Navigation method for intelligent car to enter buffer position and car door buffer area

Abstract

The invention provides a navigation method for an intelligent car to enter a buffer position and a car door buffer area. When the buffer position in the vehicle door buffer area is idle, determining that the buffer position is a target buffer position of the current intelligent vehicle to enter; determining respective predicted waiting duration of the current intelligent car before the current intelligent car enters two driving channels in the car door buffer area, and the respective number of previous intelligent cars in the two driving channels; determining a driving-in channel of the current intelligent car; and generating a calling-in navigation instruction of the current intelligent car based on the driving-in channel and the predicted waiting duration before the current intelligent car enters the driving-in channel. Through flexible utilization of the two driving channels, queuing waiting caused by a single-driving-channel entering rule is avoided, time consumed for intelligent car entering is shortened, and the buffering efficiency of the intelligent car is improved; and through a multi-channel navigation decision, traffic conflicts are avoided from the source, so that the conflicts are controllable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation technology, in particular, to a navigation method for an intelligent vehicle entering a buffer position and a vehicle door buffer area. BACKGROUND

[0002] Intelligent Guided Vehicle (IGV for short) is an unmanned transport device used in automated ports and smart factories, which realizes autonomous navigation and obstacle avoidance through Beidou navigation system, laser radar, visual SLAM and other technologies. It has high flexibility, intelligent navigation and excellent performance.

[0003] In the general assembly workshop, the door IGV loads multiple doors of the same vehicle, and drives according to the pre-planned guide path to deliver the doors to each assembly island for assembly. Before assembly, the door IGV needs to enter the buffer position of the door buffer area to wait until it receives the dispatch navigation instruction from the group control system to leave the door buffer area and go to the assembly island.

[0004] The door buffer area includes multiple buffer positions and two driving channels, the multiple buffer positions are longitudinally and horizontally arranged in sequence, each buffer position is provided with two limiting guide rods, the two limiting guide rods are arranged on the transverse two sides of the buffer position, and the two limiting guide rods form a horn mouth at the longitudinal two ends of the buffer position. One door IGV can be temporarily parked between the two limiting guide rods of each buffer position, and the two horn mouths of each buffer position are communicated with the two driving channels respectively, and the two limiting guide rods are used to assist the entry and exit of the door IGV.

[0005] At present, the door IGV is randomly parked in any idle buffer position. In order to ensure the orderly entry and exit of the door IGV and avoid traffic conflicts, the single driving channel entry rule is followed, and the two driving channels are allocated as one driving channel for entering and one driving channel for exiting, i.e. the driving channel for entering can only drive the door IGV entering the door buffer area, and the driving channel for exiting can only drive the door IGV leaving the door buffer area. However, this reduces the temporary parking efficiency of the door IGV. For example, the first door IGV receives a dispatch navigation instruction for temporary parking in the first buffer position, and the first buffer position is close to the buffer area entrance of the door buffer area; when the first door IGV enters the driving channel to drive to the first buffer position, the second door IGV receives a dispatch navigation instruction for temporary parking in the second buffer position, and the second buffer position is far away from the buffer area entrance of the door buffer area; when the second door IGV enters the driving channel to drive to the second buffer position, the first door IGV may still be adjusting the pose of the entry position, blocking the path of the second door IGV, and the second door IGV can only continue to drive after the first door IGV enters the position.

[0006] Therefore, the application provides a navigation method for an intelligent vehicle entering a buffer position, to solve the above technical problems. SUMMARY

[0007] The application aims to provide a navigation method for an intelligent vehicle entering a buffer position and a vehicle door buffer area, which can solve at least one of the above technical problems. The specific scheme is as follows: According to the specific embodiment of the application, in a first aspect, the application provides a navigation method for an intelligent vehicle entering a buffer position, comprising: When a buffer position in a vehicle door buffer area is idle, determining the buffer position as a target buffer position of a current intelligent vehicle to be entered; determining, based on a preset channel driving rule, a predicted waiting time length of the current intelligent vehicle before entering each of two driving channels in the vehicle door buffer area, and a number of preceding intelligent vehicles of each of the two driving channels, wherein the preset channel driving rule comprises: the two driving channels can drive the intelligent vehicle to enter and exit the vehicle door buffer area, and the intelligent vehicles driving on the driving channels drive in a one-way manner, i.e., from a buffer area entrance of the vehicle door buffer area to a buffer area exit of the vehicle door buffer area; determining an entry channel of the current intelligent vehicle, wherein the entry channel belongs to one of the two driving channels; generating a navigation instruction for the current intelligent vehicle to enter the buffer position based on the entry channel and the predicted waiting time length of the current intelligent vehicle before entering the entry channel.

