Unmanned vehicle control method and system and unmanned vehicle

Abstract

The invention relates to the technical field of unmanned vehicles, in particular to a control method and system of an unmanned vehicle and the unmanned vehicle. A plurality of optical marker combinations are arranged on the two sides of an unmanned vehicle road in the extending direction of the road; calculating the maximum gradient variation data of the front road surface and the maximum inclination angle variation data of the unmanned vehicle; and according to the maximum gradient variation data of the front road surface and the maximum inclination angle variation data of the unmanned vehicle, judging whether the traveling speed of the unmanned vehicle needs to be reduced or not. The invention develops an effective and high-precision measurement device for measuring the front slope and the rolling angle of the unmanned vehicle when the unmanned vehicle runs on the front slope, namely, the safety is higher, meanwhile, the application cost is extremely low, the road condition information can be provided for a large number of unmanned vehicles put into use through one set of equipment, namely, the usability is higher, and the application range is wider. And the unmanned vehicle control scheme can greatly improve enterprise revenue.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to a control method and system for an unmanned vehicle, and an unmanned vehicle. Background Art

[0002] Unmanned driving technology refers to the automatic driving of transportation vehicles through intelligent control, mainly including path planning, automatic identification and obstacle avoidance, automatic adjustment and other technologies.

[0003] In the existing technology, unmanned driving technology can be divided into 6 levels from L0 to L5 according to the "Automobile Driving Automation Classification" approved and issued by the State Administration for Market Regulation (Standardization Administration). The assisted driving of existing cars can basically achieve L2 and L3 levels of autonomous driving. According to the intelligent driving method, it can be divided into solutions relying on pure vision and vision + lidar. The existing technical applications have realized autonomous driving judgment and decision-making based on the AI ​​big model. In the existing technology, although unmanned automatic speed change instructions can be made according to the congestion and slope of the road section, the vehicle is prone to roll on the slope. In the field of household cars, the tilt angle of the vehicle itself when driving on the slope ahead is generally not considered, because the hardware design and structural design of household cars generally lead to better stability of household cars, and normal driving will not cause rollover. In the field of AGV unmanned vehicle intelligent transportation, unmanned transport vehicles are generally equipped with goods, which cannot make unmanned vehicles stop as quickly as urban vehicles, and the roll angle of the vehicle is also required. More careful consideration is required, because the height of the cargo carried is generally high, the unmanned vehicle will have a large roll angle or a large slope, and if the speed is not controlled, the cargo may fall over. In the existing technology, the slope is usually identified by electrical measurement, and the electrical measurement has a larger error than the optical measurement. There is also a lack of high-precision detection solutions for the tilt angle that the vehicle will have when driving on the slope ahead. In addition, the existing autonomous driving solutions applied in the automotive field involve very complex sensors, software algorithms and system compositions, which require complex software design and are costly. The transportation routes and road conditions of unmanned transport vehicles are generally very simple. It is not very appropriate to apply intelligent driving technology applied to complex road conditions in urban areas to road condition identification of unmanned vehicles, because it will increase the system complexity and application cost of each unmanned vehicle by dozens of times, because each intelligent driving system can only be implanted in one unmanned vehicle, and has great requirements on the computing power and hardware performance of the unmanned vehicle, and will also occupy a large amount of system computing power and network resources.

[0004] In the field of AGV unmanned vehicle transportation, the inclination of the road surface or the posture of the unmanned vehicle itself is usually measured through inclination sensors and accelerometers, and then a real-time safety control strategy is implemented. However, this makes it impossible to control the amount of advance, such as slowing down in advance. If the slope ahead of the vehicle suddenly changes or the unmanned vehicle is about to roll too much, the existing technology usually makes corrections to the unmanned vehicle's automatic driving system after the road slope affects the actual acceleration response or roll angle of the unmanned vehicle, which leads to the lag of the unmanned vehicle's speed control. If the vehicle driving force / braking force is not adjusted in advance according to the slope change or the roll angle that the unmanned vehicle is about to roll, the following problems may occur: When the unmanned vehicle suddenly drives from flat ground to a steep downhill road or the roll angle of the unmanned vehicle is too large, if the driving force is not reduced in time, the goods may fall over, causing certain safety hazards. If external equipment is used for monitoring, it is necessary to rely on network communication. In warehouses and other areas, network communication is easily affected by goods or shelves, resulting in safety hazards to the driving of unmanned vehicles.

