Slipping control method and device of unmanned vehicle and unmanned vehicle

Abstract

The invention discloses a slip control method and device for an unmanned vehicle and the unmanned vehicle, and belongs to the field of unmanned driving. According to the scheme, the deviation parameter is determined according to the current pose of the first unmanned vehicle, then whether the vehicle slips or not is determined based on the deviation parameter, whether the vehicle slips or not can be judged without road surface detection, and under the slipping condition, the corresponding safety control strategy can be adopted based on the slipping type; therefore, the potential safety hazard of the unmanned vehicle on a wet and slippery road surface is reduced, and the safe driving of the unmanned vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular, to a skidding control method and device for an unmanned vehicle and an unmanned vehicle. Background Art

[0002] The driving of unmanned vehicles is generally based on pre-planned global paths. Since slippery roads may only occur occasionally, they are not considered in global path planning. In this way, when it rains heavily or snows or the road is watered too much or unevenly, the road surface will be slippery, causing the vehicle to slip and deviate. If it is a manned vehicle, the driver will take corresponding countermeasures, such as slowing down, etc., while unmanned vehicles will only drive and control according to the global path planning, which will pose a greater safety hazard. Summary of the invention

[0003] In order to overcome the deficiencies of the related art, the present application provides a skidding control method and device for an unmanned vehicle and an unmanned vehicle, so as to solve the problem in the related art that unmanned vehicles have great safety hazards when the road is slippery.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] In a first aspect, a skidding control method for an unmanned vehicle is provided, comprising:

[0006] Acquire a current position and posture of a first unmanned vehicle, and determine a deviation parameter corresponding to the current position and posture according to the current position and posture, wherein the deviation parameter is used to characterize a deviation between a current position and a target position of the first unmanned vehicle, and / or is used to characterize a deviation between a current heading and a target heading of the first unmanned vehicle, wherein the target position is a planned position of the first unmanned vehicle corresponding to a current moment, and the target heading is a planned heading of the first unmanned vehicle corresponding to a current moment;

[0007] In a case where it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining a skidding type of the first unmanned vehicle, wherein the skidding type is related to a road curvature;

[0008] Based on the slip type, a control strategy of the first unmanned vehicle and / or the second vehicle is determined, and the corresponding vehicle is controlled according to the control strategy, wherein the second vehicle is a vehicle that passes the current position after the current moment.

[0009] Further, when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining the skidding type of the first unmanned vehicle includes:

[0010] When the deviation parameter is in a first deviation interval and the acquired slip rate of the first unmanned vehicle is greater than a specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is a first target slip type, wherein the road curvature corresponding to the first target slip type is less than a first curvature threshold, and the deviation parameter corresponding to the first deviation interval is less than a specified deviation parameter.

[0011] Further, when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining the skidding type of the first unmanned vehicle includes:

[0012] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is less than a first curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the first target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0013] Further, when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining the skidding type of the first unmanned vehicle includes:

[0014] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the second target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0015] Further, the determining of the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type includes:

[0016] When the slip type is a first target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a first control strategy, wherein a road curvature corresponding to the first target slip type is less than a first curvature threshold;

[0017] Wherein, the first control strategy includes increasing a minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the minimum following distance is used to represent a minimum distance between the first unmanned vehicle and / or the second vehicle and an adjacent preceding vehicle.

[0018] Further, the determining of the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type includes:

[0019] When the slip type is a second target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a second control strategy, wherein the road curvature corresponding to the second target slip type is greater than or equal to a second curvature threshold;

[0020] The second control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle, wherein the maximum driving speed is used to indicate the upper limit of the speed of the first unmanned vehicle and / or the second vehicle when driving.

[0021] Furthermore, it also includes:

[0022] Based on a first specified parameter of the first unmanned vehicle, an increase in the minimum following distance based on a preset minimum following distance is determined, wherein the first specified parameter includes at least one of the following: a slip rate, a deviation parameter, and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset minimum following distance is a default minimum following distance corresponding to a non-slip state; wherein the first specified parameter and the increase are positively correlated.

