved, and the driving safety of unmanned vehicles can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A flow chart of a driving control method for an unmanned vehicle provided in Embodiment 1 of the present invention;

[0023] Figure 2 A flow chart of a driving control method for an unmanned vehicle provided in Embodiment 2 of the present invention;

[0024] Figure 3 A schematic diagram of generating a virtual obstacle provided by an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of a driving control device for an unmanned vehicle provided in Embodiment 3 of the present invention;

[0026] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] It should be noted that the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solution of the present disclosure are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0030] Embodiment 1

[0031] Figure 1 A flow chart of a driving control method for an unmanned vehicle provided in Embodiment 1 of the present invention. The method can be applicable to scenarios in which unmanned vehicles are used to automatically transport goods in railway freight yards, and can also be applicable to scenarios in which unmanned vehicles have right-of-way conflicts. The method can be executed by a driving control device for an unmanned vehicle, which can be implemented by software and / or hardware and configured in the control systems of various types of unmanned vehicles.

[0032] like Figure 1 As shown, including:

[0033] Step 110: Obtain driving data of the current unmanned vehicle and other unmanned vehicles.

[0034] Among them, the unmanned vehicle can be an unmanned vehicle used for cargo transportation. Since unmanned vehicles have their own unique transportation routes due to different transportation tasks, there may be right-of-way conflicts between unmanned vehicles at the same intersection. Other unmanned vehicles are used to represent unmanned vehicles that may have right-of-way conflicts with the current unmanned vehicle. Furthermore, right-of-way conflicts are conflicts caused when two or more unmanned vehicles pass through the same intersection at the same time due to the inability to determine the order of passage. The essence of resolving right-of-way conflicts is to determine the priority of unmanned vehicles and the order of passage when unmanned vehicles have right-of-way conflicts.

[0035] Among them, the driving data of the unmanned vehicle may include the location, speed, driving task and driving route of the unmanned vehicle. The driving route can determine the intersection that the unmanned vehicle needs to pass through.

[0036] Specifically, by obtaining the driving data of the current unmanned vehicle and other unmanned vehicles, it can be used to determine the road priority of the current unmanned vehicle in the future.

[0037] Optionally, step 110 includes:

[0038] Acquire the driving data of the current unmanned vehicle, and determine the current position of the current unmanned vehicle and the target intersection according to the driving data of the current unmanned vehicle;

[0039] If the distance between the current position of the current unmanned vehicle and the target intersection is less than a preset threshold, a communication request radio wave is sent to other unmanned vehicles in real time;

[0040] When the communication permission radio wave returned by the other unmanned vehicle in response to the communication request radio wave is successfully received, the driving data of the other unmanned vehicle corresponding to the communication permission radio wave is received.

[0041] Among them, the driving data can be obtained from the internal memory of the unmanned vehicle, the current position of the unmanned vehicle can be the current GPS coordinates or geodetic coordinates of the unmanned vehicle, and the target intersection can be the intersection that the current unmanned vehicle is about to pass through, or the intersection that the current unmanned vehicle needs to pass through when performing a transportation task.

[0042] Since the right-of-way calculation of the unmanned vehicle needs to be performed before passing through the target intersection, the preset threshold is used to represent the shortest distance between the current unmanned vehicle and the target intersection when the unmanned vehicle starts to calculate the right of way.

[0043] For example, the distance between the current position of the current unmanned vehicle and the target intersection can be determined by the following formula:

[0044] ;

[0045] Among them, R is the radius of the earth, and the coordinates of the target intersection are , the geodetic coordinates of the unmanned vehicle are .

[0046] Optionally, a time threshold T can also be used as a condition for sending a communication request radio wave. Specifically, if the time t at which the current unmanned vehicle is expected to arrive at the target intersection is less than the time threshold T, a communication request radio wave is sent to other unmanned vehicles in real time. For example, a communication request radio wave can be sent to other unmanned vehicles one minute before the current unmanned vehicle arrives at the target intersection.