[0005] To sum up, how to develop an effective and high-precision unmanned vehicle control solution that can measure the slope ahead and the roll angle of the unmanned vehicle when it is driving on the slope ahead, that is, higher safety, and at the same time has extremely low application costs, and can provide road condition information for a large number of unmanned vehicles in use through a set of equipment, that is, higher availability, and can greatly improve corporate benefits, is a technical solution that needs to be urgently solved by existing technologies.

[0006] Therefore, the prior art needs to be further developed. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a control method and system for an unmanned vehicle, and an unmanned vehicle to solve the problems existing in the prior art.

[0008] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a control method for an unmanned vehicle, comprising: S100, setting a plurality of optical marker combinations on both sides of the road for the unmanned vehicle and along the extension direction of the road; while the unmanned vehicle is moving at a first preset moving speed, using an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; S200, obtaining second position information of each optical marker in each optical marker combination, and calculating maximum slope change data of the road ahead and maximum tilt angle change data that the unmanned vehicle will have according to the second position information of each optical marker in the optical marker combination; S300: Determine whether it is necessary to reduce the speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

[0009] Specifically, the determining whether it is necessary to reduce the speed of the unmanned vehicle according to the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have includes: Determine whether the maximum slope change data of the road ahead is greater than or equal to a first preset threshold, and determine whether the unmanned vehicle's own inclination angle data is greater than or equal to a second preset threshold, and determine whether to control the unmanned vehicle to move at a second preset moving speed based on the judgment result, and the second preset moving speed is less than the first preset moving speed.

[0010] Specifically, judging whether to control the unmanned vehicle to move at the second preset moving speed according to the judgment result includes: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to move at the second preset moving speed; If the maximum slope change data of the road ahead is less than the second preset threshold, and the unmanned vehicle's own inclination angle data is less than the second preset threshold, the unmanned vehicle is controlled to continue moving at the first preset moving speed.

[0011] Specifically, the method further includes: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, determine whether the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, and determine whether the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold; If the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold, the unmanned vehicle is controlled to move at the third preset moving speed; If the maximum slope change data of the road ahead is less than the third preset threshold value, and the inclination angle data of the unmanned vehicle itself is less than the fourth preset threshold value, the unmanned vehicle is controlled to move at the second preset moving speed; The third preset moving speed is less than the second preset moving speed.

[0012] Specifically, the method includes: Starting from the starting point of the unmanned vehicle road, at the right edge of the unmanned vehicle road, a plurality of first optical marker combinations are respectively arranged at first preset intervals along the extension direction of the road; Starting from the starting point of the unmanned vehicle road, a plurality of second optical marker combinations are respectively arranged at a first preset interval along the extension direction of the road at the left edge of the unmanned vehicle road.

[0013] Specifically, the first optical marker combination includes a first optical marker, a second optical marker, and a third optical marker; the second optical marker combination includes a fourth optical marker, a fifth optical marker, and a sixth optical marker.

[0014] Specifically, the first optical marker, the second optical marker, and the third optical marker are not on the same straight line, the fourth optical marker, the fifth optical marker, and the sixth optical marker are not on the same straight line, and the area of ​​a triangle formed by the first optical marker, the second optical marker, and the third optical marker as vertices is different from the area of ​​a triangle formed by the fourth optical marker, the fifth optical marker, and the sixth optical marker as vertices; the first optical marker, the second optical marker, and the third optical marker in any one of the first optical marker combinations are fixedly mounted on the same indicator light board, and the fourth optical marker, the fifth optical marker, and the sixth optical marker in any one of the second optical marker combinations are fixedly mounted on the same indicator light board, and the indicator light boards are all arranged perpendicular to the horizontal plane and fixedly mounted on the ground.

