A control method and device for turning lights of unmanned vehicles and unmanned vehicles

Abstract

The present disclosure provides a control method and device for the turn signal of an unmanned vehicle, and an unmanned vehicle, including: obtaining the road condition information of the road in the direction of travel of the unmanned vehicle and the current driving information of the unmanned vehicle; determining the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information; selecting a trajectory point from the local driving trajectory, and determining the first curvature of the local driving trajectory at the trajectory point according to the trajectory point; and controlling the lighting of the corresponding turn signal according to the turning direction represented by the first curvature. The present disclosure makes it unnecessary for the unmanned vehicle to be bound to the intersection information on the map, and does not need to input the shape information or curvature of the road in the map, so as to more flexibly and efficiently deal with the scene where the unmanned vehicle and the manned vehicle need to turn, overtake or bypass obstacles when working together, thereby ensuring the safety of transportation operations.

Description

Technical Field

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

[0002] At present, the unmanned driving technology in mines has entered a period of rapid development, and more and more unmanned vehicles are entering various mines to realize unmanned transportation operations. With the increase in the scale of unmanned driving, in order to ensure the safety of transportation operations, it is inevitable that manned vehicles will be used as auxiliary decision-making to support the transportation operations of mines, such as command vehicles and sprinkler vehicles. The number of mixed areas of unmanned vehicles and manned vehicles is gradually increasing. How to make unmanned vehicles and manned vehicles work well together to complete mining operations more safely and efficiently has become an important focus of the large-scale application of unmanned vehicles. Summary of the invention

[0003] The disclosed embodiments provide a method and device for controlling a turn signal light of an unmanned vehicle, and an unmanned vehicle, so as to solve the problem of potential safety hazards in the existing coordinated operation of unmanned vehicles and manned vehicles.

[0004] Based on the above problems, in a first aspect, an embodiment of the present disclosure provides a method for controlling a turn signal of an unmanned vehicle, comprising:

[0005] Obtain the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle;

[0006] Determining a local driving trajectory of the unmanned vehicle according to the road condition information and the driving information;

[0007] Selecting a trajectory point from the local driving trajectory, and determining a first curvature of the local driving trajectory at the trajectory point according to the trajectory point;

[0008] The corresponding turn signal lamp is controlled to light up according to the turning direction represented by the first curvature.

[0009] In combination with the first aspect, in a possible implementation manner, controlling the lighting of a corresponding turn signal lamp according to the turning direction represented by the first curvature includes:

[0010] Determine the number of trajectory points among the selected trajectory points at which the first curvature of the local driving trajectory at the trajectory points is greater than a preset turning curvature threshold;

[0011] When the number of the trajectory points reaches a preset counting threshold, the corresponding turn signal is controlled to light up according to the turning direction represented by the first curvature.

[0012] In combination with the first aspect, in a possible implementation manner, the turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction;

[0013] The controlling the corresponding turn signal lamp to light up according to the turn direction represented by the first curvature includes:

[0014] Determine, among the selected trajectory points, a first trajectory point at which an absolute value of a first curvature of the local driving trajectory at the trajectory point is greater than a first trajectory point corresponding to a preset turning curvature threshold;

[0015] Determining, according to a value of a first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point that represent the unmanned vehicle turning in a first direction and a second number of trajectory points that represent the unmanned vehicle turning in a second direction;

[0016] When the first number is greater than the turn count threshold and the first number is greater than the second number, controlling the first direction turn signal of the unmanned vehicle to light up;

[0017] When the second number is greater than the turn count threshold and the second number is greater than the first number, the second direction turn signal of the unmanned vehicle is controlled to light up.

[0018] In combination with the first aspect, in a possible implementation manner, a trajectory point is selected from the local driving trajectory in the following manner:

[0019] Determine the length of the current remaining driving trajectory;

[0020] In the case where the length of the remaining driving trajectory is greater than the preset length, starting from the current trajectory point, a trajectory point is determined from the remaining driving trajectory with the preset length;

[0021] When the length of the remaining driving trajectory is less than or equal to the preset length, a trajectory point is determined from the remaining driving trajectory starting from the current trajectory point.

[0022] In combination with the first aspect, in a possible implementation manner, the road condition information includes at least one of the following: obstacle information on the road in the direction of travel of the unmanned vehicle, curve position information, and first real-time position information and first real-time vehicle speed information of a vehicle ahead;

[0023] The driving information includes: second real-time position information of the unmanned vehicle.