[0047] Specifically, the communication request wave is an interactive wave used to request data exchange with other unmanned vehicles, and the communication permission wave is a wave returned by other unmanned vehicles when they agree to exchange data with the current unmanned vehicle. Furthermore, after other unmanned vehicles agree to exchange data with the current unmanned vehicle, the other unmanned vehicles will send their own driving data to the current unmanned vehicle.

[0048] Optionally, if the current unmanned vehicle receives a communication request radio wave sent by other unmanned vehicles, a communication connection with the other unmanned vehicles is established, and the driving data of the current unmanned vehicle is sent to the other unmanned vehicles in the communication connection.

[0049] Specifically, after the current unmanned vehicle establishes a traffic connection with other unmanned vehicles, they will send their respective driving data to each other. Furthermore, for any unmanned vehicle, it will have the communication data of itself and other unmanned vehicles at the same time, and it will be used for the subsequent calculation of road right priority.

[0050] Step 120: According to the driving data of the current unmanned vehicle and other unmanned vehicles, a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle is determined from among the other unmanned vehicles.

[0051] Among them, other unmanned vehicles may include target unmanned vehicles that have a right of way conflict with the current unmanned vehicle, and may also include unmanned vehicles that do not have a right of way conflict with the current unmanned vehicle. Therefore, it is necessary to determine the target unmanned vehicle among other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles, and then determine the driving order of the unmanned vehicles by calculating the right of way priorities of the target unmanned vehicle and the current unmanned vehicle.

[0052] Exemplarily, whether the other unmanned vehicle is the target unmanned vehicle can be determined by whether the current unmanned vehicle and the other unmanned vehicles pass through the target intersection at the same time.

[0053] Step 130: Determine the road right priority of the current unmanned vehicle based on the driving data of the current unmanned vehicle and the target unmanned vehicle.

[0054] Specifically, the right-of-way priority can be determined by calculating the distance between the current unmanned vehicle and the target unmanned vehicle and the target intersection, the speed, position and driving task of the current unmanned vehicle and the target unmanned vehicle. For example, if the unmanned vehicle is closer to the target intersection, the faster the speed, and the more urgent the driving task, the higher the right-of-way priority.

[0055] Step 140: determine the obstacle existence status of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and control the driving state of the current unmanned vehicle according to the obstacle existence status of the current unmanned vehicle, wherein the obstacle existence status is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle.

[0056] Among them, the driving status of the unmanned vehicle includes driving or parking.

[0057] Specifically, the obstacle existence status of the current unmanned vehicle is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle. The virtual obstacle is a virtual obstacle generated by the current unmanned vehicle on the map and is used to restrict the driving of the unmanned vehicle. If there is a virtual obstacle in front of the unmanned vehicle, the unmanned vehicle will stop driving and wait for the virtual obstacle to disappear before continuing to drive.

[0058] Optionally, if the current unmanned vehicle has the highest right of way priority, and the obstacle existence status of the current unmanned vehicle indicates that there is no virtual obstacle in front of the current unmanned vehicle, the current unmanned vehicle is controlled to drive; if there is a virtual obstacle in front of the current unmanned vehicle, the current unmanned vehicle is controlled to stop.

[0059] The embodiment of the present invention provides a driving control method for an unmanned vehicle. The method includes: obtaining driving data of the current unmanned vehicle and other unmanned vehicles; determining a target unmanned vehicle from the other unmanned vehicles that has a right of way conflict with the current unmanned vehicle according to the driving data of the current unmanned vehicle and other unmanned vehicles; determining the right of way priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle; determining the obstacle existence state of the current unmanned vehicle according to the right of way priority of the current unmanned vehicle, and controlling the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to characterize whether there is a virtual obstacle in front of the current unmanned vehicle. Specifically, the right of way priority of the current unmanned vehicle can be determined by the driving data of the current unmanned vehicle and the target unmanned vehicle, and then the virtual obstacle of the current unmanned vehicle can be generated or cancelled according to the right of way priority of the current unmanned vehicle, and then the driving state of the unmanned vehicle can be controlled according to the right of way priority of the current unmanned vehicle and whether there is a virtual obstacle in front of the current unmanned vehicle. Through the technical solution of the embodiment of the present invention, the safety problem caused by the right of way competition when unmanned vehicles pass through the same intersection can be solved, and the safety of unmanned vehicle driving can be improved.