[0008] Optionally, determining, based on a preset channel driving rule, a predicted waiting time length of the current intelligent vehicle before entering each of two driving channels in the vehicle door buffer area, and a number of preceding intelligent vehicles of each of the two driving channels, comprises: classifying and counting the channel identifiers of each preceding intelligent vehicle on the two driving channels to obtain the number of preceding intelligent vehicles of each of the two driving channels; when the number of preceding intelligent vehicles of any driving channel is greater than or equal to 1, determining the last preceding intelligent vehicle of the any driving channel based on a current position length value of the preceding intelligent vehicle on the any driving channel, wherein the current position length value refers to the channel length value from the buffer area entrance to the current position of the intelligent vehicle; When the preset navigation length value of the target buffer position of the last preceding intelligent vehicle in the any driving channel is greater than the preset navigation length value of the target buffer position of the current intelligent vehicle on the any driving channel, if the current position length value of the last preceding intelligent vehicle is less than the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction, then the difference between the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction and the current position length value of the last preceding intelligent vehicle is divided by the preset driving speed value to obtain the predicted waiting time length of the current intelligent vehicle before entering the any driving channel based on the preset driving speed value, otherwise the predicted waiting time length of the current intelligent vehicle before entering the any driving channel based on the preset driving speed value is determined to be zero, wherein the preset navigation length value refers to the channel length value from the buffer zone entrance to the target buffer position.

[0009] Optionally, after the classification and statistics of the channel identifiers of the respective preceding intelligent vehicles on the two driving channels are obtained, the number of the preceding intelligent vehicles on the two driving channels is further included: When the preset navigation length value of the target buffer position of the last preceding intelligent vehicle in the any driving channel is less than the preset navigation length value of the target buffer position of the current intelligent vehicle on the any driving channel, when the current position length value of the last preceding intelligent vehicle is less than the total driving distance value of the target buffer position of the last preceding intelligent vehicle, the product of the preset entering time period of the target buffer position of the last preceding intelligent vehicle and the preset driving speed value is calculated, and then the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction is obtained to obtain the minimum separation distance value between the last preceding intelligent vehicle and the current intelligent vehicle on the any driving channel, wherein the preset entering time period refers to the time period for the intelligent vehicle to enter from the entrance of the target buffer position in the driving posture. The predicted waiting time length of the current intelligent vehicle before entering the any driving channel is obtained based on the current position length value of the last preceding intelligent vehicle and the minimum separation distance value.

[0010] Optionally, the predicted waiting time length of the current intelligent vehicle before entering the any driving channel is obtained based on the current position length value of the last preceding intelligent vehicle and the minimum separation distance value, including: When the current position length value of the last preceding intelligent vehicle is less than the minimum separation distance value, the predicted waiting time length of the current intelligent vehicle before entering the any driving channel based on the preset driving speed value is obtained based on the current position length value of the last preceding intelligent vehicle, the minimum separation distance value and the preset driving speed value. When the current position length value of the last preceding intelligent vehicle in any driving lane is greater than or equal to the minimum interval distance value, it is determined that the predicted waiting time length of the current intelligent vehicle before entering the driving lane based on the preset driving speed value is zero.

[0011] Optionally, the predicted waiting time length of the current intelligent vehicle before entering the driving lane is obtained based on the current position length value of the last preceding intelligent vehicle and the minimum interval distance value, comprising: When the number of preceding intelligent vehicles in any driving lane is equal to zero, it is determined that the predicted waiting time length of the current intelligent vehicle before entering the driving lane based on the preset driving speed value is zero.

[0012] Optionally, the determination of the driving-in lane of the current intelligent vehicle comprises: The driving-in lane of the current intelligent vehicle is determined based at least on the preset task level of the current intelligent vehicle.

[0013] Optionally, the determination of the driving-in lane of the current intelligent vehicle based at least on the preset task level of the current intelligent vehicle comprises: When the preset task level of the current intelligent vehicle is a preset priority level, and the predicted waiting time lengths of the current intelligent vehicle in the two driving lanes are different, the driving-in lane of the current intelligent vehicle is determined as the driving lane with the shortest predicted waiting time length.

[0014] Optionally, the determination of the driving-in lane of the current intelligent vehicle based at least on the preset task level of the current intelligent vehicle comprises: When the preset task level of the current intelligent vehicle is a preset priority level, and the predicted waiting time lengths of the current intelligent vehicle in the two driving lanes are the same, the driving-in lane of the current intelligent vehicle is determined as the driving lane with the least number of preceding intelligent vehicles.

[0015] Optionally, the determination of the driving-in lane of the current intelligent vehicle based at least on the preset task level of the current intelligent vehicle comprises: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of all preceding intelligent vehicles in the two driving lanes are preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving lanes are different, the driving-in lane of the current intelligent vehicle is determined as the driving lane with the shortest predicted waiting time length.