[0024] In combination with the first aspect, in a possible implementation manner, determining the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information includes:

[0025] When the road condition information indicates that there is an obstacle ahead, determining a local driving trajectory of the unmanned vehicle to bypass the obstacle based on the obstacle information and the second real-time position information; and / or,

[0026] When the road condition information indicates that it is necessary to overtake the vehicle ahead, determining a local driving trajectory of the unmanned vehicle for overtaking on the left according to the first real-time position information, the first real-time vehicle speed information and the second real-time position information; and / or

[0027] When the road condition information indicates that there is a curve ahead, a local driving trajectory of the unmanned vehicle on the curve is determined according to the curve position information and the second real-time position information.

[0028] In a second aspect, a control device for a turn signal of an unmanned vehicle is provided, comprising:

[0029] An information acquisition module is used to obtain the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle;

[0030] A driving trajectory planning module, used to determine the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information;

[0031] The turn signal control module is used to select a track point from the local driving track, determine a first curvature of the local driving track at the track point according to the track point; and control the corresponding turn signal to light up according to the steering direction represented by the first curvature.

[0032] In combination with the second aspect, in a possible implementation, the turn signal control module is used to determine the number of trajectory points in the selected trajectory points, where the first curvature of the local driving trajectory at the trajectory points is greater than the preset steering curvature threshold; when the number of trajectory points reaches the preset counting threshold, the corresponding turn signal is controlled to light up according to the steering direction represented by the first curvature.

[0033] In combination with the second aspect, in a possible implementation manner, the turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction;

[0034] The turn signal control module is used to determine, among the selected trajectory points, a first trajectory point at which the absolute value of the first curvature of the local driving trajectory at the trajectory point is greater than the first trajectory point corresponding to a preset turning curvature threshold; determine, according to the value of the first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point representing the unmanned vehicle turning in a first direction and a second number of trajectory points representing the unmanned vehicle turning in a second direction; when the first number is greater than the turning count threshold and the first number is greater than the second number, control the first direction turn signal of the unmanned vehicle to light up; when the second number is greater than the turning count threshold and the second number is greater than the first number, control the second direction turn signal of the unmanned vehicle to light up.

[0035] In a third aspect, an unmanned vehicle is provided, comprising: a control device for a turn signal light of an unmanned vehicle as described in the second aspect or any possible implementation manner of the second aspect.

[0036] The beneficial effects of the embodiments of the present disclosure include:

[0037] The present disclosure provides a control method, device and unmanned vehicle for turning lights of unmanned vehicles, including: obtaining road condition information of the road in the direction of travel of the unmanned vehicle and the current driving information of the unmanned vehicle; determining the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information; selecting a trajectory point from the local driving trajectory, and determining the first curvature of the local driving trajectory according to the trajectory point; and controlling the corresponding turn signal to light up according to the turning direction represented by the first curvature. The control method of the turn signal of the unmanned vehicle provided by the embodiment of the present disclosure obtains the road information of the direction of travel of the unmanned vehicle and the driving information of the unmanned vehicle in real time, performs decision-making planning to obtain the local driving trajectory of the unmanned vehicle, and determines whether the unmanned vehicle needs to turn on the corresponding left turn signal or right turn signal to warn surrounding vehicles according to the actual curve of the driving trajectory. The unmanned vehicle does not need to be bound to the map intersection information, nor does it need to input the shape information or curvature of the road in the map, and can more flexibly, efficiently and timely respond to the scenes such as turning, overtaking or detouring when encountering obstacles when the unmanned vehicle and the manned vehicle work together, thereby ensuring the safety of transportation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 One of the flow charts of the control method of the turn signal of an unmanned vehicle provided in an embodiment of the present disclosure;

[0039] Figure 2 A second flowchart of a method for controlling a turn signal light of an unmanned vehicle provided in an embodiment of the present disclosure;

[0040] Figure 3 Flow chart 3 of the method for controlling the turn signal light of an unmanned vehicle provided in an embodiment of the present disclosure;

[0041] Figure 4A structural diagram of a control device for a turn signal of an unmanned vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] The embodiments of the present disclosure provide a control method and device for a turn signal lamp of an unmanned vehicle and an unmanned vehicle. The preferred embodiments of the present disclosure are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure and are not used to limit the present disclosure. In addition, the embodiments in the present application and the features in the embodiments can be combined with each other if there is no conflict.