[0015] Specifically, the calculation of the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have according to the position information of each optical marker in the optical marker combination includes: The indicator light board includes a board face and a fixed column, the lower surface of the fixed column is in contact with the ground, a three-dimensional model of the indicator light board corresponding to the indicator light board is obtained, and a model space coordinate system is established by defining the cross section of any fixed column as the XOY plane, the Z axis is on the axis of the fixed column, and the origin of the coordinate system is the center of the lower surface of the fixed column in the model space of the indicator light board three-dimensional model; a first position conversion relationship of the combination of the three-dimensional model of the indicator light board and the optical marker is determined; based on the second position information and the first position conversion relationship, the actual posture of the indicator light board at the current moment is calculated, and then the position data of the center point of the lower surface of the fixed column 3 at the current moment is calculated; According to the position data of the center points of the lower surfaces of the fixing columns 3 of the two indicator light signs corresponding to the two adjacent first optical marker combinations along the extension direction of the road, the slope data corresponding to the two first optical marker combinations are determined, and the slope change data are calculated based on the two adjacent slope data, and then the maximum slope change data in the current frame image is calculated and recorded as the maximum slope change data of the road ahead; According to the position data of the center points of the lower surfaces of the fixed columns 3 of the two indicator light signs corresponding to the two adjacent first optical marker combinations and the second optical marker combinations, the corresponding inclination angle data of the unmanned vehicle is determined, and according to the two adjacent inclination angle data, the inclination angle change data that will occur to the unmanned vehicle itself is determined, and then the maximum inclination angle change data in the current frame image is calculated and recorded as the maximum inclination angle change data that will occur to the unmanned vehicle itself.

[0016] According to a second aspect of the present invention, there is provided a control system for an unmanned vehicle, comprising: An acquisition module is used to capture a current frame image containing a combination of optical markers in front of the unmanned vehicle at a preset time interval using an optical positioning camera disposed on the unmanned vehicle while the unmanned vehicle is moving at a first preset moving speed; The control module is used to obtain the position information of each optical marker in each optical marker combination, calculate the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience based on the position information of each optical marker in the optical marker combination; and determine whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

[0017] According to a third aspect of the present invention, there is provided an unmanned vehicle, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the unmanned vehicle described above is implemented.

[0018] Beneficial effects: The present invention sets a plurality of optical marker combinations on both sides of an unmanned vehicle road and along the extension direction of the road; when the unmanned vehicle moves at a first preset moving speed, uses an optical positioning camera set on the unmanned vehicle to shoot a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; obtains the second position information of each optical marker in each optical marker combination, and calculates the maximum slope change data of the road surface ahead and the maximum tilt angle change data that the unmanned vehicle itself will experience based on the second position information of each optical marker in the optical marker combination; and determines whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road surface ahead and the maximum tilt angle change data that the unmanned vehicle itself will experience. The advance amount can be controlled through the unmanned vehicle's own equipment. For example, when the maximum slope change data of the road ahead or the maximum tilt angle change data that the unmanned vehicle itself will experience is large, deceleration is performed in advance without relying on external equipment monitoring and network communication. The present invention has developed an unmanned vehicle control solution that effectively and accurately measures the size of the slope ahead and the roll angle that the unmanned vehicle will experience when driving on the slope ahead, which has higher safety and extremely low application cost. A set of equipment can provide road condition information for a large number of unmanned vehicles in use, which has higher availability and can greatly improve corporate benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a control method for an unmanned vehicle provided in a specific embodiment of the present invention; Figure 2 Schematic diagram of the system composition of the control system of the unmanned vehicle provided in a specific embodiment of the present invention; Figure 3 is a schematic diagram of an indicator light board provided in a specific embodiment of the present invention; In the above drawings, there are the following reference numerals: 1. Card surface; 2. Optical marker; 3. Fixed column; 100. Acquisition module; 200. Control module. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0021] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0022] See also Figure 1-3 The present invention provides a control method for an unmanned vehicle, comprising: S100, setting a plurality of optical marker combinations on both sides of the road for the unmanned vehicle and along the extension direction of the road; while the unmanned vehicle is moving at a first preset moving speed, using an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval.

[0023] It should be noted that the step before step S100 includes: A first preset moving speed, a second preset moving speed, a third preset moving speed, a preset time interval, a first preset threshold, a second preset threshold, a third preset threshold, and a fourth preset threshold are preset in the control module 200 .