[0023] Furthermore, it also includes:

[0024] Based on a second specified parameter of the first unmanned vehicle, an amount of reduction of the maximum driving speed based on a preset maximum driving speed is determined, wherein the second specified parameter includes at least one of the following: a deviation parameter and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset maximum driving speed is a default maximum driving speed corresponding to a non-slip state; wherein the second specified parameter is positively correlated with the reduction amount.

[0025] In a second aspect, a skid control device for an unmanned vehicle is provided, comprising:

[0026] A vehicle information acquisition module, used to acquire a current position and posture of a first unmanned vehicle, and determine a deviation parameter corresponding to the current position and posture according to the current position and posture, wherein the deviation parameter is used to characterize a deviation between a current position and a target position of the first unmanned vehicle, or is used to characterize a deviation between a current heading and a target heading of the first unmanned vehicle, wherein the target position is a planned position of the first unmanned vehicle corresponding to a current moment, and the target heading is a planned heading of the first unmanned vehicle corresponding to a current moment;

[0027] a skidding type determination module, configured to determine a skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at a current position, wherein the skidding type is related to a road curvature;

[0028] A control strategy determination module is used to determine the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type, and control the corresponding vehicle according to the control strategy, wherein the second vehicle is a vehicle that passes the current position after the current moment.

[0029] In a third aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the steps of the skid control method for an unmanned vehicle provided by the technical solution of the first aspect are implemented.

[0030] In a fourth aspect, an electronic device is provided, including:

[0031] at least one processor and at least one memory;

[0032] The memory stores executable instructions of the processor;

[0033] The processor is configured to execute the skid control method for an unmanned vehicle provided by the technical solution of the first aspect.

[0034] In a fifth aspect, an unmanned vehicle is provided, which applies the skid control method for the unmanned vehicle provided by the technical solution of the first aspect.

[0035] Beneficial effects:

[0036] The skidding control method, device and unmanned vehicle of the unmanned vehicle provided by the technical solution of the present application, after obtaining the current position and posture of the first unmanned vehicle, determine the deviation parameter according to the current position and posture, and then determine whether the first unmanned vehicle is skidding at the current position according to the deviation parameter. In the event of skidding, determine the skidding type of the first unmanned vehicle, determine the control strategy of the first unmanned vehicle and / or the second vehicle based on the skidding type, and control the corresponding vehicle according to the control strategy. The present application solution determines the deviation parameter according to the current position and posture of the first unmanned vehicle, and then determines whether the vehicle is skidding based on the deviation parameter. It is possible to determine whether the vehicle is skidding without detecting the road surface, and in the event of skidding, it is possible to adopt a corresponding safety control strategy based on the skidding type, thereby reducing the safety hazards of unmanned vehicles on slippery roads and ensuring the safe driving of unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 is a flow chart of a skidding control method for an unmanned vehicle provided in an embodiment of the present application;

[0039] Figure 2 is a flow chart of a method for determining a slip type provided in an embodiment of the present application;

[0040] Figure 3 is a flow chart of another method for determining the slip type provided in an embodiment of the present application;

[0041] Figure 4 It is a schematic structural diagram of a skid control device for an unmanned vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0043] In order to eliminate the safety hazards of driverless vehicles on slippery roads, related technologies generally use solutions to detect whether there is water on the road surface, but the detection level of perception is relatively limited, and it is difficult to accurately judge the wetness of a large area of ​​sprinkler roads. If the judgment is too strict, a normal sprinkler road surface will be identified as a slippery road surface, resulting in false detection; if the judgment is too broad, it will cause missed detection and fail to achieve the desired effect.

[0044] To solve the above problems, the present application provides a solution for determining whether the road surface is slippery without detecting whether there is water on the road surface. The corresponding control strategy can also be adopted based on the vehicle's slipping type to effectively eliminate the safety hazards of the vehicle encountering slippery roads.