[0060] Embodiment 2

[0061] Figure 2 This is a flow chart of a driving control method for an unmanned vehicle provided in Embodiment 2 of the present invention. This embodiment further defines the steps of the method based on the above embodiments. Figure 2 .

[0062] like Figure 2 As shown, including:

[0063] Step 210: Obtain driving data of the current unmanned vehicle and other unmanned vehicles.

[0064] Step 220: determine the target passing time of the current unmanned vehicle at the target intersection based on the driving data of the current unmanned vehicle, where the target passing time represents the start and end time of the current unmanned vehicle passing through the target intersection.

[0065] Among them, the target passing time can be a time period, representing the time when the current unmanned vehicle enters the target intersection and exits the target intersection; the time of the target intersection can be determined based on the position of the current unmanned vehicle and the target intersection, the speed of the unmanned vehicle and the driving route, among which the driving route can be used to determine the length of the target intersection.

[0066] Step 230: Determine the intersections to be passed and the time to be passed of other unmanned vehicles based on the driving data of other unmanned vehicles.

[0067] Among them, the intersection to be passed is the intersection that other unmanned vehicles need to pass through, which can be determined according to the driving routes of other unmanned vehicles, and the waiting time is the start and end time of other unmanned vehicles passing through the intersection to be passed.

[0068] The waiting time can be determined based on the driving routes of other unmanned vehicles, the location of the intersection to be passed, and the speed.

[0069] Step 240: If the intersection to be passed by other unmanned vehicles is the same as the target intersection of the current unmanned vehicle, and it is determined based on the target passing time and the waiting passing time that there is a road right competition relationship between the other unmanned vehicles and the current unmanned vehicle, then the other unmanned vehicles are determined to be the target unmanned vehicles.

[0070] The road right contention relationship can be a time relationship, indicating that other unmanned vehicles and the current unmanned vehicle will pass through the target intersection at the same time, or the target unmanned vehicle will enter the target intersection before the target unmanned vehicle completely exits the target intersection. When there is a road right contention relationship between unmanned vehicles, unmanned vehicles may collide, affecting safety.

[0071] Furthermore, the road right contention relationship can also be determined according to different road types. For example, when the target intersection is a two-lane intersection, two unmanned vehicles can pass at the same time without any road right contention relationship.

[0072] Optionally, if the remaining time for the current unmanned vehicle to exit the target intersection is less than a set threshold, it will not compete for road rights with the unmanned vehicles that have not entered, thereby improving the efficiency of each unmanned vehicle passing through the target intersection.

[0073] Specifically, if there is a road right dispute between other unmanned vehicles and the current unmanned vehicle, the other unmanned vehicles are determined to be the target unmanned vehicles. Furthermore, since there is a road right conflict between the target unmanned vehicle and the current unmanned vehicle, it is necessary to determine the road right priority of the target unmanned vehicle and the current unmanned vehicle according to the method of the embodiment of the present invention, and then control the driving order of the target unmanned vehicle and the current unmanned vehicle to ensure the driving safety of the unmanned vehicle. Furthermore, if there is no road right dispute between other unmanned vehicles and the current unmanned vehicle, it means that the unmanned vehicle is not the target unmanned vehicle, and there is no need to continue to receive its driving data, and the connection can be disconnected to save communication resources.

[0074] Step 250: Determine the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle based on the driving data of the target unmanned vehicle and the driving data of the current unmanned vehicle.

[0075] Among them, the data interaction between the current unmanned vehicle and the target unmanned vehicle is carried out in real time, and the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle can be real-time updated data.

