Long and short decision-making system of unmanned aerial vehicle tractor
By designing a long and short decision system in a UAV tractor, using high-precision maps and real-time perceived data for path planning and short-term control, the problem that traditional autonomous driving systems are difficult to integrate long and short-term decisions in complex traffic environments is solved, and the problem of the traditional autonomous driving system is difficult to integrate long and short-term decisions in complex traffic environments is achieved. Safe and efficient autonomous driving.
Patent Information
- Application Number
- CN202310984214.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-07
- Publication Date
- 2025-02-14
AI Technical Summary
Traditional autonomous driving systems are difficult to effectively integrate long-term and short-term decisions in complex traffic environments, resulting in poor performance in response to emergencies.
Design a long and short decision-making system for unmanned aircraft tractors, and use high-precision maps and positioning information to plan paths, and combine real-time perceived data for short-term control to achieve efficient information transmission and collaboration between long and short decisions.
The system can better deal with complex traffic scenarios, allowing vehicles to more intelligently perceive and respond to various problems on the road, and improve the safety and efficiency of autonomous driving.
Smart Images
Figure CN119428719A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of special vehicles for airports and relates to a length decision system for an unmanned aircraft tractor. Background Art
[0002] Autonomous driving technology is an important development direction in the field of intelligent transportation in recent years. It combines sensors, artificial intelligence and data processing technology to enable vehicles to drive autonomously without human intervention. However, there are still many challenges to achieving truly safe and efficient autonomous driving.
[0003] One of the key challenges is the optimization of the long-term and short-term decision-making systems. Long-term and short-term decisions refer to the continuous decisions that the vehicle needs to make during the autonomous driving process. Long-term decisions involve route planning, goal setting, and overall path selection, while short-term decisions include the selection of specific behaviors such as lane keeping and obstacle avoidance.
[0004] In traditional autonomous driving systems, long-term and short-term decisions are often processed separately, which may cause the system to perform poorly in complex traffic environments. For example, long-term decisions may plan a safe and reasonable route, but short-term decisions may not be able to make the correct driving actions in time to adapt to emergencies. Therefore, improving the integration and optimization of long-term and short-term decisions of autonomous driving vehicles is crucial to achieving safer and more efficient autonomous driving. Summary of the invention
[0005] The present invention discloses a long-term and short-term decision-making system for an unmanned aircraft tractor, which can realize efficient information transmission and collaboration between long-term and short-term decisions. Long-term planning provides feasible routes, short-term control judges the feasibility of the route and feeds back to the long-term planning, and calculates the optimal vehicle speed, direction and driving posture in real time. By integrating long-term planning and short-term execution, the system can better cope with complex traffic scenarios, and enable vehicles to more intelligently perceive and deal with various problems on the road.
[0006] In order to achieve the above object, the first aspect of the present invention provides a long-term decision-making solution, comprising the following steps:
[0007] Path planning based on high-precision maps and positioning information:
[0008] The system will use pre-established high-precision maps, combined with GPS or other positioning technologies, to accurately locate the vehicle on the map. It will then combine global factors such as destination, traffic conditions, road planning, etc. to determine an overall driving path based on the goal, and take into account vehicle speed, lane changing and other strategies.
[0009] A second aspect of the present invention provides a short-term control scheme, comprising the following steps:
[0010] Real-time feedback and updated route data for vehicle control:
[0011] During the entire driving process, the system will continuously adjust its decisions based on real-time perception data, such as the current status of the vehicle and the actual situation on the planned route, and calculate the optimal vehicle speed, direction and driving posture in real time to adapt to the ever-changing traffic environment and road conditions.
[0012] The present invention further improves on the above two aspects and combines the two solutions to achieve that in the actual driving process, long-term planning and short-term control influence each other, and the integrated decision is updated and adjusted at each time step. Long-term planning provides the overall goal and direction, while short-term control is responsible for the specific execution strategy. The two work together to enable the vehicle to drive safely and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a flow chart of a length decision system of an unmanned aircraft tractor of the present invention;
[0014] Figure 2 yes Figure 1 Detailed process flow chart of medium and long-term decision-making plan;
[0015] Figure 3 yes Figure 1 Detailed flow chart of the short- to medium-term control scheme. Specific implementation methods
[0016] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.
[0017] Figure 1 A schematic flow chart of a length decision system of an unmanned aircraft tractor according to the present invention and a path planning method are shown.
[0018] The long-term planning system takes into account global factors, such as destination, traffic conditions, road planning, etc. It will determine an overall driving path based on the goal.
[0019] Specifically, the vehicle is provided with an information storage device and a positioning component. When the vehicle is running, the positioning component obtains the current location information of the vehicle, and compares it with the high-precision map in the information storage device to obtain the current traversable route of the vehicle, and selects the route that can reach the destination according to factors such as the destination as the pre-selected route. The route is provided to the short-term control system to control the vehicle to reach the predetermined location.
[0020] The short-term control system is based on the long-term planned route and adjusts the vehicle's behavior in real time according to the current environment. It calculates the optimal speed, direction and driving posture in real time based on the results of perception fusion and the current state of the vehicle.
[0021] Specifically, the vehicle is provided with a variety of sensor components and a vehicle control system. Through the vehicle's various sensor modules, the environment around the vehicle is acquired in real time to determine whether the road conditions on the path given by the long-term planning system are normal. When an abnormal condition occurs, such as an obstacle on the current path, the route is replanned until the road conditions on the planned route are normal. The vehicle control system is used to drive the vehicle to the final planned route.
[0022] The present invention realizes that in the actual driving process, long-term planning and short-term control influence each other, and the integrated decision is updated and adjusted at each time step. Long-term planning provides the overall goal and direction, while short-term control is responsible for the specific execution strategy. The two work together to enable the vehicle to drive safely and efficiently.
Claims
1. A length decision system for an unmanned aircraft tractor, characterized in that: Include: Long-term planning system: responsible for providing the main direction of the path; Short-term control system: responsible for ensuring driving safety; Decision fusion system: responsible for achieving efficient information transmission and collaboration between long-term and short-term decisions.
2. The length decision system of the unmanned aircraft tractor according to claim 1 is characterized in that: The long-term planning system pre-creates high-precision maps and establishes predetermined feasible roads, and performs path planning through the connecting path between the target and the current location.
3. The length decision system of the unmanned aircraft tractor according to claim 1 is characterized in that: The short-term control system uses the predetermined path and sensor module planned in the long term to perceive the environment around the vehicle and analyze the feasibility of the planned path to ensure driving safety.
4. The length decision system of the unmanned aircraft tractor according to claim 1 is characterized in that: The decision fusion system allows both decision systems to be updated and adjusted at each time step. Long-term planning provides the overall goal and direction, while short-term control is responsible for the specific execution strategy and updates the path in real time.