[0045] Reference Figure 1 , the embodiment of the present application provides a skidding control method for an unmanned vehicle, comprising:

[0046] S11: Acquire a current posture of the first unmanned vehicle, and determine a deviation parameter corresponding to the current posture according to the current posture.

[0047] Among them, the deviation parameter is used to characterize the deviation between the current position and the target position of the first unmanned vehicle, and / or, the deviation parameter is used to characterize the deviation between the current heading and the target heading of the first unmanned vehicle, the target position is the planned position of the first unmanned vehicle corresponding to the current moment, and the target heading is the planned heading of the first unmanned vehicle corresponding to the current moment.

[0048] It should be noted that the current position is obtained according to the sensor on the first unmanned vehicle. For example, the current position is obtained according to the positioning sensor, and the current heading is determined by the gyroscope.

[0049] It is understandable that, in theory, the current position of the unmanned vehicle should be completely consistent with the position of the global path planning, but on a slippery road, its current position may deviate from the planned position. Therefore, it is possible to determine whether the first unmanned vehicle is slipping based on the deviation parameter.

[0050] S12: When it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determine the skidding type of the first unmanned vehicle.

[0051] The skidding type is related to the road curvature. Because the greater the road curvature is, the more curved the road is, and the parameters that a vehicle focuses on when driving on the road are different, so the skidding type is distinguished based on the road curvature.

[0052] S13: Based on the slip type, determine a control strategy for the first unmanned vehicle and / or the second vehicle, and control the corresponding vehicle according to the control strategy.

[0053] The second vehicle is a vehicle that passes the current position after the current time. The second vehicle can be an unmanned vehicle or a manned vehicle.

[0054] It is understandable that the second vehicle and the first unmanned vehicle are dispatched by the same cloud platform, or the first unmanned vehicle and the second vehicle can communicate directly.

[0055] In one embodiment, reference Figure 2 , step S12 comprises:

[0056] When the deviation parameter is in a first deviation interval and the acquired slip rate of the first unmanned vehicle is greater than a specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is a first target slip type, wherein the road curvature corresponding to the first target slip type is less than a first curvature threshold, and the deviation parameter corresponding to the first deviation interval is less than a specified deviation parameter.

[0057] It should be noted that, although the deviation parameter is less than the specified deviation parameter at this time, when its slip rate is greater than the specified slip rate threshold, it also indicates that it is slipping, and the slip type is the first target slip type. Because when the road curvature is greater than or equal to the first curvature threshold, if the slip rate is greater than the specified slip rate threshold, the deviation parameter will be greater than or equal to the specified deviation parameter.

[0058] Among them, slip rate = (wheel speed - positioning speed) / positioning speed. It should be noted that when slipping occurs, the wheel speed must be greater than the positioning speed. When braking, the positioning speed is greater than the wheel speed, so at this time, the wheel speed minus the positioning speed is used.

[0059] In some examples, the slip ratio only uses the difference between the wheel speed and the positioning vehicle speed. When the difference between the wheel speed and the positioning vehicle speed is greater than a preset difference, it is also determined that the slip ratio is greater than a specified slip ratio threshold.

[0060] That is, when the deviation parameter is in the first deviation interval, the slip rate of the first unmanned vehicle is obtained, and when the slip rate of the first unmanned vehicle is greater than the specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position, and the slip type is the first target slip type. When the slip rate of the first unmanned vehicle is less than or equal to the specified slip rate threshold, it is determined that the first unmanned vehicle is not slipping.

[0061] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is less than a first curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the first target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0062] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the second target slip type.

[0063] That is, when the deviation parameter is in the second deviation interval, it can be directly determined that the first unmanned vehicle is skidding, and the skidding type needs to be further determined in combination with the road curvature. In this embodiment, the first curvature threshold and the second curvature threshold can be equal. Therefore, when the deviation parameter is in the second deviation interval, the skidding type is divided into a first target skidding type and a second target skidding type based on the road curvature.

