Method, device and equipment for curb cleaning safety protection and readable storage medium

Abstract

The application provides a method, device and equipment for safety protection of edge cleaning, and a readable storage medium. The method comprises the following steps: in the process of edge cleaning of a self vehicle, a time difference between a time point before a collision between the self vehicle and a road edge and a start time point of a current prediction period is calculated as an available operation duration of the current prediction period according to a self vehicle structure parameter and a self vehicle state parameter obtained at the start time point of the current prediction period; and a safety measure to be performed in the current prediction period is determined according to a size relationship between the available operation duration of the current prediction period and a preset threshold. Through the application, effective safety protection is provided for edge cleaning of an unmanned sanitation vehicle, so as to reduce the risk of collision between the unmanned sanitation vehicle and the road edge, improve the service life of a washing and cleaning disc device, and reduce the maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned driving, in particular to a method and device for safety protection of edge cleaning, equipment and readable storage medium. BACKGROUND

[0002] With the acceleration of urbanization, the demand for urban cleaning and maintenance is increasing. The traditional manually operated sanitation vehicles not only have limited efficiency, but also have certain safety risks. The application of unmanned sanitation vehicles has gradually become a trend. There are two main methods for the edge cleaning of unmanned sanitation vehicles. One is to identify the road edge through the vehicle-mounted sensor, then plan the path of the vehicle along the road edge for washing and cleaning operation, and finally control the vehicle to follow the planned path. The second is to record the required operation path before the edge cleaning operation, and then control the vehicle to follow the operation path during the edge cleaning operation. However, regardless of which method is used to achieve the edge cleaning of unmanned sanitation vehicles, there is a lack of effective safety protection. When the positioning information or road edge recognition is inaccurate, the unmanned sanitation vehicle is prone to collision with the road edge, resulting in damage to the washing and cleaning disc equipment and increasing maintenance costs. SUMMARY

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

[0004] In a first aspect, the present application provides a method for safety protection of edge cleaning, which comprises:

[0005] In the process of edge cleaning of the ego vehicle, the time difference between the previous time of collision between the ego vehicle and the road edge and the start time of the current prediction period is calculated as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction period.

[0006] The safety measures required for the current prediction period are determined according to the size relationship between the available operation time length of the current prediction period and the preset threshold value.

[0007] Further, in an embodiment, the step of calculating the time difference between the previous time of collision between the ego vehicle and the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction period comprises:

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

[0009] According to the current first distance and the second distance, and the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the length of the body of the ego vehicle, the distance between the front end of the ego vehicle and the center of the rear axle, the distance between the rear end of the ego vehicle and the center of the rear axle, and the time step, new first and second distances are calculated.

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

[0011] Further, in an embodiment, the step of calculating, according to the structural parameters of the ego vehicle and the state parameters of the ego vehicle at the beginning of the current prediction period, the time difference between the time point at which the ego vehicle collides with the road edge and the beginning of the current prediction period as the available operation time length of the current prediction period comprises:

[0012] The initial time count value is assigned to zero.

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

[0014] According to the current first distance and the second distance, and the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the length of the body of the ego vehicle, the distance between the front end of the ego vehicle and the center of the rear axle, the distance between the rear end of the ego vehicle and the center of the rear axle, and the time step, new first and second distances are calculated.

[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 taken as the new time count value, otherwise the current time count value is taken as the available operation time length of the current prediction period;

[0016] If the new time count value is less than the preset time length, the first distance and the second distance are continuously updated, otherwise the preset time length is taken as the available operation time length of the current prediction period.