[0024] It can be understood that the first preset moving speed, the second preset moving speed, the third preset moving speed, the preset time interval, the first preset threshold, the second preset threshold, the third preset threshold, and the fourth preset threshold can be specifically set according to the actual needs of the user of the present invention. The present invention does not limit the specific values ​​of the above parameters, as long as it is applicable to the control method of the unmanned vehicle proposed in the present invention.

[0025] Preferably, the present invention sets the first preset moving speed to 1 meter per second, the present invention sets the second preset speed to 0.5 meters per second, the present invention sets the third preset speed to 0.25 meters per second, the present invention sets the first preset threshold to 15 degrees, the present invention sets the second preset threshold to 5 degrees, the present invention sets the third preset threshold to 30 degrees, and the present invention sets the fourth preset threshold to 10 degrees.

[0026] S200, obtaining the second position information of each optical marker 2 in each optical marker combination, and calculating the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle itself will have according to the second position information of each optical marker 2 in the optical marker combination.

[0027] Specifically, the method includes: Starting from the starting point of the unmanned vehicle road, at the right edge of the unmanned vehicle road, a plurality of first optical marker combinations are respectively arranged at first preset intervals along the extension direction of the road; Starting from the starting point of the unmanned vehicle road, a plurality of second optical marker combinations are respectively arranged at a first preset interval along the extension direction of the road at the left edge of the unmanned vehicle road.

[0028] Specifically, the first optical marker combination includes a first optical marker, a second optical marker, and a third optical marker; the second optical marker combination includes a fourth optical marker, a fifth optical marker, and a sixth optical marker. That is, the first optical marker combination and the second optical marker combination each include at least three optical markers.

[0029] Specifically, the first optical marker, the second optical marker, and the third optical marker are not on the same straight line, the fourth optical marker, the fifth optical marker, and the sixth optical marker are not on the same straight line, and the area of ​​a triangle formed by the first optical marker, the second optical marker, and the third optical marker as vertices is different from the area of ​​a triangle formed by the fourth optical marker, the fifth optical marker, and the sixth optical marker as vertices; the first optical marker, the second optical marker, and the third optical marker in any one of the first optical marker combinations are fixedly mounted on the same indicator light board, and the fourth optical marker, the fifth optical marker, and the sixth optical marker in any one of the second optical marker combinations are fixedly mounted on the same indicator light board, and the indicator light boards are all arranged perpendicular to the horizontal plane and fixedly mounted on the ground.

[0030] It can be understood that, since the area of ​​the triangle formed by the first optical marker, the second optical marker and the third optical marker as vertices is different from the area of ​​the triangle formed by the fourth optical marker, the fifth optical marker and the sixth optical marker as vertices, the relative positions of the three optical markers in the optical marker combination are different, thereby providing different visual markers for the camera set on the unmanned vehicle, making it easy for the unmanned vehicle to distinguish between the first optical marker combination and the second optical marker combination, so that the unmanned vehicle can accurately locate the first optical marker combination and the second optical marker combination, thereby distinguishing whether the indicator light sign is on the left side of the road or the right side of the road. Through optical measurement, the measurement error of conventional electrical sensors is reduced, the accuracy and reliability of the data source used for unmanned vehicle control are greatly improved, and the safety of unmanned vehicle control is greatly improved.

[0031] Specifically, the indicator light board is generated based on a design drawing, which includes geometric feature information of the indicator light board and first position information of at least three optical markers 2 on the indicator light board; based on the geometric feature information of the three-dimensional model of the indicator light board and the geometric feature information of the indicator light board included in the design drawing, a geometric feature matching relationship between the three-dimensional model of the indicator light board and the design drawing is determined; based on the geometric feature matching relationship and the first position information of at least three optical markers included in the design drawing on the indicator light board.

[0032] It should be noted here that if the geometric feature recognition is performed on the three-dimensional model of the indicator light sign to obtain the geometric feature information of the three-dimensional model of the indicator light sign, the least squares matching algorithm or the cluster matching algorithm is used to process the geometric feature information of the three-dimensional model of the indicator light sign and the geometric feature information of the object entity included in the design drawing to obtain the geometric feature matching relationship between the three-dimensional model of the indicator light sign and the design drawing.