[0064] In another embodiment, referring to Figure 3 , step S12 comprises:

[0065] When the deviation parameter is in a first deviation interval and the acquired slip rate of the first unmanned vehicle is greater than a specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is a first target slip type, wherein the road curvature corresponding to the first target slip type is less than a first curvature threshold, and the deviation parameter corresponding to the first deviation interval is less than a specified deviation parameter.

[0066] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is less than a first curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the first target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0067] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the second target slip type.

[0068] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a first curvature threshold and less than a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the third target slip type.

[0069] In this embodiment, the first curvature threshold is smaller than the second curvature threshold. Therefore, in this embodiment of the application, when the deviation parameter is in the second deviation interval, the skid type is divided into three skid types according to the road curvature.

[0070] It should be noted that, in actual use, the present application can also divide the slip types into four or more types based on actual needs by increasing the number of curvature thresholds, and set a corresponding control strategy for each slip type.

[0071] In some embodiments, step S13 includes:

[0072] When the slip type is a first target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a first control strategy, wherein a road curvature corresponding to the first target slip type is less than a first curvature threshold;

[0073] Wherein, the first control strategy includes increasing a minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the minimum following distance is used to represent a minimum distance between the first unmanned vehicle and / or the second vehicle and an adjacent preceding vehicle.

[0074] When the slip type is the second target slip type, the control strategy of the first unmanned vehicle and / or the second vehicle is determined to be the second control strategy, wherein the road curvature corresponding to the second target slip type is greater than or equal to a second curvature threshold; wherein the second curvature threshold is equal to the first curvature threshold.

[0075] The second control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle, wherein the maximum driving speed is used to indicate the upper limit of the speed of the first unmanned vehicle and / or the second vehicle when driving.

[0076] In some other embodiments, step S13 includes:

[0077] When the slip type is a first target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a first control strategy, wherein a road curvature corresponding to the first target slip type is less than a first curvature threshold;

[0078] Wherein, the first control strategy includes increasing a minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the minimum following distance is used to represent a minimum distance between the first unmanned vehicle and / or the second vehicle and an adjacent preceding vehicle.

[0079] When the slip type is the second target slip type, the control strategy of the first unmanned vehicle and / or the second vehicle is determined to be the second control strategy, wherein the road curvature corresponding to the second target slip type is greater than or equal to a second curvature threshold; wherein the second curvature threshold is greater than the first curvature threshold.

[0080] Among them, the second control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle, and increasing the minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the maximum driving speed is used to indicate the upper limit of the speed of the first unmanned vehicle and / or the second vehicle when driving.

[0081] When the slip type is a third target slip type, the control strategy of the first unmanned vehicle and / or the second vehicle is determined to be a third control strategy. The third control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle. The road curvature corresponding to the third target slip type is greater than or equal to a first curvature threshold and less than a second curvature threshold.

[0082] As a preferred implementation method of an embodiment of the present application, based on a first specified parameter of the first unmanned vehicle, an increase in the minimum following distance based on a preset minimum following distance is determined, wherein the first specified parameter includes at least one of the following: slip rate, deviation parameter, and road curvature of the global path of the first unmanned vehicle at the target position, and the preset minimum following distance is a default minimum following distance corresponding to a non-slip state; wherein the first specified parameter and the increase are positively correlated.

[0083] Based on a second specified parameter of the first unmanned vehicle, an amount of reduction of the maximum driving speed based on a preset maximum driving speed is determined, wherein the second specified parameter includes at least one of the following: a deviation parameter and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset maximum driving speed is a default maximum driving speed corresponding to a non-slip state; wherein the second specified parameter is positively correlated with the reduction amount.

[0084] It should be noted that, in actual use, the increase amount and the decrease amount mentioned in the above embodiment can both adopt fixed values.

[0085] The above embodiment can determine the deviation parameter according to the current position of the first unmanned vehicle, and then determine whether the vehicle is slipping based on the deviation parameter. It is possible to determine whether the vehicle is slipping without detecting the road surface, and in the case of slipping, it is possible to adopt a corresponding safety control strategy based on the slipping type, thereby reducing the safety hazards of unmanned vehicles on slippery roads and ensuring the safe driving of unmanned vehicles.