[0017] Further, in an embodiment, the step of calculating the new first distance and the new second distance according to the current first distance and the current second distance, and the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the vehicle body length, 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 the new second distance are calculated according to a preset formula, and the preset formula is:

[0019]

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

[0021] Further, in an embodiment, the step of calculating the time difference between the previous time of collision between the vehicle and the road edge and the start time of the current prediction period as the available operation duration of the current prediction period according to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period includes:

[0022] According to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period, it is predicted whether the vehicle will collide with the road edge within a subsequent preset duration;

[0023] If it is predicted that a collision will occur, the time difference between the previous time of collision and the start time of the current prediction period is taken as the available operation duration of the current prediction period;

[0024] If it is predicted that a collision will not occur, the preset duration is taken as the available operation duration of the current prediction period.

[0025] Further, in an embodiment, the step of determining the safety measures required by the current prediction period according to the size relationship between the available operation duration of the current prediction period and a preset threshold includes:

[0026] If the available operation duration of the current prediction period is less than or equal to a first preset threshold, the safety measures required by the current prediction period include controlling the vehicle to perform emergency braking.

[0027] Further, in an embodiment, the step of determining the safety measures required by the current prediction period according to the size relationship between the available operation duration of the current prediction period and a preset threshold further includes:

[0028] If the available operation duration of the current prediction period is less than or equal to a second preset threshold, the safety measure required by the current prediction period includes 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, the current prediction period does not need to perform any safety measure.

[0030] In a second aspect, the embodiments of the present application further provide a safety protection device for curb cleaning, which comprises:

[0031] a prediction module, configured to, in a process of curb cleaning of the ego vehicle, calculate a time difference between a time point before a collision between the ego vehicle and a road edge and a starting time point of a current prediction period as an available operation duration of the current prediction period according to ego vehicle structure parameters and ego vehicle state parameters obtained at the starting time point of the current prediction period;

[0032] a decision module, configured to determine a safety measure required by the current prediction period according to a size relationship between the available operation duration of the current prediction period and a preset threshold.

[0033] In a third aspect, the embodiments of the present application further provide a safety protection device for curb cleaning, which comprises a processor, a memory, and a safety protection program for curb cleaning stored in the memory and executable by the processor, wherein the safety protection program for curb cleaning is executed by the processor to implement the steps of the safety protection method for curb cleaning.

[0034] In a fourth aspect, the embodiments of the present application further provide a readable storage medium, which stores a safety protection program for curb cleaning, wherein the safety protection program for curb cleaning is executed by a processor to implement the steps of the safety protection method for curb cleaning.

[0035] In the present application, in a process of curb cleaning of the ego vehicle, a time difference between a time point before a collision between the ego vehicle and a road edge and a starting time point of a current prediction period is calculated as an available operation duration of the current prediction period according to ego vehicle structure parameters and ego vehicle state parameters obtained at the starting time point of the current prediction period; and a safety measure required by the current prediction period is determined according to a size relationship between the available operation duration of the current prediction period and a preset threshold. Through the present application, effective safety protection is provided for curb cleaning of the unmanned sanitation vehicle, so as to reduce the risk of collision between the unmanned sanitation vehicle and the road edge, improve the service life of the washing and cleaning disc equipment, and reduce the maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1A flowchart of a method for safety protection in a lane cleaning process according to an embodiment of the present application is shown.

[0037] Figure 2 A flowchart of a method for calculating available operation duration according to an embodiment of the present application is shown.

[0038] Figure 3 A schematic diagram of a self-vehicle state according to an embodiment of the present application is shown.

[0039] Figure 4 A flowchart of a method for determining safety measures according to an embodiment of the present application is shown.

[0040] Figure 5 A functional module diagram of a safety protection device for a lane cleaning process according to an embodiment of the present application is shown.

[0041] Figure 6 A hardware structure diagram of a safety protection device for a lane cleaning process according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work fall within the scope of protection of the present application.

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

[0044] In a first aspect, the embodiments of the present application provide a safety protection method for a lane cleaning process.

[0045] Figure 1 A flowchart of a safety protection method for a lane cleaning process according to an embodiment of the present application is shown.