[0016] Optionally, the determination of the driving-in lane of the current intelligent vehicle based at least on the preset task level of the current intelligent vehicle comprises: When the preset task level of the current intelligent vehicle is the preset ordinary level, and the preset task level of each preceding intelligent vehicle on the two travel channels is the preset ordinary level, the current intelligent vehicle determines the travel channel with the least preceding intelligent vehicles as the entry channel of the current intelligent vehicle when the predicted waiting time of the two travel channels is equal.

[0017] Optionally, the method further comprises: When the preset task level of the current intelligent vehicle is the preset ordinary level, and the preset task level of each preceding intelligent vehicle on the first travel channel of the two travel channels is the preset ordinary level, and the preset task level of at least one preceding intelligent vehicle on the second travel channel of the two travel channels is the preset priority level, the current intelligent vehicle determines the first travel channel as the entry channel of the current intelligent vehicle.

[0018] Optionally, the method further comprises: When the preset task level of the current intelligent vehicle is the preset ordinary level, and the preset task level of each preceding intelligent vehicle on the two travel channels is the preset priority level, the current intelligent vehicle determines the travel channel with the least preceding intelligent vehicles as the entry channel of the current intelligent vehicle.

[0019] According to the specific embodiments of the present application, in a second aspect, the present application provides a navigation device for an intelligent vehicle to enter a buffer position, which is applied to the method described above, and comprises: a plurality of buffer positions, two travel channels, a buffer zone exit and a buffer zone entrance. The plurality of buffer positions are longitudinally arranged in sequence and are parallel to each other, each buffer position is provided with two limiting guide rods, the two limiting guide rods are arranged on the two lateral sides of the buffer position in the transverse direction, the two limiting guide rods form two openings at the two longitudinal ends of the buffer position, one intelligent vehicle can be temporarily parked between the two limiting guide rods of each buffer position, the two openings of each buffer position are respectively connected to the two travel channels, the travel of the two travel channels follows a preset channel travel rule, and the buffer zone exit and the buffer zone entrance are arranged in opposite directions of the door buffer zone.

[0020] Compared with the prior art, the above-mentioned scheme of the embodiments of the present application has at least the following beneficial effects: The application provides a navigation method for an intelligent trolley entering a buffer position and a vehicle door buffer area. When a buffer position in the vehicle door buffer area is idle, the buffer position is determined as a target buffer position of a current intelligent trolley to be entered. The predicted waiting time lengths of the current intelligent trolley before entering two driving channels in the vehicle door buffer area are determined respectively, and the numbers of preceding intelligent trolleys of the two driving channels are determined respectively. The driving channel of the current intelligent trolley is determined. The navigation instruction for the current intelligent trolley entering the buffer position is generated based on the driving channel and the predicted waiting time length of the current intelligent trolley before entering the driving channel. Through flexible utilization of the two driving channels, queuing and waiting caused by single driving channel entering rules are avoided, the time consumption of the intelligent trolley entering the buffer position is reduced, and the buffer efficiency of the intelligent trolley is improved. Through multi-channel navigation decision, traffic conflicts are avoided from the source, the conflicts are controllable, and the dynamic adaptability of the scheduling strategy to production rhythm changes is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A flowchart of the navigation method for an intelligent trolley entering a buffer position is shown according to an embodiment of the application; Figure 2 A plan view of a vehicle door buffer area is shown according to an embodiment of the application; REFERENCE SIGNS: 11-vehicle door buffer area, 12-buffer position, 13-driving channel, 14-limiting guide rod, 15-opening, 16-buffer area entrance, 17-buffer area exit. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will further describe the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part 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 those skilled in the art without creative work fall within the scope of the present application.

[0023] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0024] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0025] It should be understood that, although the terms first, second, third, etc. can be used herein to describe various elements, components, regions and / or sections, these

[0026] The word "if" can be interpreted as meaning "upon" or "when," or "in response to a determination," or "in response to a detection," as the context suggests, depending on the context. Similarly, the phrase "if determined" or "if detected (a stated condition or event)" can be interpreted as meaning "upon a determination," or "in response to a determination," or "when detected (a stated condition or event)," or "in response to a detection (a stated condition or event)," depending on the context.

[0027] It is also to be noted that the terms "comprising", "including", and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... " does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the recited element.

[0028] It is particularly noted that symbols and / or numbers present in the description, if not marked in the description of the figures, are not figure references.

[0029] The optional embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0030] The embodiments of the present application, i.e., the embodiments of a navigation method for an intelligent vehicle entering a buffer position, are provided.

[0031] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0032] Step S101, when the buffer position in the vehicle door buffer area is idle, determining the buffer position as the target buffer position of the current intelligent vehicle to be entered.

[0033] The intelligent vehicle can be an automated guided vehicle (English full name: Automated Guided Vehicle, abbreviated as AGV) or IGV.