[0043] The present disclosure provides a method for controlling a turn signal lamp of an unmanned vehicle. Figure 1 As shown, the following steps are included:

[0044] S101, obtaining road condition information of the road in the direction of travel of the unmanned vehicle and current driving information of the unmanned vehicle;

[0045] S102, determining a local driving trajectory of the unmanned vehicle based on road condition information and driving information;

[0046] S103, selecting a trajectory point from the local driving trajectory, and determining a first curvature of the local driving trajectory at the trajectory point according to the trajectory point;

[0047] S104: Control a corresponding turn signal lamp to light up according to the turning direction represented by the first curvature.

[0048] In the disclosed embodiments, with the rapid development of unmanned driving technology, the mining industry has gradually entered the era of intelligent unmanned operation, and more and more unmanned vehicles have entered various mining areas to realize unmanned transportation operations. In the mining area, unmanned vehicles can transport ore from the mining point to the processing area according to the preset route. These vehicles are equipped with advanced sensors and navigation systems, which can monitor the road conditions and the surrounding environment in real time to ensure the safety and efficiency of the transportation process. For some dangerous areas in the mining area, such as narrow passages and steep slopes, unmanned vehicles can perform transportation tasks in these areas due to their automatic obstacle avoidance and safety monitoring functions, thereby ensuring the safety of personnel. Even if the number of unmanned operations in the mining area gradually increases, it is inevitable that there will be manned vehicles as auxiliary decision-making to support the operation of mine transportation. For example, in the event of sudden unexpected situations in the mining area, such as equipment failure, road collapse, etc., manned vehicles can respond quickly and carry out emergency treatment. When sudden equipment failure occurs in the mining area, the driver can quickly drive the vehicle to the scene to perform emergency repairs or transportation of the faulty equipment to avoid affecting the production progress. For some special operation tasks, such as equipment installation and commissioning in the mining area, manned vehicles are required for precise operation. In some complex transportation scenarios, manned vehicles can cooperate with unmanned vehicles for transportation operations. For example, the production command vehicle can inspect the mining environment, guide the unmanned vehicle to transport, and ensure the smooth progress of the transportation process. So how to achieve the collaborative work of unmanned vehicles and manned vehicles to complete mining operations more safely and efficiently has become an important focus of large-scale application of unmanned vehicles. In the mixed traffic scenario of unmanned vehicles and manned vehicles, when the unmanned vehicle needs to adjust the driving direction to a certain extent when turning, overtaking, or detouring, how to give the corresponding turn signal like a manned vehicle has important collaborative significance in mixed traffic. In addition, during the operation process, the unmanned vehicle can also plan the driving path according to the turn signal decisions of other vehicles around it, so it is equally important to turn on the turn signal in time to ensure the safety of the unmanned vehicle's operation. For example, in some complex intersections, right-angle turn intersections, or roads with large curvatures, unmanned vehicles are required to promptly inform surrounding vehicles of the turning behavior to achieve early warning.

[0049] In the embodiment of the present disclosure, the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle are first obtained. Figure 2As shown, the road condition information may include: obstacle information on the road ahead, and the current driving information of the unmanned vehicle may include: vehicle positioning information, vehicle current state information and vehicle global trajectory information. Based on this information, the unmanned vehicle can perform trajectory processing, obstacle processing, detour decision-making and steering signal processing. For example, the unmanned vehicle can use laser radar or camera to obtain road condition information in real time. Laser radar constructs a three-dimensional model of the surrounding environment by emitting laser beams and receiving reflected light, and can detect the distance, shape and position information of objects around the vehicle in real time. In the mining area, laser radar can quickly detect road condition information such as obstacles, potholes, terrain, etc. on the road. The camera uses optical lenses and image sensors to capture images around the vehicle. It can be installed in different positions of the vehicle, such as the front of the vehicle, the side of the vehicle body, etc., and analyzes the image by shooting images using image processing algorithms. For example, by identifying objects such as lane lines, traffic signs, vehicles and pedestrians, the road condition can be judged. The unmanned vehicle can also be installed with an inertial navigation system or a positioning system to obtain the real-time position information and real-time speed information of the vehicle, so as to determine the precise geographic coordinate information. In the mining area, the inertial navigation system or positioning system can help the unmanned vehicle accurately locate the destination and obtain the global trajectory information of the vehicle. According to the road condition information and driving information, the unmanned vehicle can plan the local driving trajectory. For example, when there are obstacles on the road ahead, the decision to ride or detour is adopted to plan the local driving trajectory. The advanced sensors and navigation systems equipped by the unmanned vehicle can make the unmanned vehicle free from dependence on the platform and map, plan the local driving trajectory, and respond to various complex road conditions more flexibly.