[0046] Referring to Figure 1 In an embodiment, the safety protection method for a lane cleaning process includes the following steps:

[0047] S1, during the lane cleaning process of the self-vehicle, the time difference between the time point before the collision between the self-vehicle and the road edge and the start time point of the current prediction period is calculated as the available operation duration of the current prediction period according to the self-vehicle structure parameters and the self-vehicle state parameters obtained at the start time point of the current prediction period.

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

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

[0050] S2, determining the safety measure to be performed in the current prediction period according to the size relationship between the available operation time length of the current prediction period and the preset threshold.

[0051] In the embodiment, the available operation time length before the ego vehicle collides with the road edge is predicted in each prediction period, and the safety measure to be performed in the corresponding prediction period is determined according to the available operation time length. When the available operation time length is long enough, no safety measure needs to be taken, and when the available operation time length is short, an effective safety measure needs to be taken to reduce the risk of collision between the ego vehicle and the road edge.

[0052] Therefore, in the embodiment, during the process of the ego vehicle cleaning along the roadside, the time difference between the time before the ego vehicle collides with the road edge and the beginning time of the current prediction period is calculated as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the beginning time of the current prediction period, and the safety measure to be performed in the current prediction period is determined according to the size relationship between the available operation time length of the current prediction period and the preset threshold. Through the embodiment, effective safety protection is provided for the ego vehicle cleaning along the roadside, thereby reducing the risk of collision between the ego vehicle and the road edge, improving the service life of the washing and cleaning disc equipment, and reducing the maintenance cost.

[0053] Further, in an embodiment, the step of calculating the time difference between the time before the ego vehicle collides with the road edge and the beginning time of the current prediction period as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the beginning time of the current prediction period comprises:

[0054] The target speed, target acceleration, target angular speed, and target angular acceleration are respectively assigned to the ego vehicle longitudinal speed, ego vehicle longitudinal acceleration, ego vehicle yaw angular speed, and ego vehicle yaw angular acceleration obtained at the beginning time of the current prediction period, and the initial first distance and second distance are respectively assigned to the distance between the front end of the ego vehicle and the road edge and the distance between the rear end of the ego vehicle and the road edge obtained at the beginning time of the current prediction period.

[0055] According to the current first distance and second distance, and 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, new first distance and second distance are calculated;

[0056] If the new first distance and second distance are both greater than zero, the first distance and second distance are continuously updated, otherwise the first distance and second distance are stopped from being updated, and the available operation time length of the current prediction period is output, wherein the ratio of the available operation time length 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 longitudinal velocity of the vehicle, the longitudinal acceleration of the vehicle, the yaw angular velocity of the vehicle, and the yaw angular acceleration of the vehicle are obtained at the start time of the current prediction period, and the distance between the front end of the vehicle and the road edge and the distance between the rear end of the vehicle and the road edge are iteratively updated according to the time step until either of them is less than or equal to zero, indicating that the vehicle collides with the road edge, and the time when the collision occurs is the number of updates times the time step, minus one time the time step, which is the time immediately before the collision. Through this embodiment, the time when the vehicle collides with the road edge can be accurately predicted, thereby improving the reliability of the available operation time length.

[0058] Figure 2 A flowchart for calculating the available operation time length in an embodiment of the present application is shown.

[0059] Further, in an embodiment, the step of calculating the time difference between the time immediately before the collision of the vehicle with the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period comprises:

[0060] The initial time count value is assigned as zero;

[0061] The target speed, target acceleration, target angular velocity, and target angular acceleration are respectively assigned as the longitudinal velocity 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 start time of the current prediction period, and the initial first distance and second distance are respectively assigned as the distance between the front end of the vehicle and the road edge and the distance between the rear end of the vehicle and the road edge obtained at the start time of the current prediction period;

[0062] According to the current first distance and second distance, and 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, new first distance and second distance are calculated;

[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 taken as the new time count value, otherwise the current time count value is taken as the available operation duration 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 are continuously updated, otherwise the preset duration is taken as the available operation duration of the current prediction period.

