Side cleaning safety protection method, device and equipment and readable storage medium

Abstract

The invention provides a side sweeping safety protection method, device and equipment and a readable storage medium, and the method comprises the steps: in the side sweeping process of a vehicle, obtaining a state parameter of the vehicle according to the structure parameter of the vehicle and the state parameter of the vehicle at the starting moment of a current prediction period; calculating the time difference between the previous moment when the vehicle collides with the road edge and the starting moment of the current prediction period, and taking the time difference as the available operation duration of the current prediction period; and according to a size relationship between the available operation duration of the current prediction period and a preset threshold value, determining a safety measure needing to be executed in the current prediction period. According to the invention, effective safety protection is provided for the side cleaning of the unmanned sanitation vehicle, so that the risk of collision between the unmanned sanitation vehicle and the road edge is reduced, the service life of the cleaning and sweeping disc equipment is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular to a side cleaning safety protection method, device, equipment and readable storage medium. Background Art

[0002] With the acceleration of urbanization, the demand for urban cleaning and maintenance is increasing. Traditional manually operated sanitation vehicles are not only limited in efficiency, but also have certain safety risks. The application of unmanned sanitation vehicles has gradually become a trend. At present, there are two main methods for unmanned sanitation vehicles to achieve side cleaning. One is to identify the curb through the on-board sensor, and then plan the path for the vehicle to wash and sweep along the curb, and finally control the vehicle to follow the planned path. The second is to record the required operation path before the side cleaning operation, and then control the vehicle to drive along the operation path during the side cleaning operation. However, no matter which method is used to achieve side cleaning of unmanned sanitation vehicles, there is a lack of effective safety protection. When the positioning information or curb identification is inaccurate, the unmanned sanitation vehicle is prone to collide with the curb, resulting in damage to the washing and sweeping equipment and increased maintenance costs. Summary of the invention

[0003] The present application provides a side cleaning safety protection method, device, equipment and readable storage medium, which can solve the technical problem in the prior art that unmanned sanitation vehicles lack effective safety protection when cleaning sideways.

[0004] In a first aspect, an embodiment of the present application provides a side cleaning safety protection method, the side cleaning safety protection method comprising:

[0005] When the ego vehicle is cleaning the curb, the time difference between the time before the ego vehicle collides with the curb and the time when the current prediction cycle starts is calculated based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle, and is used as the available operation time of the current prediction cycle.

[0006] The security measures that need to be executed in the current prediction period are determined based on the relationship between the available operation time of the current prediction period and the preset threshold.

[0007] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0008] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0009] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0010] If the new first distance and the second distance are both greater than zero, continue to update the first distance and the second distance, otherwise stop updating the first distance and the second distance, and output the available operation time of the current prediction period, wherein the ratio of the available operation time of the current prediction period to the time step is equal to the number of updates minus one.

[0011] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0012] Assign the initial time count value to zero;

[0013] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0014] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0015] If the new first distance and the new second distance are both greater than zero, the sum of the current time count value and the time step is used as the new time count value; otherwise, the current time count value is used as the available operation time of the current prediction period;

[0016] If the new time count value is less than the preset duration, the first distance and the second distance continue to be updated; otherwise, the preset duration is used as the available operation duration of the current prediction period.

[0017] Further, in one embodiment, the step of calculating the new first distance and the second distance according to the current first distance and the second distance, as well as the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the length of the vehicle body, the distance between the front end of the vehicle and the center of the rear axle, the distance between the rear end of the vehicle and the center of the rear axle, and the time step includes:

[0018] The new first distance and second distance are calculated according to the preset formula, and the preset formula is:

[0019]

[0020] in, are the first distance and the second distance updated for the Nth time, respectively, f is the distance between the front end of the vehicle and the center of the rear axle, l r is the distance between the rear end of the vehicle and the center of the rear axle, l is the length of the vehicle, v is the target velocity, a is the target acceleration, w is the target angular velocity, w_rate is the target angular acceleration, and Δt is the time step.

[0021] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0022] Based on the vehicle structure parameters and the vehicle state parameters obtained at the start of the current prediction cycle, it is predicted whether the vehicle will collide with the curb within a subsequent preset time period;

[0023] If a collision is predicted, the time difference between the moment before the collision and the start time of the current prediction period is used as the available operation time of the current prediction period;

[0024] If no collision is predicted, the preset duration is used as the available operation duration for the current prediction cycle.