[0050] Furthermore, the local driving trajectory can be depicted as a trajectory line on a two-dimensional plane, and its shape reflects the driving path of the vehicle in the area. A preset number of trajectory points can be selected on the trajectory line, and the first curvature of the local driving trajectory at these trajectory points can be determined based on these trajectory points. During the driving process of the unmanned vehicle, the first curvature can intuitively reflect the turning direction of the vehicle. The larger the first curvature, the larger the turning angle of the vehicle. By analyzing the first curvature, the unmanned vehicle can accurately determine the turning direction. According to the turning direction represented by the first curvature, the corresponding turn signal is controlled to light up. For example, at the bend in the mining area, the first curvature is large, and the turning direction of the vehicle changes significantly. At this time, the unmanned vehicle can automatically control the lighting of the turn signal according to the turning direction reflected by the first curvature, indicating the turning intention of the unmanned vehicle to the surrounding vehicles. When the unmanned vehicle travels a distance and the trajectory line is not curved, the turn signal of the corresponding direction is turned off.

[0051] In the embodiment of the present application, the unmanned vehicle can use advanced sensors and navigation systems to collect road condition information in the direction of travel and its own driving information in real time. Based on these data, a local driving trajectory can be planned. According to the actual curve characteristics of the trajectory, it is judged whether the unmanned vehicle needs to turn left or right. After determining the turning requirement, the corresponding left turn signal or right turn signal will be automatically controlled to turn on, and accurate turning warning signals will be sent to surrounding vehicles in time. No longer relying on the binding of the unmanned vehicle to the intersection information, road shape information or curvature information in the map, the steering warning is controlled only according to the vehicle's own driving trajectory, which can enhance the adaptability to road conditions, help improve the collaborative working environment of mixed vehicles, and ensure driving safety and smooth traffic.

[0052] In another embodiment of the present disclosure, in the above step S104, controlling the corresponding turn signal to light up according to the turn direction represented by the first curvature includes the following steps:

[0053] Step 1: determining the number of trajectory points among the selected trajectory points at which the first curvature of the local driving trajectory at the trajectory point is greater than the preset turning curvature threshold;

[0054] Step 2: When the number of trajectory points reaches a preset counting threshold, the corresponding turn signal is controlled to light up according to the turning direction represented by the first curvature.

[0055] In the disclosed embodiment, trajectory points are selected from the local driving trajectory, and the relationship between the first curvature of the local driving trajectory at these trajectory points and the preset turning curvature threshold and the relationship between the corresponding number of trajectory points and the preset counting threshold is used to determine whether the unmanned vehicle turns on the corresponding turn signal. In the production and operation environment of the mining area, the operation status of the unmanned vehicle is greatly affected by the complex terrain and frequent operation activities. In order to ensure the precise control of the turn signal of the unmanned vehicle, it is first necessary to preset the turning curvature threshold and the counting threshold based on the actual production and operation environment characteristics of the mining area and a large number of simulation experiment results. For the above step 1, the turning curvature threshold can indicate that the vehicle has a tendency to turn when the curvature of the driving trajectory of the unmanned vehicle reaches a certain value. Among the selected trajectory points, the number of trajectory points whose first curvature of the local driving trajectory at the trajectory point is greater than the preset turning curvature threshold is determined. For example, when the unmanned vehicle passes through a narrow bend in the mining area, it is determined that the number of trajectory points corresponding to the first curvature greater than the preset turning curvature threshold of 0.05 is 10. For the above step 2, the counting threshold can be the number standard of trajectory points corresponding to the first curvature of the local driving trajectory at the trajectory point greater than the preset turning curvature threshold within a certain time or distance range. When the number of trajectory points reaches the preset counting threshold, it indicates that the unmanned vehicle is turning and needs to turn on the corresponding turn signal. For example, if the local driving trajectory of the unmanned vehicle shows that its left turn feature meets the above conditions, the unmanned vehicle will turn on the left turn signal to clearly convey the turning intention to the surrounding manned vehicles, unmanned vehicles and staff, so as to ensure the safety of operations and orderly traffic in the mining area. Through the method based on precise thresholds and trajectory point analysis, the unmanned vehicle can turn on the turn signal in a timely and accurate manner in the complex environment of the mining area, effectively remind surrounding vehicles, avoid potential collision risks, and improve the overall production efficiency.