[0065] Referring to Figure 2 The difference between the embodiment and the previous embodiment is that a time count value is introduced and continuously accumulated in the iteration process. In addition to the new first distance and the new second distance being both greater than zero, the condition for continuing iteration also includes the new time count value being less than a preset duration. When the new time count value is greater than or equal to the preset duration, the iteration is also ended. 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 indicates that the collision risk under the current motion state is low enough, and the current prediction period does not need to perform any safety measures. Early termination of iteration can reduce unnecessary computational load.

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

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

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

[0069]

[0070] wherein, the Nth updated first distance and the Nth updated second distance, respectively, l f the distance between the front end of the ego vehicle and the center of the rear axle, l r the distance between the rear end of the ego vehicle and the center of the rear axle, l the length of the ego vehicle body, v is the target speed, 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 positional relationship between the ego vehicle and the road edge, referring to Figure 3When the road edge is on the right side of the ego vehicle, the positive sign corresponds to the counterclockwise direction, and the negative sign corresponds to the clockwise direction. Conversely, when the road edge is on the left side of the ego vehicle, the positive sign corresponds to the clockwise direction, and the negative sign corresponds to the counterclockwise direction.

[0072] Further, in an embodiment, the step of calculating, according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the beginning of the current prediction period, a time difference between a time point preceding the collision and the beginning of the current prediction period as the available operation duration of the current prediction period includes:

[0073] predicting, according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the beginning of the current prediction period, whether the ego vehicle will collide with the road edge within a preset time duration;

[0074] if it is predicted that a collision will occur, taking a time difference between a time point preceding the collision and the beginning of the current prediction period as the available operation duration of the current prediction period;

[0075] if it is predicted that a collision will not occur, taking the preset time duration as the available operation duration of the current prediction period.

[0076] In the embodiment, the process is similar to that of the embodiment shown in FIG. 6, but the implementation manner can be different. Limiting the collision prediction within the preset time duration helps to reduce the amount of calculation. Figure 2

[0077] Further, in an embodiment, the step of determining the safety measures required by the current prediction period according to the size relationship between the available operation duration of the current prediction period and the preset threshold value includes:

[0078] if the available operation duration of the current prediction period is less than or equal to a first preset threshold value, the safety measures required by the current prediction period include controlling the ego vehicle to perform emergency braking.

[0079] It can be understood that controlling the ego vehicle to perform emergency braking is the most effective measure to avoid collision, but frequent triggering will reduce the efficiency of the edge cleaning, and therefore the first preset threshold value needs to be reasonably set.

[0080] Figure 4 FIG. 7 shows a flowchart of determining safety measures in an embodiment of the present application.

[0081] Further, in an embodiment, the step of determining the safety measures required by the current prediction period according to the size relationship between the available operation duration of the current prediction period and the preset threshold value further includes:

[0082] ​If the available operation duration of the current prediction period is less than or equal to a second preset threshold, the safety measure required by the current prediction period includes uploading the 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, the current prediction period does not need to perform any safety measure.

[0084] With reference to Figure 4 In the embodiment, multiple levels of safety measures are set for the available operation duration. When the available operation duration is less than or equal to the second preset threshold and greater than the first preset threshold, the safety measure only includes uploading the collision warning information to the supervision platform. When the available operation duration is less than the first preset threshold, the safety measure includes uploading the collision warning information to the supervision platform and controlling the ego vehicle to perform emergency braking.

[0085] On the one hand, if the supervision platform timely issues instructions to the corresponding unmanned sanitation vehicle, for example, adjusts the target path for curb cleaning, the possibility that the available operation duration is less than the first preset threshold in the subsequent prediction period can be reduced, thereby reducing the triggering frequency of emergency braking and ensuring the efficiency of curb cleaning. On the other hand, the collision warning information can be used as an index for the supervision platform to evaluate the operation of the unmanned sanitation vehicle.

[0086] It should be noted that the second preset threshold in the embodiment is less than the aforementioned preset duration, so that when the available operation duration is equal to the preset duration, no safety measure needs to be performed.