[0034] As Figure 2As shown, the vehicle door buffer area 11 includes a plurality of buffer positions 12 and two driving channels 13, the plurality of buffer positions 12 are longitudinally arranged in sequence, each buffer position 12 is provided with two limiting guide rods 14, the two limiting guide rods 14 are arranged on the transverse two sides of the buffer position 12, and the two limiting guide rods 14 form a horn mouth 15 at the longitudinal two ends of the buffer position 12, one vehicle door intelligent car can be temporarily parked between the two limiting guide rods 14 of each buffer position 12, and the two horn mouths 15 of each buffer position 12 are respectively communicated with the two driving channels 13, which are used for the entry and exit of the vehicle door intelligent car into the buffer position 12. The current intelligent car refers to the intelligent car ranked first in the intelligent car queue waiting to enter the vehicle door buffer area 11. When the current intelligent car receives a navigation instruction, it enters from the buffer area entrance 16, enters the target buffer position 12 of the current intelligent car through the driving channel 13, and stops; when the current intelligent car receives a navigation instruction, it drives out of the vehicle door buffer area 11 through the driving channel 13 and the buffer area exit 17. Each intelligent car in the vehicle door buffer area 11 drives at a preset driving speed value to avoid traffic conflicts.

[0035] The buffer position is idle, which can be obtained by analyzing the monitoring image of the monitoring camera of the vehicle door buffer area, or sent by the intelligent car driving out of the buffer position, and the application is not limited thereto.

[0036] If multiple buffer positions are idle within a preset monitoring time period, the buffer position with the shortest preset navigation length value in the multiple buffer positions is determined as the target buffer position of the current intelligent car. Ensure that the current intelligent car can be positioned in the shortest time period. Thus, the efficiency of buffering is improved.

[0037] The preset navigation length value is one of the preset state information of the buffer position, and the preset navigation length value refers to the channel length value from the buffer area entrance to the target buffer position.

[0038] In the embodiment of the application, the single driving channel entry rule in the prior art is modified to a double driving channel entry rule in order to improve the buffering efficiency of the intelligent car.

[0039] The preceding intelligent car refers to an intelligent car driving on the driving channel. The preceding intelligent car includes: an intelligent car driving on the driving channel and preparing to enter the buffer position, and an intelligent car driving on the driving channel and preparing to leave the vehicle door buffer area after driving out of the buffer position.

[0040] Step S102, determining the predicted waiting time length of the current intelligent car entering the two driving channels in the vehicle door buffer area respectively based on a preset channel driving rule, and the number of preceding intelligent cars of the two driving channels respectively.

[0041] The preset channel driving rule includes that the intelligent car on the two driving channels can drive into the vehicle door buffer area and drive out of the vehicle door buffer area, and the intelligent car driving on the driving channel drives in one direction, that is, from the buffer area entrance of the vehicle door buffer area to the buffer area exit of the vehicle door buffer area.

[0042] In the embodiment of the present application, the one-way driving of the same driving channel in the preset channel driving rule eliminates the opposite conflict of the same driving channel, so that the navigation only needs to process the linear conflict problem of the path occupied by the previous intelligent car in front of the current intelligent car in the driving channel, and the navigation decision logic is more concise. The single driving channel entering rule in the prior art is modified to a double driving channel entering rule, which avoids the queuing and waiting caused by the single driving channel entering rule, reduces the time consumption of the intelligent car entering the position, and improves the buffering efficiency of the intelligent car.

[0043] The predicted waiting time length is a time length value of waiting of the current intelligent car outside the vehicle door buffer area, which is counted from the time when the idle information of any buffer position in the vehicle door buffer area is obtained to the time when the vehicle door buffer area is entered.

[0044] In the embodiment of the present application, the predicted waiting time length is obtained by the relationship between the target buffer position of the current intelligent car and the dynamic information and static information of each previous intelligent car on the two driving channels. The predicted waiting time length can effectively control the number of previous intelligent cars on the driving channel, and avoid the traffic conflict between the current intelligent car and the previous intelligent car on the driving channel. The current state information of the previous intelligent car on the driving channel is updated in real time, so as to ensure the dynamic adaptability of the scheduling strategy to the production rhythm change.

[0045] In some specific embodiments, the preset channel driving rule is used to determine the predicted waiting time length of the current intelligent car entering each of the two driving channels in the vehicle door buffer area, and the number of previous intelligent cars on the two driving channels, and the method comprises the following steps. Step S102-1, classifying and counting the channel identifiers of each previous intelligent car on the two driving channels to obtain the number of previous intelligent cars on the two driving channels.

[0046] Step S102-2a, when the number of previous intelligent cars on any driving channel is greater than or equal to 1, determining the last previous intelligent car on the any driving channel based on the current position length value of the previous intelligent car on the any driving channel.

[0047] The current position length value refers to the channel length value of the intelligent car from the buffer area entrance to the current position.