[0025] Furthermore, in one embodiment, the step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold value includes:

[0026] If the available operation time of the current prediction cycle is less than or equal to the first preset threshold, the safety measures that need to be executed in the current prediction cycle include controlling the vehicle to perform emergency braking.

[0027] Furthermore, in one embodiment, the step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold value further includes:

[0028] If the available operation time of the current prediction period is less than or equal to the second preset threshold, the safety measures to be performed in the current prediction period include uploading collision warning information to the supervision platform, wherein the second preset threshold is greater than the first preset threshold;

[0029] If the available operation duration of the current prediction period is greater than the second preset threshold, no security measures need to be performed in the current prediction period.

[0030] In a second aspect, an embodiment of the present application further provides a side cleaning safety protection device, the side cleaning safety protection device comprising:

[0031] A prediction module is used to calculate the time difference between the moment before the ego vehicle collides with the curb and the start time of the current prediction cycle according to the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle during the process of the ego vehicle pulling over to clean the curb, as the available operation time of the current prediction cycle;

[0032] The decision module is used to determine the security measures that need to be executed in the current prediction period based on the relationship between the available operation time of the current prediction period and the preset threshold.

[0033] In a third aspect, an embodiment of the present application further provides a side cleaning safety protection device, which includes a processor, a memory, and a side cleaning safety protection program stored in the memory and executable by the processor, wherein when the side cleaning safety protection program is executed by the processor, the steps of the above-mentioned side cleaning safety protection method are implemented.

[0034] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, on which a side cleaning safety protection program is stored, wherein when the side cleaning safety protection program is executed by a processor, the steps of the above-mentioned side cleaning safety protection method are implemented.

[0035] In this application, during the process of the self-vehicle pulling over to clean the roadside, the time difference between the moment before the self-vehicle collided with the roadside and the start moment of the current prediction cycle is calculated based on the self-vehicle structural parameters and the self-vehicle state parameters obtained at the start moment of the current prediction cycle, which is used as the available operation time of the current prediction cycle; the safety measures that need to be executed in the current prediction cycle are determined based on the relationship between the available operation time of the current prediction cycle and the preset threshold. Through this application, effective safety protection is provided for unmanned sanitation vehicles to clean the roadside, thereby reducing the risk of unmanned sanitation vehicles colliding with the roadside, increasing the service life of the washing and sweeping disc equipment, and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1This is a flow chart of a side cleaning safety protection method in one embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of a flow chart for calculating the available operation time in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the vehicle state in one embodiment of the present application;

[0039] Figure 4 A schematic diagram of a process for determining safety measures in an embodiment of the present application;

[0040] Figure 5 This is a schematic diagram of the functional modules of the side cleaning safety protection device in one embodiment of the present application;

[0041] Figure 6 This is a schematic diagram of the hardware structure of the side cleaning safety protection device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0044] In a first aspect, an embodiment of the present application provides a side cleaning safety protection method.

[0045] Figure 1 A schematic flow chart of a side cleaning safety protection method in one embodiment of the present application is shown.

[0046] Reference Figure 1 In one embodiment, the side cleaning safety protection method includes the following steps:

[0047] S1. During the cleaning process of the vehicle pulling over, the time difference between the last moment when the vehicle collides with the curb and the start moment of the current prediction cycle is calculated based on the vehicle structure parameters and the vehicle state parameters obtained at the start moment of the current prediction cycle, and is used as the available operation time of the current prediction cycle.

[0048] Specifically, the ego vehicle structural parameters are fixed and preset in the algorithm. The ego vehicle state parameters are provided by sensors installed on the vehicle and need to be updated at the beginning of each prediction cycle. The sensor acquisition cycle is less than or equal to the prediction cycle to ensure that different ego vehicle state parameters are used in each prediction cycle.

[0049] It can be understood that in order to predict the moment when the ego vehicle collides with the curb, the ego vehicle state parameters need to include the ego vehicle motion state parameters, such as the ego vehicle longitudinal velocity, the ego vehicle longitudinal acceleration, the ego vehicle yaw angular velocity, and the ego vehicle yaw angular acceleration. They also need to include the ego vehicle position state parameters relative to the curb, such as the distance between the front end of the ego vehicle and the curb, and the distance between the rear end of the ego vehicle and the curb.