[0087] Secondly, the embodiment of the present application also provides a curb cleaning safety protection device.

[0088] Figure 5 A functional module schematic diagram of the curb cleaning safety protection device in an embodiment of the present application is shown.

[0089] With reference to Figure 5 In an embodiment, the curb cleaning safety protection device includes:

[0090] The prediction module 10 is configured to, during the curb cleaning of the ego vehicle, calculate the time difference between the time point at which the ego vehicle collides with the road edge and the start time point of the current prediction period as the available operation duration of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time point of the current prediction period.

[0091] The decision module 20 is configured to determine the safety measure required by the current prediction period according to the size relationship between the available operation duration of the current prediction period and the preset threshold.

[0092] Further, in an embodiment, the prediction module 10 is configured to:

[0093] the target speed, the target acceleration, the target angular velocity, and the target angular acceleration are respectively assigned to the longitudinal speed of the ego vehicle, the longitudinal acceleration of the ego vehicle, the yaw angular velocity of the ego vehicle, and the yaw angular acceleration of the ego vehicle acquired at the beginning of the current prediction period, and the initial first distance and the initial second distance are respectively assigned to the distance between the front end of the ego vehicle and the road edge and the distance between the rear end of the ego vehicle and the road edge acquired at the beginning of the current prediction period;

[0094] the target speed, the target acceleration, the target angular velocity, and the target angular acceleration, the length of the body of the ego vehicle, the distance between the front end of the ego vehicle and the center of the rear axle, the distance between the rear end of the ego vehicle and the center of the rear axle, and the time step, to obtain new first and second distances;

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

[0096] Further, in an embodiment, the prediction module 10 is configured to:

[0097] an initial time count value is assigned to zero;

[0098] the target speed, the target acceleration, the target angular velocity, and the target angular acceleration are respectively assigned to the longitudinal speed of the ego vehicle, the longitudinal acceleration of the ego vehicle, the yaw angular velocity of the ego vehicle, and the yaw angular acceleration of the ego vehicle acquired at the beginning of the current prediction period, and the initial first distance and the initial second distance are respectively assigned to the distance between the front end of the ego vehicle and the road edge and the distance between the rear end of the ego vehicle and the road edge acquired at the beginning of the current prediction period;

[0099] the target speed, the target acceleration, the target angular velocity, and the target angular acceleration, the length of the body of the ego vehicle, the distance between the front end of the ego vehicle and the center of the rear axle, the distance between the rear end of the ego vehicle and the center of the rear axle, and the time step, to obtain new first and second distances;

[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 taken as a new time count value, otherwise the current time count value is taken as the available operation time length of the current prediction period;

[0101] If the new time count value is less than a preset time length, the first distance and the second distance are continuously updated, otherwise the preset time length is taken as the available operation time length of the current prediction period.

[0102] Further, in an embodiment, the prediction module 10 is configured to:

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

[0104]

[0105] wherein, are the first distance and the second distance updated for the Nth time, respectively, l f is the distance from the front end of the ego vehicle to the center of the rear axle, l r is the distance from the rear end of the ego vehicle to the center of the rear axle, l is the length of the ego vehicle, v is the target speed, 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] Further, in an embodiment, the prediction module 10 is configured to:

[0107] predict whether the ego vehicle will collide with the road edge within a preset time period based on the structure parameters of the ego vehicle and the state parameters of the ego vehicle obtained at the beginning of the current prediction period;

[0108] if it is predicted that a collision will occur, then the time difference between the time point of the previous collision and the beginning of the current prediction period is taken as the available operation time length of the current prediction period;

[0109] if it is predicted that no collision will occur, then the preset time period is taken as the available operation time length of the current prediction period.

[0110] Further, in an embodiment, the decision module 20 is configured to:

[0111] if the available operation time length of the current prediction period is less than or equal to a first preset threshold, then the safety measures required to be performed in the current prediction period include controlling the ego vehicle to perform emergency braking.