[0048] Step S102-3, when the preset navigation length value of the target buffer position of the last-in-first smart car of the any driving lane is greater than the preset navigation length value of the target buffer position of the current smart car on the any driving lane, if the current position length value of the last-in-first smart car is less than the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction, then calculate the difference between the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction and the current position length value of the last-in-first smart car, and divide the result by the preset driving speed value to obtain the predicted waiting time length of the current smart car before entering the any driving lane based on the preset driving speed value, otherwise determine that the predicted waiting time length of the current smart car before entering the any driving lane based on the preset driving speed value is zero.

[0049] The preset navigation length value refers to the lane length value from the buffer zone entrance to the target buffer position.

[0050] In the specific embodiment, the target buffer position of the last-in-first smart car of the any driving lane is farther away from the buffer zone entrance than the target buffer position of the current smart car on the any driving lane. If the vehicle body of the last-in-first smart car has not completely entered the buffer zone entrance, or the vehicle body of the last-in-first smart car has entered the buffer zone entrance, but the vehicle body of the last-in-first smart car has not pulled away from the buffer zone entrance by the preset safe following distance, then the current smart car waits until the vehicle body of the last-in-first smart car pulls away from the buffer zone entrance by the preset safe following distance before entering the buffer zone entrance. Otherwise, the current smart car can enter the buffer zone entrance at the same preset driving speed value as the last-in-first smart car without waiting. Thus, the current smart car obtains the shortest predicted waiting time length on the driving lane, and ensures that the current smart car enters the buffer zone entrance in the most economical, safest, and fastest way.

[0051] In other specific embodiments, after obtaining the number of first-in smart cars of the two driving lanes respectively by classifying and counting the lane identifiers of the first-in smart cars on the two driving lanes, the method further includes: Step S102-2b-1, when the preset navigation length value of the target buffer position of the last-in-first-out intelligent vehicle on the any driving lane is less than the preset navigation length value of the target buffer position of the current intelligent vehicle on the any driving lane, when the current position length value of the last-in-first-out intelligent vehicle is less than the total driving distance value of the target buffer position of the last-in-first-out intelligent vehicle, a product value of the preset parking time period and the preset driving speed value of the target buffer position of the last-in-first-out intelligent vehicle is calculated, and then a sum value of the preset safety following distance value and the preset vehicle body length value in the driving direction is obtained, to obtain the minimum interval distance value between the last-in-first-out intelligent vehicle and the current intelligent vehicle on the any driving lane.

[0052] The preset parking time period refers to a time period preset for the intelligent vehicle to park from the target buffer position in a driving posture.

[0053] The driving posture refers to a posture maintained by the intelligent vehicle when driving on the driving lane.

[0054] In the specific embodiment, the target buffer position of the last-in-first-out intelligent vehicle on the any driving lane is closer to the buffer area entrance than the target buffer position of the current intelligent vehicle on the any driving lane. If the last-in-first-out intelligent vehicle has not passed the horn mouth of the target buffer position of the current intelligent vehicle on the driving lane, the preset parking time period of the target buffer position of the last-in-first-out intelligent vehicle is taken as the time period causing traffic congestion, and based on the preset parking time period of the target buffer position of the last-in-first-out intelligent vehicle, the preset safety following distance value and the preset vehicle body length value in the driving direction are combined to obtain the minimum interval distance value between the last-in-first-out intelligent vehicle and the current intelligent vehicle on the any driving lane, which is the most economical and safest.

[0055] Step S102-2b-2, based on the current position length value of the last-in-first-out intelligent vehicle and the minimum interval distance value, a predicted waiting time length before the current intelligent vehicle enters the any driving lane is obtained.

[0056] In some specific embodiments, step S102-2b-2 specifically includes: Step S102-2b-2a, when the current position length value of the last-in-first-out intelligent vehicle is less than the minimum interval distance value, based on the current position length value of the last-in-first-out intelligent vehicle, the minimum interval distance value and the preset driving speed value, a predicted waiting time length before the current intelligent vehicle enters the any driving lane based on the preset driving speed value is obtained.

[0057] In the embodiment, if the current position length value of the last-in-first-out intelligent trolley is less than the minimum interval distance value, the current intelligent trolley waits until the current position length value of the last-in-first-out intelligent trolley is greater than or equal to the minimum interval distance value, and then starts to move. Thus, the current intelligent trolley can obtain the shortest predicted waiting time on the travel lane, and ensure that the current intelligent trolley enters the buffer zone entrance in the most economical, safest and fastest way.

[0058] In step S102-2b-2b, when the current position length value of the last-in-first-out intelligent trolley on the travel lane is greater than or equal to the minimum interval distance value, it is determined that the predicted waiting time of the current intelligent trolley before entering the travel lane at the preset travel speed value is zero.