[0050] S2. Determine the security measures that need to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold.

[0051] In this embodiment, the available operation time before the vehicle collides with the curb is predicted in each prediction period, and the safety measures that need to be performed in the corresponding prediction period are determined based on the available operation time. When the available operation time is long enough, there is no need to adopt any safety measures. When the available operation time is short, effective safety measures need to be taken to reduce the risk of collision between the vehicle and the curb.

[0052] Therefore, in this embodiment, when the self-vehicle is cleaning the curb, the time difference between the moment before the self-vehicle collides with the curb and the start moment of the current prediction cycle is calculated based on the self-vehicle structural parameters and the self-vehicle state parameters obtained at the start moment of the current prediction cycle as the available operation time of the current prediction cycle; the safety measures that need to be executed in the current prediction cycle are determined based on the relationship between the available operation time of the current prediction cycle and the preset threshold. Through this embodiment, effective safety protection is provided for the unmanned sanitation vehicle to clean the curb, thereby reducing the risk of collision between the unmanned sanitation vehicle and the curb, increasing the service life of the washing and sweeping disc equipment, and reducing maintenance costs.

[0053] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0054] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0055] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0056] If the new first distance and the second distance are both greater than zero, continue to update the first distance and the second distance, otherwise stop updating the first distance and the second distance, and output the available operation time of the current prediction period, wherein the ratio of the available operation time of the current prediction period to the time step is equal to the number of updates minus one.

[0057] In this embodiment, it is assumed that the vehicle moves with the longitudinal velocity, longitudinal acceleration, yaw angular velocity, and yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle, and the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb are iteratively updated according to the time step, until any one of the two is less than or equal to zero, indicating that the vehicle collides with the curb, and the time of the collision is the time step times the update number, and the time before the collision is subtracted from the time step times. Through this embodiment, the time when the vehicle collides with the curb can be accurately predicted, thereby improving the reliability of the available operation time.

[0058] Figure 2 A schematic diagram of a process for calculating available operation time in an embodiment of the present application is shown.

[0059] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0060] Assign the initial time count value to zero;

[0061] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0062] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0063] If the new first distance and the new second distance are both greater than zero, the sum of the current time count value and the time step is used as the new time count value; otherwise, the current time count value is used as the available operation time of the current prediction period;

[0064] If the new time count value is less than the preset duration, the first distance and the second distance continue to be updated; otherwise, the preset duration is used as the available operation duration of the current prediction period.

[0065] Reference Figure 2 The difference between this embodiment and the previous embodiment is that a time count value is introduced and continuously accumulated during the iteration process. In addition to the new first distance and the second distance being greater than zero, the condition for continuing the iteration also includes that the new time count value is less than the preset duration. When the new time count value is greater than or equal to the preset duration, the iteration will also end. This is because when the time difference between the collision moment and the start moment is greater than or equal to the preset duration, it means that the collision risk in the current motion state is low enough, and no safety measures need to be performed in the current prediction cycle. Ending the iteration early can reduce unnecessary calculations.

[0066] Figure 3 A schematic diagram showing the state of the vehicle in an embodiment of the present application is shown.

[0067] Further, in one embodiment, the step of calculating the new first distance and the second distance according to the current first distance and the second distance, as well as the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the length of the vehicle body, the distance between the front end of the vehicle and the center of the rear axle, the distance between the rear end of the vehicle and the center of the rear axle, and the time step includes:

[0068] The new first distance and second distance are calculated according to the preset formula, and the preset formula is:

[0069]

[0070] in, are the first distance and the second distance updated for the Nth time, respectively, f is the distance between the front end of the vehicle and the center of the rear axle, l r is the distance between the rear end of the vehicle and the center of the rear axle, l is the length of the vehicle, v is the target velocity, a is the target acceleration, w is the target angular velocity, w_rate is the target angular acceleration, and Δt is the time step.