[0086] According to another embodiment of the present application, a skidding control method for an unmanned vehicle is provided, the method comprising:

[0087] During the driving process of the vehicle, the following methods are used to detect whether the vehicle is skidding, the type of skidding, and give corresponding skidding response strategies. Among them, the skidding type can only be divided into straight road skidding and curved road skidding.

[0088] Specifically, the detection of slippery areas on straight roads is achieved in two ways:

[0089] In the first optional method, whether the vehicle is skidding on a straight road can be determined in the following ways: through the slip rate to detect, when the vehicle passes through a severely slippery area, the tires may experience drive slip or brake lock, which causes a large deviation between the actual vehicle speed and the wheel speed. This problem can be identified more accurately through the slip rate.

[0090] Alternatively, the slip ratio can be calculated as follows:

[0091] Slip ratio: δ = (Va-Vt) / Vt×100%

[0092] Where: δ--slip rate;

[0093] Vt - positioning vehicle speed;

[0094] Va--wheel speed.

[0095] When driving slip occurs, the wheel speed must be higher than the positioning speed, and when braking is locked, the positioning speed must be higher than the wheel speed. When the slip rate exceeds a certain threshold and the lateral and heading deviations of the vehicle are within the safety threshold, it is determined that the vehicle is skidding while driving on a straight road.

[0096] Optionally, a second method can be used to determine whether a straight road skid has occurred. Specifically, by detecting the lateral offset and heading deviation of the vehicle caused by skidding, if the lateral offset and heading deviation of the vehicle exceed a certain threshold during the movement of the vehicle, and if there is no curve trajectory in the global path, it can also be determined that the vehicle has skidded on the straight road.

[0097] In addition, in an optional manner, whether slipping occurs in a slippery area of ​​a curve may be identified by:

[0098] When lateral deviation or heading deviation caused by skidding occurs and exceeds a certain threshold, the auxiliary detection indicates that the global trajectory belongs to a curve. At this time, it is determined that the vehicle has experienced severe skidding during the turning process.

[0099] In addition, this embodiment records the slippery area by recording the real-time position of the vehicle when it skids. If skidding occurs in the straight road area, it is determined that the braking distance is lengthened and there is a risk of not being able to stop safely if the vehicle is too close to the vehicle, and the following distance can be lengthened accordingly. If skidding occurs in the curve, the subsequent vehicles can be controlled to limit the speed at this position, thereby ensuring safe passage in the slippery curve area. Optionally, the skidding area of ​​the front vehicle can be uploaded to the map, and the skidding information can be synchronized to other vehicles through the map.

[0100] Through the above embodiments, corresponding safety control strategies can be adopted based on the slip type, thereby reducing the safety hazards of unmanned vehicles on slippery roads and ensuring the safe driving of unmanned vehicles.

[0101] Based on the same inventive concept, Figure 4 As shown, the present application provides a skid control device 40 for an unmanned vehicle, comprising:

[0102] A vehicle information acquisition module 41 is used to acquire a current position of the first unmanned vehicle, and determine a deviation parameter corresponding to the current position according to the current position, wherein the deviation parameter is used to characterize a deviation between a current position and a target position of the first unmanned vehicle, or is used to characterize a deviation between a current heading and a target heading of the first unmanned vehicle, wherein the target position is a planned position of the first unmanned vehicle corresponding to the current moment, and the target heading is a planned heading of the first unmanned vehicle corresponding to the current moment;

[0103] a skidding type determination module 42, configured to determine a skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at a current position, wherein the skidding type is related to a road curvature;

[0104] As a preferred implementation of the embodiment of the present application, when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining the skidding type of the first unmanned vehicle includes:

[0105] When the deviation parameter is in a first deviation interval and the acquired slip rate of the first unmanned vehicle is greater than a specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is a first target slip type, wherein the road curvature corresponding to the first target slip type is less than a first curvature threshold, and the deviation parameter corresponding to the first deviation interval is less than a specified deviation parameter.