[0059] In the embodiment, if the current position length value of the last-in-first-out intelligent trolley on the travel lane is greater than or equal to the minimum interval distance value, the current intelligent trolley can enter the buffer zone entrance at the preset travel speed value without waiting. Thus, the current intelligent trolley can obtain the shortest predicted waiting time on the travel lane, and ensure that the current intelligent trolley enters the buffer zone entrance in the most economical, safest and fastest way.

[0060] In some embodiments, step S102-2b-2 specifically includes: In step S102-2c, when the number of intelligent trolleys on the travel lane is zero, it is determined that the predicted waiting time of the current intelligent trolley before entering the travel lane at the preset travel speed value is zero.

[0061] In the embodiment, if there is an idle travel lane in the two travel lanes, the current intelligent trolley can enter the idle travel lane at the preset travel speed value without waiting. Thus, the current intelligent trolley can obtain the shortest predicted waiting time on the travel lane, and ensure that the current intelligent trolley enters the buffer zone entrance in the most economical, safest and fastest way.

[0062] In step S103, the travel lane of the current intelligent trolley is determined.

[0063] In the embodiment, the travel lane belongs to one of the two travel lanes.

[0064] In some embodiments, the preset task level includes a preset priority and a preset normal level.

[0065] The preset task level is determined by the urgency of the production task. If the object carried by an intelligent trolley needs to be processed faster, the preset task level of the intelligent trolley is the preset priority; otherwise, the preset task level of the intelligent trolley is the preset normal level.

[0066] The determining the entry channel of the current intelligent vehicle includes: In step S103a, the entry channel of the current intelligent vehicle is determined based on at least the preset task level of the current intelligent vehicle.

[0067] In some embodiments, step S103a specifically includes: In step S103aa, when the preset task level of the current intelligent vehicle is the preset priority level, and the predicted waiting time lengths of the two travel channels are not equal, the travel channel with the shortest predicted waiting time length is determined as the entry channel of the current intelligent vehicle.

[0068] In this embodiment, if the preset task level of the current intelligent vehicle is the preset priority level, and the current intelligent vehicle has a predicted waiting time length greater than zero on both travel channels, and the two predicted waiting time lengths are not equal, the travel channel with the shortest predicted waiting time length is determined as the entry channel of the current intelligent vehicle. The travel channel with the smallest predicted waiting time length is preferred, which ensures that the current intelligent vehicle with the preset priority level enters the buffer zone entrance in the most economical, safest, and fastest way.

[0069] In some other embodiments, step S103a specifically includes: In step S103ab, when the preset task level of the current intelligent vehicle is the preset priority level, and the predicted waiting time lengths of the two travel channels are equal, the travel channel with the least number of previous intelligent vehicles is determined as the entry channel of the current intelligent vehicle.

[0070] In this embodiment, if the preset task level of the current intelligent vehicle is the preset priority level, and the predicted waiting time lengths of the two travel channels are equal, the travel channel with the least number of previous intelligent vehicles is preferred, which ensures that the current intelligent vehicle with the preset priority level enters the buffer zone entrance in the most economical, safest, and fastest way.

[0071] In this embodiment, the current intelligent vehicle with the preset priority level prefers to use the travel channel with less obstacles in front, which ensures that the current intelligent vehicle with the preset priority level can quickly enter the position to quickly complete the production task.

[0072] In some other embodiments, step S103a specifically includes: Step S103ac, when the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each preceding intelligent vehicle on the two driving channels is the preset ordinary level, and the predicted waiting time length of the current intelligent vehicle on the two driving channels is different, the driving channel with the shortest predicted waiting time length is determined as the driving-in channel of the current intelligent vehicle.

[0073] In the embodiment, when the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each preceding intelligent vehicle on the two driving channels is the preset ordinary level, and the predicted waiting time length of the current intelligent vehicle on the two driving channels is different, the driving channel with the shortest predicted waiting time length is determined as the driving-in channel of the current intelligent vehicle.

[0074] In some embodiments, step S103a specifically includes: Step S103ad, when the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each preceding intelligent vehicle on the two driving channels is the preset ordinary level, and the predicted waiting time length of the current intelligent vehicle on the two driving channels is equal, the driving channel with the least preceding intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

[0075] In the embodiment, when the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each preceding intelligent vehicle on the two driving channels is the preset ordinary level, and the predicted waiting time length of the current intelligent vehicle on the two driving channels is equal, the driving channel with the least preceding intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

[0076] In some embodiments, step S103a specifically includes: Step S103ae, when the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each preceding intelligent vehicle on the first driving channel of the two driving channels is the preset ordinary level, and the preset task level of at least one preceding intelligent vehicle on the second driving channel of the two driving channels is the preset priority level, the first driving channel is determined as the driving-in channel of the current intelligent vehicle.