[0056] In another embodiment of the present disclosure, the turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction;

[0057] In the above step S104, controlling the corresponding turn signal lamp to light up according to the turn direction represented by the first curvature includes:

[0058] Step 1: Determine, among the selected trajectory points, a first trajectory point at which the absolute value of the first curvature of the local driving trajectory at the trajectory point is greater than the first trajectory point corresponding to the preset turning curvature threshold;

[0059] Step 2: determining, according to a value of a first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point that represent the unmanned vehicle turning in a first direction and a second number of trajectory points that represent the unmanned vehicle turning in a second direction;

[0060] Step 3: When the first number is greater than the turn count threshold and the first number is greater than the second number, the first direction turn signal of the unmanned vehicle is controlled to light up;

[0061] Step 4: When the second number is greater than the turn count threshold and the second number is greater than the first number, control the second direction turn signal of the unmanned vehicle to light up.

[0062] In the disclosed embodiment, the positive and negative values ​​of the first curvature are used to distinguish the left turn and right turn of the unmanned vehicle, and the corresponding turn signal is controlled to light up. The turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction is represented as the first direction; when the value of the first curvature is negative, the turning direction is represented as the second direction. Exemplarily, a positive value of the first curvature represents that the unmanned vehicle has a tendency to turn left, and a negative value of the first curvature represents that the unmanned vehicle has a tendency to turn right.

[0063] For the above step 1, a trajectory point is selected in the local driving trajectory, and whether the absolute value of the first curvature of the local driving trajectory at these trajectory points is greater than the preset turning curvature threshold is determined to determine whether a turning warning operation is required. Determine the trajectory point corresponding to the absolute value of the first curvature of the local driving trajectory at these trajectory points that is greater than the preset turning curvature threshold as the first trajectory point. For the above step 2, exemplarily, since the absolute value of the first curvature value may be the same for left turn and right turn, in order to distinguish these two directions, the turning trend of the unmanned vehicle can be determined according to the sign of the first curvature being positive on the left and negative on the right. For example, the preset turning curvature threshold is 0.05, then when the unmanned vehicle has a left turning trend, the first curvature value is greater than 0.05, and when the unmanned vehicle has a right turning trend, the first curvature value is less than -0.05. Determine the first number of trajectory points in the first trajectory point that characterize the unmanned vehicle turning in the first direction and the second number of trajectory points that characterize the unmanned vehicle turning in the second direction.

[0064] For the above step 3, exemplarily, in the local driving trajectory of the unmanned vehicle, the absolute value of the first curvature at a sufficient number of trajectory points is greater than the preset turning curvature threshold, and the number of trajectory points representing left turns is much greater than the number of trajectory points representing right turns, then the condition for turning on the left turn signal is met, and the left turn signal can be output at the current position following the trajectory to control the left turn signal to light up. For the above step 4, exemplarily, in the local driving trajectory of the unmanned vehicle, the absolute value of the first curvature at a sufficient number of trajectory points is greater than the preset turning curvature threshold, and the number of trajectory points representing right turns is much greater than the number of trajectory points representing left turns, then the condition for turning on the right turn signal is met, and the right turn signal can be output at the current position following the trajectory to control the right turn signal to light up. According to the actual curve feature analysis of the local driving trajectory, it is further determined whether the unmanned vehicle needs to turn left or right, and an accurate steering warning signal can be sent to surrounding vehicles in a timely manner.

[0065] In another embodiment of the present disclosure, the trajectory points are selected from the local driving trajectory in the following manner:

[0066] Step 1: Determine the length of the current remaining driving trajectory;

[0067] Step 2: when the length of the remaining driving track is greater than the preset length, starting from the current track point, determine a track point from the remaining driving track with the preset length;

[0068] Step 3: When the length of the remaining driving trajectory is less than or equal to the preset length, a trajectory point is determined from the remaining driving trajectory starting from the current trajectory point.

[0069] In the embodiment of the present disclosure, in order to improve the decision efficiency of turning on the turn signal, the length of the driving trajectory of the selected trajectory point is constrained. For the above step 1, the unmanned vehicle can use the inertial navigation system or the positioning system to determine the length of the remaining driving trajectory in the current local driving trajectory. Figure 3 As shown, for the above step 2, when the length of the remaining driving track is greater than the preset length, the track point is determined from the preset length of the remaining driving track according to the current position of the unmanned vehicle, thereby shortening the length of the driving track from which the track point is extracted and improving the efficiency of the decision to turn on the turn signal. For the above step 3, when the length of the remaining driving track is less than or equal to the preset length, the track point is determined from the remaining driving track according to the current position of the unmanned vehicle. By comparing the length of the remaining driving track with the preset length to determine the driving track of the selected track point, the amount of calculation can be reduced and the efficiency can be improved. In addition, the length of the selected track point is relatively fixed, which is conducive to improving the calculation accuracy of the first curvature.