[0076] Among them, the driving task represents the task that the unmanned vehicle needs to complete during this driving. Different driving tasks can be preset with different urgency levels. Furthermore, driving tasks with high urgency levels need to be completed as soon as possible. Therefore, unmanned vehicles with driving tasks with high urgency levels can have priority in passing the target intersection.

[0077] Step 260: Determine the road right priority of the current unmanned vehicle based on the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle.

[0078] Among them, the road right priority of the current unmanned vehicle can be determined by the road right calculation results of the current unmanned vehicle and the target unmanned vehicle. The current position, speed and driving task of the unmanned vehicle can correspond to different parameters in the road right calculation formula, and different parameters have different weights.

[0079] Exemplarily, the road right calculation formula may be:

[0080] ;

[0081] Among them, A represents the road right calculation result of the unmanned vehicle, n represents different unmanned vehicles, represents the speed weight coefficient, V represents the speed of the unmanned vehicle; represents the distance weight, S represents the distance between the unmanned vehicle and the target intersection; represents the urgency weight, W represents the driving task of the unmanned vehicle (the driving tasks of the unmanned vehicle in the freight yard can be divided into packing, unloading, inspecting, charging, and parking); represents the road weight, and R represents the driving path of the unmanned vehicle.

[0082] Furthermore, the right of way priority of the current unmanned vehicle can be determined by the right of way calculation result of the current unmanned vehicle. For example, the larger the right of way calculation result of the unmanned vehicle is, the higher the right of way priority of the unmanned vehicle is.

[0083] Step 270: determine the obstacle existence status of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and control the driving state of the current unmanned vehicle according to the obstacle existence status of the current unmanned vehicle, wherein the obstacle existence status is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle.

[0084] Specifically, if the unmanned vehicle with the highest right of way priority is not the current unmanned vehicle, a virtual obstacle is generated in front of the current unmanned vehicle; if the current unmanned vehicle has the highest right of way priority and there is a virtual obstacle in front of the current unmanned vehicle, the virtual obstacle in front of the current unmanned vehicle is cancelled.

[0085] Furthermore, the current method of generating virtual obstacles for unmanned vehicles includes:

[0086] Get the current position, speed, center point coordinates and road width of the target intersection of the current unmanned vehicle;

[0087] Determine the current distance based on the current position and the center point of the target intersection;

[0088] Determine the arrival time at the target intersection according to the current distance and speed;

[0089] Determine the size of the virtual obstacle according to the center point coordinates and the road width of the target intersection;

[0090] A virtual obstacle for the current unmanned vehicle is generated according to the arrival time and the size of the virtual obstacle.

[0091] Specifically, the arrival time of the current unmanned vehicle at the target intersection can be determined based on the current position, speed, and center point coordinates of the target intersection; at the same time, the size of the virtual obstacle can be determined by the center point coordinates of the target intersection and the road width to ensure that a virtual obstacle can be generated in front of the current unmanned vehicle at the arrival time to hinder the current unmanned vehicle from traveling and stop it. It should be noted that since unmanned vehicles generally include automatic obstacle avoidance functions, the size of virtual obstacles needs to be limited. If the virtual obstacle is too small, it may be bypassed by the unmanned vehicle, and the purpose of controlling the unmanned vehicle to stop cannot be achieved.

[0092] Optionally, different sizes of virtual obstacles can be set for different types of intersections, and the size of the virtual obstacle M=X×Y×Z, where X, Y and Z are length, width and height respectively. The sizes of different types of virtual obstacles that meet road conditions can be set in advance according to the type of intersection to increase the speed of virtual object generation. Specifically, the width of the virtual obstacle can be determined according to the road width, such as the width of the virtual obstacle can be equal to the road width.

[0093] Furthermore, the unmanned vehicle can distinguish the type of intersection by a preset annotation method, that is, different road types are marked with different values, and the unmanned vehicle can determine the road type according to the value of the current road. For example, 1 represents a crossroads, 2 represents a T-junction, 3 represents a railway level crossing, and 4 represents a working section. For example, the left and right boundary points of the road can be marked to determine the width range of the road. Furthermore, by establishing a corresponding relationship between the map and the annotation results, the coordinates of different annotation points can be determined.