[0033] If geometric feature recognition is performed on the three-dimensional model of the indicator light sign and no geometric feature information of the three-dimensional model of the indicator light sign is obtained, a point cloud matching algorithm is used to determine the point cloud matching relationship between the three-dimensional model of the indicator light sign and the design drawing; based on the point cloud matching relationship and the first position information of at least three optical markers included in the design drawing on the object entity, a position conversion relationship between the three-dimensional model of the indicator light sign and the at least three optical markers is determined; second position information of at least three optical markers on the object entity is tracked by an optical tracking system, and based on the second position information of the at least three optical markers and the position conversion relationship, the posture of the three-dimensional model of the indicator light sign is determined.

[0034] It can be understood that the step of capturing the current frame images of the at least three optical markers on the indicator light board at preset time intervals by the optical positioning camera to thereby obtain the second position information of the at least three optical markers on the indicator light board includes: (1) Align the world coordinate system with the three-dimensional model coordinate system of the indicator light board, thereby establishing a projection relationship from the world coordinate system to the three-dimensional model coordinate system of the indicator light board; (2) reading the current frame image from the optical positioning camera, detecting the optical marker in the image, and obtaining the two-dimensional pixel coordinates of the optical marker; (3) According to the calibration parameters of the optical positioning camera, the two-dimensional pixel coordinates of the optical marker are stereo matched, and the three-dimensional coordinate value of the optical marker in the optical positioning camera coordinate system is calculated through the two-dimensional pixel coordinates.

[0035] (4) Based on the three-dimensional model of the indicator light board, calculate the transformation matrix [R t] from the optical positioning camera coordinate system to the world coordinate system; use the transformation matrix [R t] to convert the three-dimensional coordinates of the optical marker in the optical positioning camera coordinate system to the coordinates in the world coordinate system, thereby determining the position and posture of the indicator light board in the world coordinate system; (5) Using the projection relationship obtained in step (2), the position of the indicator light board in the world coordinate system is transformed into the coordinate system of the three-dimensional model of the indicator light board, thereby completing the positioning of the indicator light board in the current frame.

[0036] (7) Return to step (3), then read the next frame of image and repeat the above process.

[0037] Specifically, the calculation of the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have according to the position information of each optical marker in the optical marker combination includes: The indicator light board includes a board face 1 and a fixed column 3, the optical markers 2 are fixedly installed on the board face 1, the lower surface of the fixed column 3 is in contact with the ground, the board face 1 is fixedly connected to the upper surface of the fixed column 3, and a three-dimensional model of the indicator light board corresponding to the indicator light board is obtained, and defined in the model space of the three-dimensional model of the indicator light board, with the cross section of any fixed column as the XOY plane, the Z axis on the axis of the fixed column 3, and the origin of the coordinate system as the center of the lower surface of the fixed column 3, to establish a model space coordinate system; determine a first position conversion relationship of the combination of the three-dimensional model of the indicator light board and the optical marker; based on the second position information and the first position conversion relationship, calculate the actual posture of the indicator light board at the current moment, and then calculate the position data of the center point of the lower surface of the fixed column 3 at the current moment.

[0038] It should be noted here that the shape of the card face is preferably circular, and the shape of the fixing column is preferably cylindrical.

[0039] According to the position data of the center points of the lower surfaces of the fixing columns 3 of the two indicator light signs corresponding to the two adjacent first optical marker combinations along the extension direction of the road, the slope data corresponding to the two first optical marker combinations are determined, and the slope change data are calculated based on the two adjacent slope data, and then the maximum slope change data in the current frame image is calculated and recorded as the maximum slope change data of the road ahead; According to the position data of the center point of the lower surface of the fixed column 3 of the two indicator light boards corresponding to the two adjacent first optical marker combinations and the second optical marker combinations, the corresponding inclination angle data of the unmanned vehicle is determined, and according to the two adjacent inclination angle data, the inclination angle change data that will occur to the unmanned vehicle itself is determined, and then the maximum inclination angle change data in the current frame image is calculated and recorded as the maximum inclination angle change data that will occur to the unmanned vehicle itself. It can be understood that all optical markers on the two indicator light boards corresponding to the two adjacent first optical marker combinations and the second optical marker combinations are located in the same vertical plane, and the vertical plane is perpendicular to the horizontal plane.