[0112] Further, in an embodiment, the decision module 20 is configured to:

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

[0114] if the available operation time length of the current prediction period is greater than the second preset threshold, then the current prediction period does not require any safety measures to be performed.

[0115] The functions of the modules in the above-described edge cleaning safety protection device correspond to the steps in the above-described edge cleaning safety protection method, and the functions and implementation processes thereof will not be described here again.

[0116] In a third aspect, the embodiments of the present application provide a side cleaning safety protection device. The side cleaning safety protection device can be a device with a data processing function, such as a car machine.

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

[0118] With reference to Figure 6 In the embodiments of the present application, the side cleaning safety protection device can include a processor, a memory, a communication interface, and a communication bus.

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

[0120] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and the like, which are used to interconnect devices inside the side cleaning safety protection device, and are used to interconnect the side 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 interface, an ATM interface, and the like; the user device can be a display (Display), a keyboard (Keyboard), and the like.

[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 disks, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), and the like.

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

[0123] Those skilled in the art can understand that Figure 6The hardware structure shown in the figures is not a limitation on the present application, and can include more or fewer components, or combine certain components, or arrange different components.

[0124] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0125] The readable storage medium of the present application stores a curb cleaning safety protection program, wherein the curb cleaning safety protection program is executed by a processor to implement the steps of the curb cleaning safety protection method described above.

[0126] The method implemented when the curb cleaning safety protection program is executed can refer to the embodiments of the curb cleaning safety protection method of the present application, which will not be described here.

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

[0128] The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0129] In the description of the embodiments of the present application, "exemplary", "for example", "for instance" or the like is used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0130] In the description of the embodiments of the present application, unless otherwise specified, " / " represents or, for example, A / B can represent A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone, in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0131] In some of the processes described in this specification, the order of operations or steps can be modified. Specifically, the serial order of any two consecutive steps carried out according to the processes described in this specification can be changed so that these two steps can be carried out in parallel or simultaneously, or the order of these two steps can be reversed.

[0132] Those skilled in the art can clearly understand the above-mentioned embodiment method from the description of the above embodiments, which can be realized by software and a necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disc) and includes a plurality of instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0133] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for edge cleaning safety protection, characterized in that, The side cleaning safety protection method comprises: In the process of the ego vehicle performing side cleaning, the time difference between the previous time of collision between the ego vehicle and the road edge and the start time of the current prediction period is calculated as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction period; The safety measures required to be performed in the current prediction period are determined according to the size relationship between the available operation time length of the current prediction period and the preset threshold value; The step of calculating the time difference between the previous time of collision between the ego vehicle and the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction period comprises: The target speed, target acceleration, target angular velocity and target angular acceleration are respectively assigned to the longitudinal speed, longitudinal acceleration, yaw angular velocity and yaw angular acceleration of the ego vehicle obtained at the start time of the current prediction period, and the initial first distance and second distance are respectively assigned to the distance between the front end of the ego vehicle and the road edge and the distance between the rear end of the ego vehicle and the road edge obtained at the start time of the current prediction period; The new first distance and second distance are calculated according to the current first distance and second distance, and the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the ego vehicle and the rear axle center, distance between the rear end of the ego vehicle and the rear axle center, and time step; If the new first distance and second distance are both greater than zero, the first distance and second distance are continuously updated, otherwise the updating of the first distance and second distance is stopped, and the available operation time length of the current prediction period is output, wherein the ratio of the available operation time length of the current prediction period to the time step is equal to the number of updates minus one; Or, the step of calculating the time difference between the previous time of collision between the ego vehicle and the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the ego vehicle structure parameters and the ego vehicle state parameters obtained at the start time of the current prediction period comprises: The initial time count value is assigned to zero; The target speed, target acceleration, target angular velocity and target angular acceleration are respectively assigned to the longitudinal speed, longitudinal acceleration, yaw angular velocity and yaw angular acceleration of the ego vehicle obtained at the start time of the current prediction period, and the initial first distance and second distance are respectively assigned to the distance between the front end of the ego vehicle and the road edge and the distance between the rear end of the ego vehicle and the road edge obtained at the start time of the current prediction period; The new first distance and second distance are calculated according to the current first distance and second distance, and the target speed, target acceleration, target angular velocity, target angular acceleration, vehicle body length, distance between the front end of the ego vehicle and the rear axle center, distance between the rear end of the ego vehicle and the rear axle center, and time step; If the new first distance and second distance are both greater than zero, the sum of the current time count value and the time step is taken as the new time count value, otherwise the current time count value is taken as the available operation time length of the current prediction period; If the new time count value is less than the preset time length, the first distance and the second distance continue to be updated, otherwise the preset time length is taken as the available operation time length of the current prediction period.