[0106] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is less than a first curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the first target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0107] When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the second target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

[0108] The control strategy determination module 43 is used to determine the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type, and control the corresponding vehicle according to the control strategy, wherein the second vehicle is a vehicle that passes the current position after the current moment.

[0109] Wherein, determining the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type includes:

[0110] When the slip type is a first target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a first control strategy, wherein a road curvature corresponding to the first target slip type is less than a first curvature threshold;

[0111] Wherein, the first control strategy includes increasing a minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the minimum following distance is used to represent a minimum distance between the first unmanned vehicle and / or the second vehicle and an adjacent preceding vehicle.

[0112] Preferably, it also includes:

[0113] Based on a first specified parameter of the first unmanned vehicle, an increase in the minimum following distance based on a preset minimum following distance is determined, wherein the first specified parameter includes at least one of the following: a slip rate, a deviation parameter, and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset minimum following distance is a default minimum following distance corresponding to a non-slip state; wherein the first specified parameter and the increase are positively correlated.

[0114] When the slip type is a second target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a second control strategy, wherein the road curvature corresponding to the second target slip type is greater than or equal to a second curvature threshold;

[0115] The second control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle, wherein the maximum driving speed is used to indicate the upper limit of the speed of the first unmanned vehicle and / or the second vehicle when driving.

[0116] Preferably, it also includes:

[0117] Based on a second specified parameter of the first unmanned vehicle, an amount of reduction of the maximum driving speed based on a preset maximum driving speed is determined, wherein the second specified parameter includes at least one of the following: a deviation parameter and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset maximum driving speed is a default maximum driving speed corresponding to a non-slip state; wherein the second specified parameter is positively correlated with the reduction amount.

[0118] Based on the same inventive concept, the present application provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the steps of the skid control method for an unmanned vehicle provided in any of the above embodiments are implemented.

[0119] Based on the same inventive concept, the present application provides an electronic device, including:

[0120] at least one processor and at least one memory;

[0121] The memory stores executable instructions of the processor;

[0122] The processor is configured to execute the skid control method for an unmanned vehicle provided in any of the above embodiments.

[0123] Based on the same inventive concept, the present application provides an unmanned vehicle, and applies the skid control method of the unmanned vehicle provided by any of the above embodiments.

[0124] The unmanned vehicle provided in the embodiment of the present application, by applying the skidding control method of the unmanned vehicle provided in any of the above embodiments, after obtaining the current position and posture of the first unmanned vehicle, determines the deviation parameter according to the current position and posture, and then determines whether the first unmanned vehicle is skidding at the current position according to the deviation parameter. In the event of skidding, the skidding type of the first unmanned vehicle is determined, and the control strategy of the first unmanned vehicle and / or the second vehicle is determined based on the skidding type, and the corresponding vehicle is controlled according to the control strategy. The scheme of the present application determines the deviation parameter according to the current position and posture of the first unmanned vehicle, and then determines whether the vehicle is skidding based on the deviation parameter. It is possible to determine whether the vehicle is skidding without detecting the road surface, and in the event of skidding, it is possible to adopt a corresponding safety control strategy based on the skidding type, thereby reducing the safety hazards of the unmanned vehicle on slippery roads and ensuring the safe driving of the unmanned vehicle.

[0125] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0126] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0127] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0128] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0129] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0130] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0131] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0132] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0133] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A skidding control method for an unmanned vehicle, characterized in that: include: Acquire a current position and posture of a first unmanned vehicle, and determine a deviation parameter corresponding to the current position and posture according to the current position and posture, wherein the deviation parameter is used to characterize a deviation between a current position and a target position of the first unmanned vehicle, and / or is used to characterize a deviation between a current heading and a target heading of the first unmanned vehicle, wherein the target position is a planned position of the first unmanned vehicle corresponding to a current moment, and the target heading is a planned heading of the first unmanned vehicle corresponding to a current moment; In a case where it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position, determining a skidding type of the first unmanned vehicle, wherein the skidding type is related to a road curvature; Based on the slip type, a control strategy of the first unmanned vehicle and / or the second vehicle is determined, and the corresponding vehicle is controlled according to the control strategy, wherein the second vehicle is a vehicle that passes the current position after the current moment.