[0040] S300: Determine whether it is necessary to reduce the speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

[0041] Specifically, the determining whether it is necessary to reduce the speed of the unmanned vehicle according to the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have includes: Determine whether the maximum slope change data of the road ahead is greater than or equal to a first preset threshold, and determine whether the unmanned vehicle's own inclination angle data is greater than or equal to a second preset threshold, and determine whether to control the unmanned vehicle to move at a second preset moving speed based on the judgment result, and the second preset moving speed is less than the first preset moving speed.

[0042] Specifically, judging whether to control the unmanned vehicle to move at the second preset moving speed according to the judgment result includes: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to move at the second preset moving speed; If the maximum slope change data of the road ahead is less than the second preset threshold, and the unmanned vehicle's own inclination angle data is less than the second preset threshold, the unmanned vehicle is controlled to continue moving at the first preset moving speed.

[0043] Specifically, the method further includes: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, determine whether the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, and determine whether the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold; If the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold, the unmanned vehicle is controlled to move at the third preset moving speed; If the maximum slope change data of the road ahead is less than the third preset threshold value, and the inclination angle data of the unmanned vehicle itself is less than the fourth preset threshold value, the unmanned vehicle is controlled to move at the second preset moving speed; The third preset moving speed is less than the second preset moving speed.

[0044] It can be understood that the present invention sets a plurality of optical marker combinations on both sides of the unmanned vehicle road and along the extension direction of the road; while the unmanned vehicle moves at a first preset moving speed, uses an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; obtains the second position information of each optical marker in each optical marker combination, and calculates the maximum slope change data of the road surface ahead and the maximum tilt angle change data that will occur to the unmanned vehicle itself based on the second position information of each optical marker in the optical marker combination; determines whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road surface ahead and the maximum tilt angle change data that will occur to the unmanned vehicle itself. The advance amount can be controlled through the unmanned vehicle's own equipment. For example, when the maximum slope change data of the road ahead or the maximum tilt angle change data that the unmanned vehicle itself will experience is large, advance deceleration is performed without relying on external equipment monitoring and network communication. The technical problem that the safety of unmanned vehicles may be affected by electromagnetic interference in areas with unstable magnetic fields or signals is solved, and the safety and speed stability of unmanned vehicles are greatly improved. No digital terrain map is required, further reducing the system cost and complexity of unmanned vehicle control. The present invention develops an unmanned vehicle control solution that effectively and accurately measures the size of the slope ahead and the roll angle that the unmanned vehicle will experience when driving on the slope ahead, that is, it has higher safety and extremely low application cost. A set of equipment can provide road condition information for a large number of unmanned vehicles in use, that is, it has higher availability and can greatly improve corporate benefits.

[0045] See also Figure 2 The present invention provides another embodiment, which provides a control system for an unmanned vehicle, the control system for the unmanned vehicle comprising: The acquisition module 100 is used to capture a current frame image containing an optical marker combination in front of the unmanned vehicle at a preset time interval using an optical positioning camera disposed on the unmanned vehicle when the unmanned vehicle moves at a first preset moving speed; The control module 200 is used to obtain the position information of each optical marker in each optical marker combination, calculate the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience based on the position information of each optical marker in the optical marker combination; and determine whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

[0046] It should be noted here that the present invention sets a plurality of optical marker combinations on both sides of the unmanned vehicle road and along the extension direction of the road; while the unmanned vehicle moves at a first preset moving speed, uses an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; obtains the second position information of each optical marker in each optical marker combination, and calculates the maximum slope change data of the road surface ahead and the maximum tilt angle change data that the unmanned vehicle itself will experience based on the second position information of each optical marker in the optical marker combination; determines whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road surface ahead and the maximum tilt angle change data that the unmanned vehicle itself will experience. The advance amount can be controlled by the unmanned vehicle's own equipment. For example, when the maximum slope change data of the road ahead or the maximum tilt angle change data that the unmanned vehicle itself will have is large, advance deceleration is performed without relying on external equipment monitoring and network communication. The technical problem that the safety of unmanned vehicles may be affected by electromagnetic interference in areas with unstable magnetic fields or signals is solved, the safety of unmanned vehicles and the speed stability are greatly improved, and no digital terrain map is required, which further reduces the system cost and complexity of unmanned vehicle control, and realizes extremely high measurement of the slope ahead of the unmanned vehicle through optical measurement. The present invention develops an effective and high-precision method for measuring the size of the slope ahead and the roll angle that the unmanned vehicle will have when driving on the slope ahead, that is, higher safety and extremely low application cost. A set of equipment can be used to provide road condition information for a large number of unmanned vehicles in use, that is, higher availability, and a control solution for unmanned vehicles that can greatly improve corporate benefits.