[0077] In the embodiment, if the preset task level of the current intelligent vehicle is the preset ordinary level, the preset task level of each previous intelligent vehicle on the first travel channel of the two travel channels is the preset ordinary level, and the preset task level of at least one previous intelligent vehicle on the second travel channel of the two travel channels is the preset priority level, the travel channel with the preset priority level is preferentially avoided, the navigation efficiency is considered, and the current intelligent vehicle with the preset ordinary level is ensured to enter the buffer zone entrance in the most economical, safest and fastest manner.

[0078] In the embodiment, the current intelligent vehicle with the preset ordinary level actively avoids the previous intelligent vehicle with the preset priority level, the previous intelligent vehicle with the preset priority level is ensured to be quickly positioned, and the resource waste of the travel channel is reduced.

[0079] In other embodiments, the step S103a specifically includes: In the step S103af, when the preset task level of the current intelligent vehicle is the preset ordinary level, and the preset task level of each previous intelligent vehicle on the two travel channels is the preset priority level, the travel channel with the least number of previous intelligent vehicles is determined as the travel-in channel of the current intelligent vehicle.

[0080] In the embodiment, if the preset task level of the current intelligent vehicle is the preset ordinary level, and the preset task level of each previous intelligent vehicle on the two travel channels is the preset priority level, the travel channel with the least number of previous intelligent vehicles is preferentially selected as the travel-in channel, the number of travel channels is ensured to be balanced, and the current intelligent vehicle is ensured to enter the buffer zone entrance in the most economical, safest and fastest manner.

[0081] In the step S104, a navigation instruction for the current intelligent vehicle to enter the buffer position is generated based on the travel-in channel and the predicted waiting time of the current intelligent vehicle before entering the travel-in channel.

[0082] In the embodiment, when a buffer position in the door buffer zone is idle, the buffer position is determined as a target buffer position of the current intelligent vehicle to be positioned; the predicted waiting time of the current intelligent vehicle before entering each of the two travel channels in the door buffer zone is determined, and the number of previous intelligent vehicles in the two travel channels is determined; the travel-in channel of the current intelligent vehicle is determined; and a positioning navigation instruction of the current intelligent vehicle is generated based on the travel-in channel and the predicted waiting time of the current intelligent vehicle before entering the travel-in channel. Through flexible use of the two travel channels, queuing and waiting caused by single travel channel entry rules are avoided, the intelligent vehicle positioning time is reduced, and the buffer efficiency of the intelligent vehicle is improved. Through multi-channel navigation decision, traffic conflicts are avoided from the source, the conflicts are controllable, and the dynamic adaptability of the scheduling strategy to production rhythm changes is ensured.

[0083] The application also provides a vehicle door buffer area for implementing the method steps of the above embodiments, based on the same interpretation of the name meaning and the same technical effects as the above embodiments, which will not be repeated here.

[0084] As shown in Figure 2 The application provides a vehicle door buffer area for the above method, comprising: a plurality of buffer positions 12, two travel channels 13, a buffer area entrance 16 and a buffer area exit 17. The plurality of buffer positions 12 are longitudinally arranged in sequence, each buffer position 12 is provided with two limiting guide rods 14, the two limiting guide rods 14 are arranged on the transverse sides of the buffer position 12, and the two limiting guide rods 14 form an opening 15 at the longitudinal ends of the buffer position 12. Each buffer position 12 can temporarily park one intelligent vehicle between the two limiting guide rods 14, and the two openings 15 of each buffer position 12 are respectively communicated with the two travel channels 13, the travel of the two travel channels 13 follows a predetermined channel travel rule, and the buffer area exit 17 and the buffer area entrance 16 are arranged in opposite directions of the vehicle door buffer area 11. The predetermined channel travel rule includes: the two travel channels can travel into the vehicle door buffer area 11 and out of the vehicle door buffer area 11, and the intelligent vehicles traveling on the travel channels travel in one direction, i.e. from the buffer area entrance 16 of the vehicle door buffer area 11 to the buffer area exit 17 of the vehicle door buffer area 11.

[0085] The embodiments of the application make the two travel channels able to input the buffer position through the predetermined channel travel rule, and avoid the queuing caused by the single travel channel input rule through the flexible use of the two travel channels, reduce the intelligent vehicle input time, and improve the buffer efficiency of the intelligent vehicle.