[0071] It should be noted that the signs of w and w_rate in the preset formula need to be determined comprehensively according to the directions of w and w_rate and the position relationship between the vehicle and the curb. Figure 3, when the curb is on the right side of the vehicle, the sign corresponding to the counterclockwise direction is positive, and the sign corresponding to the clockwise direction is negative. Conversely, when the curb is on the left side of the vehicle, the sign corresponding to the clockwise direction is positive, and the sign corresponding to the counterclockwise direction is negative.

[0072] Further, in one embodiment, the step of calculating the time difference between the moment before the collision between the ego vehicle and the curb and the start time of the current prediction cycle based on the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes:

[0073] Based on the vehicle structure parameters and the vehicle state parameters obtained at the start of the current prediction cycle, it is predicted whether the vehicle will collide with the curb within a subsequent preset time period;

[0074] If a collision is predicted, the time difference between the moment before the collision and the start time of the current prediction period is used as the available operation time of the current prediction period;

[0075] If no collision is predicted, the preset duration is used as the available operation duration for the current prediction cycle.

[0076] In this embodiment, similar Figure 2 The embodiment shown, but the implementation method may be different, limits the collision prediction to a preset time length, which helps to reduce the amount of calculation.

[0077] Furthermore, in one embodiment, the step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold value includes:

[0078] If the available operation time of the current prediction cycle is less than or equal to the first preset threshold, the safety measures that need to be executed in the current prediction cycle include controlling the vehicle to perform emergency braking.

[0079] It is understandable that controlling the vehicle to perform emergency braking is the most effective measure to avoid collision, but frequent triggering will reduce the efficiency of side cleaning, so the first preset threshold needs to be set reasonably.

[0080] Figure 4 A schematic diagram of a process for determining safety measures in an embodiment of the present application is shown.

[0081] Furthermore, in one embodiment, the step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold value further includes:

[0082] If the available operation time of the current prediction period is less than or equal to the second preset threshold, the safety measures to be performed in the current prediction period include uploading collision warning information to the supervision platform, wherein the second preset threshold is greater than the first preset threshold;

[0083] If the available operation duration of the current prediction period is greater than the second preset threshold, no safety measures need to be performed in the current prediction period.

[0084] Reference Figure 4 In this embodiment, multi-level safety measures are set for the available operation time. When the available operation time is less than or equal to the second preset threshold and greater than the first preset threshold, the safety measures only include uploading the collision warning information to the supervision platform. When the available operation time is less than the first preset threshold, the safety measures include uploading the collision warning information to the supervision platform and controlling the vehicle to perform emergency braking.

[0085] On the one hand, if the supervision platform issues instructions to the corresponding unmanned sanitation vehicle in a timely manner, for example, adjusting the target path for side cleaning, it can reduce the possibility that the available operation time is less than the first preset threshold in the subsequent prediction cycle, thereby reducing the triggering frequency of emergency braking and ensuring the efficiency of side cleaning. On the other hand, collision warning information can be used as an indicator for the supervision platform to evaluate the operation of unmanned sanitation vehicles.

[0086] It should be noted that the second preset threshold in this embodiment is smaller than the aforementioned preset time length, so that when the available operation time length is equal to the preset time length, no security measures need to be implemented.

[0087] In a second aspect, the embodiments of the present application also provide a safety protection device for cleaning sideways.

[0088] Figure 5 A schematic diagram of the functional modules of a side cleaning safety protection device in one embodiment of the present application is shown.

[0089] Reference Figure 5 In one embodiment, the side cleaning safety protection device includes:

[0090] The prediction module 10 is used to calculate the time difference between the moment before the collision between the vehicle and the curb and the start time of the current prediction cycle according to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction cycle during the process of the vehicle pulling over to clean the curb, as the available operation time of the current prediction cycle;

[0091] The decision module 20 is used to determine the security measures that need to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and a preset threshold.

[0092] Furthermore, in one embodiment, the prediction module 10 is used to:

[0093] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0094] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0095] If the new first distance and the second distance are both greater than zero, continue to update the first distance and the second distance, otherwise stop updating the first distance and the second distance, and output the available operation time of the current prediction period, wherein the ratio of the available operation time of the current prediction period to the time step is equal to the number of updates minus one.