2. The safety protection method of edge cleaning according to claim 1, wherein The step of calculating the new first distance and the second distance according to the current first distance and the second distance, and the target speed, the target acceleration, the target angular velocity, the target angular acceleration, the vehicle body length, 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: The new first distance and the second distance are calculated according to a preset formula, and the preset formula is: wherein, , are the first and second distances of the Nth update, respectively, is the distance from the front end of the vehicle to the center of the rear axle, is the distance from the rear end of the vehicle to the center of the rear axle, is the length of the vehicle, is the target speed, is the target acceleration, is the target angular speed, is the target angular acceleration, is the time step.

3. The safety method of edge cleaning according to claim 1, wherein The step of calculating the time difference between the previous time when the vehicle collides with the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period includes: According to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period, whether the vehicle will collide with the road edge within a subsequent preset time length is predicted. If it is predicted that a collision will occur, the time difference between the previous time when the collision occurs and the start time of the current prediction period is taken as the available operation time length of the current prediction period. If it is predicted that a collision will not occur, the preset time length is taken as the available operation time length of the current prediction period.

4. The safety method of edge cleaning according to claim 1, wherein The step of determining the safety measures required by the current prediction period according to the size relationship between the available operation time length of the current prediction period and the preset threshold value includes: If the available operation time length of the current prediction period is less than or equal to a first preset threshold value, the safety measures required by the current prediction period include controlling the vehicle to perform emergency braking.

5. The safety method of edge cleaning according to claim 4, wherein The step of determining the safety measures required by the current prediction period according to the size relationship between the available operation time length of the current prediction period and the preset threshold value further includes: If the available operation time length of the current prediction period is less than or equal to a second preset threshold value, the safety measures required by the current prediction period include uploading collision warning information to a supervision platform, wherein the second preset threshold value is greater than the first preset threshold value. If the available operation time length of the current prediction period is greater than the second preset threshold value, the current prediction period does not require any safety measures.

6. A curb cleaning safety protection device for implementing the steps of the curb cleaning safety protection method according to any one of claims 1 to 5, characterized by, The side sweeping safety protection device includes: A prediction module is configured to calculate the time difference between the previous time when the vehicle collides with the road edge and the start time of the current prediction period as the available operation time length of the current prediction period according to the vehicle structure parameters and the vehicle state parameters obtained at the start time of the current prediction period during the process of the vehicle performing side sweeping. A decision module is configured to determine the safety measures required by the current prediction period according to the size relationship between the available operation time length of the current prediction period and the preset threshold value.

7. A curb cleaning safety protection apparatus, characterized by, The side sweeping safety protection device includes a processor, a memory, and a side sweeping safety protection program stored on the memory and executable by the processor, wherein the side sweeping safety protection program is executed by the processor to implement the steps of the side sweeping safety protection method according to any one of claims 1 to 5.

8. A readable storage medium, characterized by, The readable storage medium has stored thereon a curb cleaning safety protection program, wherein the curb cleaning safety protection program, when executed by the processor, implements the steps of the curb cleaning safety protection method according to any one of claims 1 to 5.

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