[0094] Optionally, the coordinates of the center point of the target intersection can be determined based on the coordinates of the left boundary and the right boundary of the target intersection. The specific method is shown in the following formula:

[0095] ;

[0096] .

[0097] Among them, atan2() is the arc tangent function of double type;

[0098] ;

[0099] .

[0100] The coordinates of the center point of the target intersection are , is the coordinate of the left boundary of the road, is the coordinate of the right edge of the road.

[0101] For example, Figure 3 A schematic diagram of generating virtual obstacles provided in an embodiment of the present invention, wherein high-precision map preprocessing is to mark all road scenes in the map, scene marking is to mark scenes according to intersection types, and further, the starting point and end point of a specific type of road can be determined according to the results of scene marking, and then virtual obstacles are generated on roads that meet the virtual obstacle generation conditions of the embodiment of the present invention.

[0102] This embodiment provides a driving control method for an unmanned vehicle. The method can determine a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from other unmanned vehicles through the driving data of the unmanned vehicle, and then determine the right of way priority of the current unmanned vehicle based on the driving data of the target unmanned vehicle and the current unmanned vehicle, and determine the obstacle presence status of the current unmanned vehicle, and control the driving status of the current unmanned vehicle through the obstacle presence status of the current unmanned vehicle. The solution of the embodiment of the present invention can solve the right of way conflict problem of unmanned vehicles and improve the safety of unmanned vehicles.

[0103] Embodiment 3

[0104] Figure 4 This is a schematic diagram of the structure of a driving control device for an unmanned vehicle provided in Embodiment 3 of the present invention. Figure 4 As shown, the device comprises:

[0105] An acquisition module 410 is used to acquire the driving data of the current unmanned vehicle and other unmanned vehicles;

[0106] A target unmanned vehicle determination module 420 is used to determine a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from among the other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles;

[0107] A priority determination module 430, configured to determine the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle;

[0108] The control module 440 is used to determine the obstacle existence status of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and control the driving state of the current unmanned vehicle according to the obstacle existence status of the current unmanned vehicle, wherein the obstacle existence status is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle.

[0109] The driving control device for an unmanned vehicle provided in an embodiment of the present invention can determine the right-of-way priority of the current unmanned vehicle through the driving data of the current unmanned vehicle and the target unmanned vehicle, and then generate or cancel the virtual obstacle of the current unmanned vehicle according to the right-of-way priority of the current unmanned vehicle, and then control the driving state of the unmanned vehicle according to the right-of-way priority of the current unmanned vehicle and whether there is a virtual obstacle in front of the current unmanned vehicle. The technical solution of the embodiment of the present invention can solve the safety problems caused by the competition for right of way when unmanned vehicles pass through the same intersection, and improve the safety of unmanned vehicle driving. Optionally, the acquisition module 410 includes:

[0110] An acquisition unit, used to acquire the driving data of the current unmanned vehicle, and determine the current position of the current unmanned vehicle and the target crossing according to the driving data of the current unmanned vehicle;

[0111] A judgment unit, configured to send a communication request radio wave to other unmanned vehicles in real time if the distance between the current position of the current unmanned vehicle and the target traffic intersection is less than a preset threshold;

[0112] The receiving unit is used to receive the driving data of the other unmanned vehicle corresponding to the communication permission radio wave when successfully receiving the communication permission radio wave returned by the other unmanned vehicle in response to the communication request radio wave.

[0113] Optionally, the acquisition module 410 further includes:

[0114] The sending module is used to establish a communication connection with other unmanned vehicles if the current unmanned vehicle receives a communication request radio wave sent by other unmanned vehicles, and send the driving data of the current unmanned vehicle to other unmanned vehicles in the communication connection.