[0070] Figure 3The present invention provides a flow chart of the embodiment of the track point determination and whether the turn signal lamp is turned on. Figure 3 As shown, including:

[0071] S301, determining whether the length of the remaining driving track is greater than a preset length, if so, proceeding to step S302, otherwise, proceeding to step S303;

[0072] S302, determining a track point from a preset length of the remaining track; proceeding to step S304;

[0073] S303, determining a track point from the remaining driving track;

[0074] S304, determining, among the selected trajectory points, that an absolute value of a first curvature of the local driving trajectory at the trajectory point is greater than a first trajectory point corresponding to a preset turning curvature threshold;

[0075] S305, determining a first number of trajectory points in the first trajectory points that represent the unmanned vehicle turning in the first direction and a second number of trajectory points that represent the unmanned vehicle turning in the second direction;

[0076] S306, determining whether the turn signal on condition is met, if so, proceeding to step S307, otherwise, proceeding to step S308;

[0077] Among them, the lighting condition of the first direction turn signal lamp is: the first number is greater than the turn count threshold, and the first number is greater than the second number; the lighting condition of the second direction turn signal lamp is: the second number is greater than the turn count threshold, and the second number is greater than the first number;

[0078] S307, turn on the turn signal of the corresponding direction; this process ends.

[0079] S308: Do not turn on the turn signal; this process ends.

[0080] In another embodiment of the present disclosure, the road condition information includes at least one of the following: obstacle information on the road in the direction of travel of the unmanned vehicle, curve position information, and first real-time position information and first real-time vehicle speed information of the vehicle ahead;

[0081] Driving information includes: the second real-time position information of the unmanned vehicle.

[0082] In the disclosed embodiment, in order to determine the local driving trajectory of the unmanned vehicle, the specific content of the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle are specified. The road condition information includes at least one of the following: obstacle information, curve position information, and first real-time position information and first real-time speed information of the vehicle in front on the road in the direction of the unmanned vehicle; the driving information includes: the second real-time position information of the unmanned vehicle. The unmanned vehicle can use sensors or navigation systems to obtain the above information, and making full use of the above information is conducive to planning the local driving trajectory of the unmanned vehicle, and performing a series of actions to change the driving direction such as turning, overtaking, and detouring to ensure driving safety.

[0083] In another embodiment of the present disclosure, in the above step S102, determining the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information includes:

[0084] Step 1: when the road condition information indicates that there is an obstacle ahead, determine the local driving trajectory of the unmanned vehicle to bypass the obstacle based on the obstacle information and the second real-time position information; and / or,

[0085] Step 2: when the road condition information indicates that the vehicle ahead needs to be overtaken, determine the local driving trajectory of the unmanned vehicle for overtaking on the left according to the first real-time position information, the first real-time vehicle speed information, and the second real-time position information; and / or,

[0086] Step 3: When the road condition information indicates that there is a curve ahead, determine the local driving trajectory of the unmanned vehicle on the curve based on the curve position information and the second real-time position information.

[0087] In the disclosed embodiment, in order to ensure the driving safety and transportation efficiency of the unmanned vehicle, the local driving trajectory of the unmanned vehicle can be planned according to the road condition information and driving information. For the above step 1, when the unmanned vehicle obtains the existence of obstacles on the road in the direction of travel, according to the shape, size, position and other information of the obstacles and the real-time position information of the unmanned vehicle itself, it can decide to bypass the local driving trajectory of the obstacle or ride across the local driving trajectory of the obstacle. For the above step 2, exemplarily, when the vehicle in front of the unmanned vehicle stops or slows down due to a fault or other reasons, in order to ensure its own transportation efficiency, according to the real-time speed and real-time position information of the vehicle in front combined with its own real-time position information, a local driving trajectory for overtaking on the left can be planned. For the above step 3, exemplarily, combined with the global trajectory information or the positioning system of the unmanned vehicle, the curve position information of the road in the direction of travel can be obtained, and according to the curve position information and the position information of the unmanned vehicle itself, the local driving trajectory of the unmanned vehicle driving on the curve can be planned. By planning the local driving trajectory, unnecessary stops and speed reductions can be reduced, while driving safety can be enhanced, adapting to complex environments and achieving precise control of vehicle driving. It gets rid of the dependence on maps and cloud platforms, is flexible and efficient, and is conducive to improving transportation efficiency.