2. The method according to claim 1, characterized in that The step of determining the skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position includes: When the deviation parameter is in a first deviation interval and the acquired slip rate of the first unmanned vehicle is greater than a specified slip rate threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is a first target slip type, wherein the road curvature corresponding to the first target slip type is less than a first curvature threshold, and the deviation parameter corresponding to the first deviation interval is less than a specified deviation parameter.

3. The method according to claim 1, characterized in that The step of determining the skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position includes: When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is less than a first curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the first target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

4. The method according to claim 1, characterized in that: The step of determining the skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at the current position includes: When the deviation parameter is in the second deviation interval and the road curvature of the global path of the first unmanned vehicle at the target position is greater than or equal to a second curvature threshold, it is determined that the first unmanned vehicle is slipping at the current position and the slip type is the second target slip type, wherein the deviation parameter corresponding to the second deviation interval is greater than or equal to the specified deviation parameter.

5. The method according to claim 1, characterized in that The determining of the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type includes: When the slip type is a first target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a first control strategy, wherein a road curvature corresponding to the first target slip type is less than a first curvature threshold; Wherein, the first control strategy includes increasing a minimum following distance of the first unmanned vehicle and / or the second vehicle, wherein the minimum following distance is used to represent a minimum distance between the first unmanned vehicle and / or the second vehicle and an adjacent preceding vehicle.

6. The method according to claim 1, characterized in that The determining of the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type includes: When the slip type is a second target slip type, determining that the control strategy of the first unmanned vehicle and / or the second vehicle is a second control strategy, wherein the road curvature corresponding to the second target slip type is greater than or equal to a second curvature threshold; The second control strategy includes reducing the maximum driving speed of the first unmanned vehicle and / or the second vehicle, wherein the maximum driving speed is used to indicate the upper limit of the speed of the first unmanned vehicle and / or the second vehicle when driving.

7. The method according to claim 5, characterized in that Also includes: Based on a first specified parameter of the first unmanned vehicle, an increase in the minimum following distance based on a preset minimum following distance is determined, wherein the first specified parameter includes at least one of the following: a slip rate, a deviation parameter, and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset minimum following distance is a default minimum following distance corresponding to a non-slip state; wherein the first specified parameter and the increase are positively correlated.

8. The method according to claim 6, characterized in that Also includes: Based on a second specified parameter of the first unmanned vehicle, an amount of reduction of the maximum driving speed based on a preset maximum driving speed is determined, wherein the second specified parameter includes at least one of the following: a deviation parameter and a road curvature of a global path of the first unmanned vehicle at the target position, and the preset maximum driving speed is a default maximum driving speed corresponding to a non-slip state; wherein the second specified parameter is positively correlated with the reduction amount.

9. A skid control device for an unmanned vehicle, characterized in that: include: A vehicle information acquisition module, used to acquire a current position and posture of a first unmanned vehicle, and determine a deviation parameter corresponding to the current position and posture according to the current position and posture, wherein the deviation parameter is used to characterize a deviation between a current position and a target position of the first unmanned vehicle, or is used to characterize a deviation between a current heading and a target heading of the first unmanned vehicle, wherein the target position is a planned position of the first unmanned vehicle corresponding to a current moment, and the target heading is a planned heading of the first unmanned vehicle corresponding to a current moment; a skidding type determination module, configured to determine a skidding type of the first unmanned vehicle when it is determined according to the deviation parameter that the first unmanned vehicle is skidding at a current position, wherein the skidding type is related to a road curvature; A control strategy determination module is used to determine the control strategy of the first unmanned vehicle and / or the second vehicle based on the slip type, and control the corresponding vehicle according to the control strategy, wherein the second vehicle is a vehicle that passes the current position after the current moment.

10. An unmanned vehicle, characterized in that: The method according to any one of claims 1 to 8 is used.

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