[0096] Furthermore, in one embodiment, the prediction module 10 is used to:

[0097] Assign the initial time count value to zero;

[0098] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle;

[0099] Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step;

[0100] If the new first distance and the new second distance are both greater than zero, the sum of the current time count value and the time step is used as the new time count value; otherwise, the current time count value is used as the available operation time of the current prediction period;

[0101] If the new time count value is less than the preset duration, the first distance and the second distance continue to be updated; otherwise, the preset duration is used as the available operation duration of the current prediction period.

[0102] Furthermore, in one embodiment, the prediction module 10 is used to:

[0103] The new first distance and second distance are calculated according to the preset formula, and the preset formula is:

[0104]

[0105] in, are the first distance and the second distance updated for the Nth time, respectively, f is the distance between the front end of the vehicle and the center of the rear axle, l r is the distance between the rear end of the vehicle and the center of the rear axle, l is the length of the vehicle, v is the target velocity, a is the target acceleration, w is the target angular velocity, w_rate is the target angular acceleration, and Δt is the time step.

[0106] Furthermore, in one embodiment, the prediction module 10 is used to:

[0107] Based on the vehicle structure parameters and the vehicle state parameters obtained at the start of the current prediction cycle, it is predicted whether the vehicle will collide with the curb within a subsequent preset time period;

[0108] If a collision is predicted, the time difference between the moment before the collision and the start time of the current prediction period is used as the available operation time of the current prediction period;

[0109] If no collision is predicted, the preset duration is used as the available operation duration for the current prediction cycle.

[0110] Furthermore, in one embodiment, the decision module 20 is used to:

[0111] If the available operation time of the current prediction cycle is less than or equal to the first preset threshold, the safety measures that need to be executed in the current prediction cycle include controlling the vehicle to perform emergency braking.

[0112] Furthermore, in one embodiment, the decision module 20 is used to:

[0113] If the available operation time of the current prediction period is less than or equal to the second preset threshold, the safety measures to be performed in the current prediction period include uploading collision warning information to the supervision platform, wherein the second preset threshold is greater than the first preset threshold;

[0114] If the available operation duration of the current prediction period is greater than the second preset threshold, no safety measures need to be performed in the current prediction period.

[0115] Among them, the functional implementation of each module in the above-mentioned edge cleaning safety protection device corresponds to the various steps in the above-mentioned edge cleaning safety protection method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0116] On the third aspect, an embodiment of the present application provides a side cleaning safety protection device, which can be a device with data processing function such as a vehicle computer.

[0117] Figure 6 A schematic diagram of the hardware structure of the side cleaning safety protection device involved in the embodiment of the present application is shown.

[0118] Reference Figure 6 In an embodiment of the present application, the side cleaning safety protection device may include a processor, a memory, a communication interface and a communication bus.

[0119] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0120] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the edge cleaning safety protection device, and the interface used to realize the interconnection of the edge cleaning safety protection device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0121] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0122] The processor may be a general-purpose processor, and the general-purpose processor may call the side cleaning safety protection program stored in the memory and execute the side cleaning safety protection method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the side cleaning safety protection program is called may refer to the various embodiments of the side cleaning safety protection method of the present application, which will not be repeated here.

[0123] Those skilled in the art will understand that Figure 6The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0124] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0125] The readable storage medium of the present application stores a side cleaning safety protection program, wherein when the side cleaning safety protection program is executed by the processor, the steps of the side cleaning safety protection method as described above are implemented.

[0126] Among them, the method implemented when the side cleaning safety protection program is executed can refer to the various embodiments of the side cleaning safety protection method of this application, and will not be repeated here.

[0127] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0128] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0129] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0130] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0131] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0133] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A side cleaning safety protection method, characterized in that: The side cleaning safety protection method comprises: When the ego vehicle is cleaning the curb, the time difference between the moment before the ego vehicle collides with the curb and the start time of the current prediction cycle is calculated based on the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle, and is used as the available operation time of the current prediction cycle. The security measures that need to be executed in the current prediction period are determined based on the relationship between the available operation time of the current prediction period and the preset threshold.

2. The side cleaning safety protection method according to claim 1, characterized in that: The step of calculating the time difference between the moment before the collision between the vehicle and the curb and the moment when the current prediction cycle starts based on the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes: The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle; Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step; If the new first distance and the second distance are both greater than zero, continue to update the first distance and the second distance, otherwise stop updating the first distance and the second distance, and output the available operation time of the current prediction period, wherein the ratio of the available operation time of the current prediction period to the time step is equal to the number of updates minus one.