[0088] Based on the same disclosed concept, the disclosed embodiments also provide a control device for an unmanned vehicle turn signal light and an unmanned vehicle. Since the principles of the problems solved by these devices and the unmanned vehicle are similar to the aforementioned control method for the unmanned vehicle turn signal light, the implementation of the device and the unmanned vehicle can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated.

[0089] The present disclosure provides a control device for a turn signal light of an unmanned vehicle, such as Figure 4 As shown, including:

[0090] The information acquisition module 401 is used to obtain the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle;

[0091] The driving trajectory planning module 402 is used to determine the local driving trajectory of the unmanned vehicle according to the road condition information and driving information;

[0092] The turn signal control module 403 is used to select a track point from the local driving track, determine the first curvature of the local driving track at the track point according to the track point; and control the corresponding turn signal to light up according to the turning direction represented by the first curvature.

[0093] In another embodiment of the present disclosure, the turn signal control module 403 is used to determine that among the selected trajectory points, the first curvature of the local driving trajectory at the trajectory point is greater than the number of trajectory points corresponding to a preset steering curvature threshold; when the number of trajectory points reaches a preset counting threshold, the corresponding turn signal is controlled to light up according to the steering direction represented by the first curvature.

[0094] In another embodiment of the present disclosure, the turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction;

[0095] The turn signal control module 403 is used to determine, among the selected trajectory points, a first trajectory point at which the absolute value of the first curvature of the local driving trajectory at the trajectory point is greater than the first trajectory point corresponding to a preset turning curvature threshold; determine, according to the value of the first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point representing the unmanned vehicle turning in a first direction and a second number of trajectory points representing the unmanned vehicle turning in a second direction; when the first number is greater than the turning count threshold and the first number is greater than the second number, control the first direction turn signal of the unmanned vehicle to light up; when the second number is greater than the turning count threshold and the second number is greater than the first number, control the second direction turn signal of the unmanned vehicle to light up.

[0096] In another embodiment of the present disclosure, the turn signal control module 403 is used to select a track point from the local driving track in the following manner:

[0097] Determine the length of the current remaining driving trajectory;

[0098] In the case where the length of the remaining driving trajectory is greater than the preset length, starting from the current trajectory point, a trajectory point is determined from the remaining driving trajectory with the preset length;

[0099] When the length of the remaining driving trajectory is less than or equal to the preset length, a trajectory point is determined from the remaining driving trajectory starting from the current trajectory point.

[0100] In another embodiment of the present disclosure, the road condition information includes at least one of the following: obstacle information on the road in the direction of travel of the unmanned vehicle, curve position information, and first real-time position information and first real-time vehicle speed information of the vehicle ahead;

[0101] The driving information includes: second real-time position information of the unmanned vehicle.

[0102] In another embodiment of the present disclosure, the driving trajectory planning module 402 is used to determine a local driving trajectory of the unmanned vehicle to bypass the obstacle according to the obstacle information and the second real-time position information when the road condition information indicates that there is an obstacle ahead; and / or

[0103] When the road condition information indicates that it is necessary to overtake the vehicle ahead, determining a local driving trajectory of the unmanned vehicle for overtaking on the left according to the first real-time position information, the first real-time vehicle speed information and the second real-time position information; and / or

[0104] When the road condition information indicates that there is a curve ahead, a local driving trajectory of the unmanned vehicle on the curve is determined according to the curve position information and the second real-time position information.

[0105] An embodiment of the present disclosure provides an unmanned vehicle, comprising: a control device for a turn signal light of an unmanned vehicle as described in any of the above embodiments.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0107] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0108] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the present embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0109] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0110] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for controlling a turn signal of an unmanned vehicle, characterized in that: include: Obtain the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle; Determining a local driving trajectory of the unmanned vehicle according to the road condition information and the driving information; Selecting a trajectory point from the local driving trajectory, and determining a first curvature of the local driving trajectory at the trajectory point according to the trajectory point; The corresponding turn signal lamp is controlled to light up according to the turning direction represented by the first curvature.