[0047] In a preferred embodiment, the present application further provides an unmanned vehicle, the unmanned vehicle comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the unmanned vehicle is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0048] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0049] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0050] It can be understood that the present invention sets a plurality of optical marker combinations on both sides of the unmanned vehicle road and along the extension direction of the road; while the unmanned vehicle moves at a first preset moving speed, uses an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; obtains the second position information of each optical marker in each optical marker combination, and calculates the maximum slope change data of the road surface ahead and the maximum tilt angle change data that will occur to the unmanned vehicle itself based on the second position information of each optical marker in the optical marker combination; determines whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road surface ahead and the maximum tilt angle change data that will occur to the unmanned vehicle itself. The advance amount can be controlled by the unmanned vehicle's own equipment. For example, when the maximum slope change data of the road ahead or the maximum tilt angle change data that the unmanned vehicle itself will have is large, advance deceleration is performed without relying on external equipment monitoring and network communication. The technical problem that the safety of unmanned vehicles may be affected by electromagnetic interference in areas with unstable magnetic fields or signals is solved, the safety of unmanned vehicles and the speed stability are greatly improved, and no digital terrain map is required, which further reduces the system cost and complexity of unmanned vehicle control, and realizes extremely high measurement of the slope ahead of the unmanned vehicle through optical measurement. The present invention develops an effective and high-precision method for measuring the size of the slope ahead and the roll angle that the unmanned vehicle will have when driving on the slope ahead, that is, higher safety and extremely low application cost. A set of equipment can be used to provide road condition information for a large number of unmanned vehicles in use, that is, higher availability, and a control solution for unmanned vehicles that can greatly improve corporate benefits.

[0051] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0052] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control method for an unmanned vehicle, characterized in that: The method comprises: S100, setting a plurality of optical marker combinations on both sides of the road for the unmanned vehicle and along the extension direction of the road; while the unmanned vehicle is moving at a first preset moving speed, using an optical positioning camera set on the unmanned vehicle to capture a current frame image containing the optical marker combination in front of the unmanned vehicle at a preset time interval; S200, obtaining second position information of each optical marker in each optical marker combination, and calculating maximum slope change data of the road ahead and maximum tilt angle change data that the unmanned vehicle will have according to the second position information of each optical marker in the optical marker combination; S300: Determine whether it is necessary to reduce the speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

2. The control method of the unmanned vehicle according to claim 1, characterized in that: The determining whether it is necessary to reduce the speed of the unmanned vehicle according to the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have includes: Determine whether the maximum slope change data of the road ahead is greater than or equal to a first preset threshold, and determine whether the unmanned vehicle's own inclination angle data is greater than or equal to a second preset threshold, and determine whether to control the unmanned vehicle to move at a second preset moving speed based on the judgment result, and the second preset moving speed is less than the first preset moving speed.

3. The control method of the unmanned vehicle according to claim 2, characterized in that: The step of determining whether to control the unmanned vehicle to move at a second preset moving speed according to the determination result includes: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to move at the second preset moving speed; If the maximum slope change data of the road ahead is less than the second preset threshold, and the unmanned vehicle's own inclination angle data is less than the second preset threshold, the unmanned vehicle is controlled to continue moving at the first preset moving speed.

4. The control method of the unmanned vehicle according to claim 2, characterized in that: The method further comprises: If the maximum slope change data of the road ahead is greater than or equal to the first preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the second preset threshold, determine whether the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, and determine whether the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold; If the maximum slope change data of the road ahead is greater than or equal to the third preset threshold, or the inclination angle data of the unmanned vehicle itself is greater than or equal to the fourth preset threshold, the unmanned vehicle is controlled to move at the third preset moving speed; If the maximum slope change data of the road ahead is less than the third preset threshold value, and the inclination angle data of the unmanned vehicle itself is less than the fourth preset threshold value, the unmanned vehicle is controlled to move at the second preset moving speed; The third preset moving speed is less than the second preset moving speed.