[0115] Optionally, the target unmanned vehicle determination module 420 includes:

[0116] A first parsing unit is used to determine a target passing time of the current unmanned vehicle at the target passing intersection according to the driving data of the current unmanned vehicle, wherein the target passing time represents the start and end time of the current unmanned vehicle passing through the target passing intersection;

[0117] The second analysis unit is used to determine the intersections to be passed by other unmanned vehicles and the time to be passed according to the driving data of other unmanned vehicles;

[0118] The judgment unit is used to determine that the other unmanned vehicle is the target unmanned vehicle if the intersection to be passed by other unmanned vehicles is the same intersection as the target intersection of the current unmanned vehicle, and if it is determined based on the target passing time and the waiting passing time that there is a road right competition relationship between the other unmanned vehicle and the current unmanned vehicle.

[0119] Optionally, the priority determination module 430 includes:

[0120] A parsing unit, used to determine the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle according to the driving data of the target unmanned vehicle and the driving data of the current unmanned vehicle;

[0121] The calculation unit is used to determine the road right priority of the current unmanned vehicle according to the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle.

[0122] Optionally, the control module 440 includes:

[0123] The obstacle existence status determination unit is used to generate a virtual obstacle in front of the current unmanned vehicle if the unmanned vehicle with the highest right of way priority is not the current unmanned vehicle; if the current unmanned vehicle has the highest right of way priority and there is a virtual obstacle in front of the current unmanned vehicle, cancel the virtual obstacle in front of the current unmanned vehicle.

[0124] Furthermore, the obstacle existence status determination unit includes a generation subunit, which is used to obtain the current position, speed, center point coordinates of the target intersection and road width of the current unmanned vehicle; determine the current distance according to the current position and the center point of the target intersection; determine the arrival time at the target intersection according to the current distance and speed; determine the size of the virtual obstacle according to the center point coordinates of the target intersection and the road width; and generate a virtual obstacle for the current unmanned vehicle according to the arrival time and the size of the virtual obstacle.

[0125] The control unit is used to control the current unmanned vehicle to drive if the road right priority of the current unmanned vehicle is the highest and the obstacle existence status of the current unmanned vehicle indicates that there is no virtual obstacle in front of the current unmanned vehicle; if there is a virtual obstacle in front of the current unmanned vehicle, control the current unmanned vehicle to stop.

[0126] The driving control device for an unmanned vehicle provided in an embodiment of the present invention can execute the driving control method for an unmanned vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0127] Embodiment 4

[0128] Figure 5A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0129] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0130] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the driving control method of the unmanned vehicle.

[0132] In some embodiments, the driving control method of the unmanned vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the driving control method of the unmanned vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the driving control method of the unmanned vehicle in any other appropriate manner (e.g., by means of firmware).

[0133] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0135] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0136] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0139] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0140] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving control method for an unmanned vehicle, characterized in that: include: Obtain the driving data of the current unmanned vehicle and other unmanned vehicles; According to the driving data of the current unmanned vehicle and other unmanned vehicles, a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle is determined from among the other unmanned vehicles; Determining the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle; Determining the obstacle existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and controlling the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle; Wherein, determining the obstacle existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle includes: if the unmanned vehicle with the highest road right priority is not the current unmanned vehicle, generating a virtual obstacle in front of the current unmanned vehicle; The generating a virtual obstacle in front of the current unmanned vehicle includes: Get the current position, speed, center point coordinates and road width of the target intersection of the current unmanned vehicle; Determine the current distance based on the current position and the center point of the target intersection; Determine the arrival time at the target intersection according to the current distance and speed; Determining the size of the virtual obstacle according to the center point coordinates and the road width of the target intersection, wherein the size is used to prevent the unmanned vehicle from circumventing the virtual obstacle; A virtual obstacle for the current unmanned vehicle is generated according to the arrival time and the size of the virtual obstacle.

2. The method according to claim 1, characterized in that The obtaining of the driving data of the current unmanned vehicle and other unmanned vehicles includes: Acquire the driving data of the current unmanned vehicle, and determine the current position of the current unmanned vehicle and the target intersection according to the driving data of the current unmanned vehicle; If the distance between the current position of the current unmanned vehicle and the target intersection is less than a preset threshold, a communication request radio wave is sent to other unmanned vehicles in real time; When the communication permission radio wave returned by the other unmanned vehicle in response to the communication request radio wave is successfully received, the driving data of the other unmanned vehicle corresponding to the communication permission radio wave is received.