2. The method according to claim 1, characterized in that The controlling the corresponding turn signal lamp to light up according to the turn direction represented by the first curvature includes: Determine the number of trajectory points among the selected trajectory points at which the first curvature of the local driving trajectory at the trajectory points is greater than a preset turning curvature threshold; When the number of the trajectory points reaches a preset counting threshold, the corresponding turn signal is controlled to light up according to the turning direction represented by the first curvature.

3. The method according to claim 1 or 2, characterized in that The turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction; The controlling the corresponding turn signal lamp to light up according to the turn direction represented by the first curvature includes: Determine, among the selected trajectory points, a first trajectory point at which an absolute value of a first curvature of the local driving trajectory at the trajectory point is greater than a first trajectory point corresponding to a preset turning curvature threshold; Determining, according to a value of a first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point that represent the unmanned vehicle turning in a first direction and a second number of trajectory points that represent the unmanned vehicle turning in a second direction; When the first number is greater than the turn count threshold and the first number is greater than the second number, controlling the first direction turn signal of the unmanned vehicle to light up; When the second number is greater than the turn count threshold and the second number is greater than the first number, the second direction turn signal of the unmanned vehicle is controlled to light up.

4. The method according to claim 1 or 2, characterized in that: The trajectory points are selected from the local driving trajectory in the following manner: Determine the length of the current remaining driving trajectory; In the case where the length of the remaining driving trajectory is greater than the preset length, starting from the current trajectory point, a trajectory point is determined from the remaining driving trajectory with the preset length; When the length of the remaining driving trajectory is less than or equal to the preset length, a trajectory point is determined from the remaining driving trajectory starting from the current trajectory point.

5. The method according to claim 1, characterized in that The road condition information includes at least one of the following: obstacle information on the road in the direction of the unmanned vehicle, curve position information, and first real-time position information and first real-time vehicle speed information of the vehicle ahead; The driving information includes: second real-time position information of the unmanned vehicle.

6. The method according to claim 5, characterized in that The determining of the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information includes: When the road condition information indicates that there is an obstacle ahead, determining a local driving trajectory of the unmanned vehicle to bypass the obstacle based on the obstacle information and the second real-time position information; and / or, When the road condition information indicates that it is necessary to overtake the vehicle ahead, determining a local driving trajectory of the unmanned vehicle for overtaking on the left according to the first real-time position information, the first real-time vehicle speed information and the second real-time position information; and / or When the road condition information indicates that there is a curve ahead, a local driving trajectory of the unmanned vehicle on the curve is determined according to the curve position information and the second real-time position information.

7. A control device for a turn signal of an unmanned vehicle, characterized in that: include: An information acquisition module is used to obtain the road condition information of the road in the direction of the unmanned vehicle and the current driving information of the unmanned vehicle; A driving trajectory planning module, used to determine the local driving trajectory of the unmanned vehicle according to the road condition information and the driving information; The turn signal control module is used to select a track point from the local driving track, determine a first curvature of the local driving track at the track point according to the track point; and control the corresponding turn signal to light up according to the steering direction represented by the first curvature.

8. The device according to claim 7, characterized in that The turn signal control module is used to determine the number of trajectory points corresponding to the first curvature of the local driving trajectory at the selected trajectory points being greater than a preset turning curvature threshold; when the number of trajectory points reaches a preset counting threshold, the corresponding turn signal is controlled to light up according to the turning direction represented by the first curvature.

9. The device according to claim 7 or 8, characterized in that The turning direction represented by the first curvature includes a first direction and a second direction; when the value of the first curvature is positive, the turning direction represented is the first direction; when the value of the first curvature is negative, the turning direction represented is the second direction; The turn signal control module is used to determine, among the selected trajectory points, a first trajectory point at which the absolute value of the first curvature of the local driving trajectory at the trajectory point is greater than the first trajectory point corresponding to a preset turning curvature threshold; determine, according to the value of the first curvature of the local driving trajectory at the first trajectory point, a first number of trajectory points in the first trajectory point representing the unmanned vehicle turning in a first direction and a second number of trajectory points representing the unmanned vehicle turning in a second direction; when the first number is greater than the turning count threshold and the first number is greater than the second number, control the first direction turn signal of the unmanned vehicle to light up; when the second number is greater than the turning count threshold and the second number is greater than the first number, control the second direction turn signal of the unmanned vehicle to light up.

10. An unmanned vehicle, characterized in that: It comprises a control device for a turn signal light of an unmanned vehicle as described in any one of claims 7 to 9.

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