5. The control method of the unmanned vehicle according to claim 1, characterized in that: The method comprises: Starting from the starting point of the unmanned vehicle road, at the right edge of the unmanned vehicle road, a plurality of first optical marker combinations are respectively arranged at first preset intervals along the extension direction of the road; Starting from the starting point of the unmanned vehicle road, a plurality of second optical marker combinations are respectively arranged at a first preset interval along the extension direction of the road at the left edge of the unmanned vehicle road.

6. The control method of the unmanned vehicle according to claim 5, characterized in that: The first optical marker combination includes a first optical marker, a second optical marker, and a third optical marker; the second optical marker combination includes a fourth optical marker, a fifth optical marker, and a sixth optical marker.

7. The control method of the unmanned vehicle according to claim 6, characterized in that: The first optical marker, the second optical marker, and the third optical marker are not on the same straight line, the fourth optical marker, the fifth optical marker, and the sixth optical marker are not on the same straight line, and the area of ​​a triangle formed by the first optical marker, the second optical marker, and the third optical marker as vertices is different from the area of ​​a triangle formed by the fourth optical marker, the fifth optical marker, and the sixth optical marker as vertices; the first optical marker, the second optical marker, and the third optical marker in any first optical marker combination are fixedly installed on the same indicator light board, and the fourth optical marker, the fifth optical marker, and the sixth optical marker in any second optical marker combination are fixedly installed on the same indicator light board, and the indicator light boards are all arranged perpendicular to the horizontal plane and fixedly installed on the ground.

8. The control method of the unmanned vehicle according to claim 7, characterized in that: The method of calculating the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will have according to the position information of each optical marker in the optical marker combination includes: The indicator light board includes a board face and a fixed column, the lower surface of the fixed column is in contact with the ground, a three-dimensional model of the indicator light board corresponding to the indicator light board is obtained, and a model space coordinate system is established by defining the cross section of any fixed column as the XOY plane, the Z axis is on the axis of the fixed column, and the origin of the coordinate system is the center of the lower surface of the fixed column in the model space of the indicator light board three-dimensional model; a first position conversion relationship of the combination of the three-dimensional model of the indicator light board and the optical marker is determined; based on the second position information and the first position conversion relationship, the actual posture of the indicator light board at the current moment is calculated, and then the position data of the center point of the lower surface of the fixed column 3 at the current moment is calculated; According to the position data of the center points of the lower surfaces of the fixing columns 3 of the two indicator light signs corresponding to the two adjacent first optical marker combinations along the extension direction of the road, the slope data corresponding to the two first optical marker combinations are determined, and the slope change data are calculated based on the two adjacent slope data, and then the maximum slope change data in the current frame image is calculated and recorded as the maximum slope change data of the road ahead; According to the position data of the center points of the lower surfaces of the fixed columns 3 of the two indicator light signs corresponding to the two adjacent first optical marker combinations and the second optical marker combinations, the corresponding inclination angle data of the unmanned vehicle is determined, and according to the two adjacent inclination angle data, the inclination angle change data that will occur to the unmanned vehicle itself is determined, and then the maximum inclination angle change data in the current frame image is calculated and recorded as the maximum inclination angle change data that will occur to the unmanned vehicle itself.

9. A control system for an unmanned vehicle, characterized in that: A combination of multiple optical markers are set up on both sides of the unmanned vehicle road and along the extension direction of the road, including: An acquisition module is used to capture a current frame image containing a combination of optical markers in front of the unmanned vehicle at a preset time interval using an optical positioning camera disposed on the unmanned vehicle while the unmanned vehicle is moving at a first preset moving speed; The control module is used to obtain the position information of each optical marker in each optical marker combination, calculate the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience based on the position information of each optical marker in the optical marker combination; and determine whether it is necessary to reduce the traveling speed of the unmanned vehicle based on the maximum slope change data of the road ahead and the maximum tilt angle change data that the unmanned vehicle will experience.

10. An unmanned vehicle, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the unmanned vehicle according to any one of claims 1 to 8 is implemented.

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