3. The method according to claim 1, characterized in that Also includes: If the current unmanned vehicle receives the communication request radio waves sent by other unmanned vehicles, it establishes a communication connection with the other unmanned vehicles and sends the driving data of the current unmanned vehicle to the other unmanned vehicles in the communication connection.

4. The method according to claim 2, characterized in that: The step of determining a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from among the other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles includes: Determine a target passing time of the current unmanned vehicle at the target passing intersection according to the driving data of the current unmanned vehicle, wherein the target passing time represents the start and end time of the current unmanned vehicle passing the target passing intersection; Determine the intersections that other unmanned vehicles are waiting to pass and the time they are waiting to pass based on the driving data of other unmanned vehicles; If the intersection to be passed by other unmanned vehicles is the same as the target intersection of the current unmanned vehicle, and it is determined that there is a road right competition relationship between the other unmanned vehicles and the current unmanned vehicle based on the target passing time and the waiting passing time, then the other unmanned vehicles are determined to be the target unmanned vehicles.

5. The method according to claim 1, characterized in that The determining the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle includes: Determine the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle according to the driving data of the target unmanned vehicle and the driving data of the current unmanned vehicle; The right-of-way priority of the current unmanned vehicle is determined according to the current position, speed and driving task of the target unmanned vehicle and the current unmanned vehicle.

6. The method according to claim 5, characterized in that The determining the obstacle existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle includes: If the current unmanned vehicle has the highest right of way priority and there is a virtual obstacle in front of the current unmanned vehicle, the virtual obstacle in front of the current unmanned vehicle is cancelled.

7. The method according to claim 1, characterized in that The controlling the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle includes: If the road right priority of the current unmanned vehicle is the highest, and the obstacle existence state of the current unmanned vehicle indicates that there is no virtual obstacle in front of the current unmanned vehicle, then the current unmanned vehicle is controlled to travel; If there is a virtual obstacle in front of the current unmanned vehicle, the current unmanned vehicle will be controlled to stop.

8. A driving control device for an unmanned vehicle, characterized in that: include: The acquisition module is used to obtain the driving data of the current unmanned vehicle and other unmanned vehicles; A target unmanned vehicle determination module, configured to determine a target unmanned vehicle that has a right of way conflict with the current unmanned vehicle from among the other unmanned vehicles based on the driving data of the current unmanned vehicle and other unmanned vehicles; A priority determination module, used to determine the road right priority of the current unmanned vehicle according to the driving data of the current unmanned vehicle and the target unmanned vehicle; A control module, used to determine the obstacle existence state of the current unmanned vehicle according to the road right priority of the current unmanned vehicle, and control the driving state of the current unmanned vehicle according to the obstacle existence state of the current unmanned vehicle, wherein the obstacle existence state is used to indicate whether there is a virtual obstacle in front of the current unmanned vehicle; The control module includes: an obstacle existence state determination unit, which is used to generate a virtual obstacle in front of the current unmanned vehicle if the unmanned vehicle with the highest right of way priority is not the current unmanned vehicle; The obstacle existence status determination unit specifically includes a generation subunit, which is used to obtain the current position, speed, center point coordinates of the target intersection and road width of the current unmanned vehicle; determine the current distance according to the current position and the center point of the target intersection; determine the arrival time at the target intersection according to the current distance and speed; determine the size of the virtual obstacle according to the center point coordinates of the target intersection and the road width, wherein the size is used to prevent the unmanned vehicle from circling the virtual obstacle; and generate the virtual obstacle of the current unmanned vehicle according to the arrival time and the size of the virtual obstacle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a driving control method for an unmanned vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a driving control method for an unmanned vehicle according to any one of claims 1 to 7 when executed.

Images