3. The side cleaning safety protection method according to claim 1, characterized in that: The step of calculating the time difference between the moment before the collision between the vehicle and the curb and the moment when the current prediction cycle starts based on the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes: Assign the initial time count value to zero; The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned the longitudinal speed of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle obtained at the beginning of the current prediction cycle; the initial first distance and the second distance are respectively assigned the distance between the front end of the vehicle and the curb and the distance between the rear end of the vehicle and the curb obtained at the beginning of the current prediction cycle; Calculate the new first distance and second distance according to the current first distance and second distance, as well as the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the vehicle and the center of the rear axle, distance between the rear end of the vehicle and the center of the rear axle, and time step; If the new first distance and the new second distance are both greater than zero, the sum of the current time count value and the time step is used as the new time count value; otherwise, the current time count value is used as the available operation time of the current prediction period; If the new time count value is less than the preset duration, the first distance and the second distance continue to be updated; otherwise, the preset duration is used as the available operation duration of the current prediction period.

4. The side cleaning safety protection method according to claim 2 or 3, characterized in that: The step of calculating the new first distance and the second distance according to the current first distance and the second distance, as well as the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the length of the vehicle body, the distance between the front end of the vehicle and the center of the rear axle, the distance between the rear end of the vehicle and the center of the rear axle, and the time step comprises: The new first distance and second distance are calculated according to the preset formula, and the preset formula is: in, are the first distance and the second distance updated for the Nth time, respectively, f is the distance between the front end of the vehicle and the center of the rear axle, l r is the distance between the rear end of the vehicle and the center of the rear axle, l is the length of the vehicle, v is the target velocity, a is the target acceleration, w is the target angular velocity, w_rate is the target angular acceleration, and Δt is the time step.

5. The side cleaning safety protection method according to claim 1, characterized in that: The step of calculating the time difference between the moment before the collision between the vehicle and the curb and the moment when the current prediction cycle starts based on the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction cycle as the available operation time of the current prediction cycle includes: Based on the vehicle structure parameters and the vehicle state parameters obtained at the start of the current prediction cycle, it is predicted whether the vehicle will collide with the curb within a subsequent preset time period; If a collision is predicted, the time difference between the moment before the collision and the start time of the current prediction period is used as the available operation time of the current prediction period; If no collision is predicted, the preset duration is used as the available operation duration for the current prediction cycle.

6. The side cleaning safety protection method according to claim 1, characterized in that: The step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold comprises: If the available operation time of the current prediction cycle is less than or equal to the first preset threshold, the safety measures that need to be executed in the current prediction cycle include controlling the vehicle to perform emergency braking.

7. The side cleaning safety protection method according to claim 6, characterized in that: The step of determining the security measures to be executed in the current prediction period according to the relationship between the available operation time of the current prediction period and the preset threshold value also includes: If the available operation time of the current prediction period is less than or equal to the second preset threshold, the safety measures to be performed in the current prediction period include uploading collision warning information to the supervision platform, wherein the second preset threshold is greater than the first preset threshold; If the available operation duration of the current prediction period is greater than the second preset threshold, no safety measures need to be performed in the current prediction period.

8. A safety protection device for cleaning sideways, characterized in that: The side cleaning safety protection device comprises: A prediction module is used to calculate the time difference between the moment before the ego vehicle collides with the curb and the start time of the current prediction cycle according to the ego vehicle structural parameters and the ego vehicle state parameters obtained at the start time of the current prediction cycle during the process of the ego vehicle pulling over to clean the curb, as the available operation time of the current prediction cycle; The decision module is used to determine the security measures that need to be executed in the current prediction period based on the relationship between the available operation time of the current prediction period and the preset threshold.

9. A safety protection device for cleaning sideways, characterized in that: The side cleaning safety protection device includes a processor, a memory, and a side cleaning safety protection program stored in the memory and executable by the processor, wherein when the side cleaning safety protection program is executed by the processor, the steps of the side cleaning safety protection method as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a side cleaning safety protection program, wherein when the side cleaning safety protection program is executed by the processor, the steps of the side cleaning safety protection method as described in any one of claims 1 to 7 are implemented.

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