[0086] Finally, it should be explained that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0087] The above examples are only used to illustrate the technical solutions of the present application, but not to limit the same; although the present application has been described in detail with reference to the foregoing examples, it should be understood by those of ordinary skill in the art that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A navigation method for an intelligent vehicle entering a buffer position, characterized in that, The application comprises the following steps: When a buffer position in the vehicle door buffer area is idle, the buffer position is determined as a target buffer position of a current intelligent vehicle; Based on a preset channel driving rule, a predicted waiting time length before the current intelligent vehicle enters two driving channels in the vehicle door buffer area is determined, and a number of previous intelligent vehicles in the two driving channels is determined, wherein the preset channel driving rule comprises that the two driving channels can drive the intelligent vehicles to enter and exit the vehicle door buffer area, and the intelligent vehicles on the driving channels drive in a one-way manner, i.e., from a buffer area entrance of the vehicle door buffer area to a buffer area exit of the vehicle door buffer area; A driving channel of the current intelligent vehicle is determined, wherein the driving channel belongs to one of the two driving channels; A navigation instruction for the current intelligent vehicle to enter the buffer position is generated based on the driving channel and the predicted waiting time length before the current intelligent vehicle enters the driving channel.

2. The method of claim 1, wherein, Based on a preset channel driving rule, a predicted waiting time length before the current intelligent vehicle enters two driving channels in the vehicle door buffer area is determined, and a number of previous intelligent vehicles in the two driving channels is determined, wherein the preset channel driving rule comprises that the two driving channels can drive the intelligent vehicles to enter and exit the vehicle door buffer area, and the intelligent vehicles on the driving channels drive in a one-way manner, i.e., from a buffer area entrance of the vehicle door buffer area to a buffer area exit of the vehicle door buffer area; The number of previous intelligent vehicles in the two driving channels is obtained by classifying and counting the channel identifiers of the previous intelligent vehicles on the two driving channels; When the number of previous intelligent vehicles in any driving channel is greater than or equal to 1, the last previous intelligent vehicle in the any driving channel is determined based on a current position length value of the previous intelligent vehicle on the any driving channel, wherein the current position length value refers to a channel length value from the buffer area entrance to the current position of the intelligent vehicle; When a preset navigation length value of the target buffer position of the last previous intelligent vehicle in the any driving channel is greater than a preset navigation length value of the target buffer position of the current intelligent vehicle on the any driving channel, if a current position length value of the last previous intelligent vehicle is less than a sum of a preset safe following distance value and a preset vehicle body length value in the driving direction, a difference value between the sum of the preset safe following distance value and the preset vehicle body length value in the driving direction and the current position length value of the last previous intelligent vehicle is calculated, and then divided by a preset driving speed value to obtain a predicted waiting time length before the current intelligent vehicle enters the any driving channel at the preset driving speed value, otherwise, it is determined that the predicted waiting time length before the current intelligent vehicle enters the any driving channel at the preset driving speed value is zero, wherein the preset navigation length value refers to a preset channel length value from the buffer area entrance to the target buffer position.

3. The method of claim 2, wherein, After the number of previous intelligent vehicles in the two driving channels is obtained by classifying and counting the channel identifiers of the previous intelligent vehicles on the two driving channels, the following steps are further included: When the preset navigation length value of the target buffer position of the last preceding intelligent vehicle in the any travel lane is less than the preset navigation length value of the target buffer position of the current intelligent vehicle on the any travel lane, and when the current position length value of the last preceding intelligent vehicle is less than the total travel distance value of the target buffer position of the last preceding intelligent vehicle, a product value of a preset parking time period and a preset travel speed value of the target buffer position of the last preceding intelligent vehicle is calculated, and then a sum value of a preset safe following distance value and a preset vehicle body length value in the travel direction is obtained, to obtain a minimum separation distance value between the last preceding intelligent vehicle and the current intelligent vehicle on the any travel lane, wherein the preset parking time period refers to a time period in which the intelligent vehicle is in a travel posture from an entrance of the target buffer position to a parking position. A predicted waiting duration of the current intelligent vehicle before entering the any travel lane is obtained based on the current position length value of the last preceding intelligent vehicle and the minimum separation distance value.

4. The method of claim 3, wherein, The obtaining of the predicted waiting duration of the current intelligent vehicle before entering the any travel lane based on the current position length value of the last preceding intelligent vehicle and the minimum separation distance value includes: When the current position length value of the last preceding intelligent vehicle is less than the minimum separation distance value, a predicted waiting duration of the current intelligent vehicle before entering the any travel lane based on the preset travel speed value is obtained based on the current position length value of the last preceding intelligent vehicle, the minimum separation distance value and the preset travel speed value. When the current position length value of the last preceding intelligent vehicle is greater than or equal to the minimum separation distance value, it is determined that the predicted waiting duration of the current intelligent vehicle before entering the any travel lane based on the preset travel speed value is zero.

5. The method of claim 2, wherein, The obtaining of the predicted waiting duration of the current intelligent vehicle before entering the any travel lane based on the current position length value of the last preceding intelligent vehicle and the minimum separation distance value includes: When the number of preceding intelligent vehicles in the any travel lane is equal to zero, it is determined that the predicted waiting duration of the current intelligent vehicle before entering the any travel lane based on the preset travel speed value is zero.

6. The method of claim 1, wherein, The determination of the travel lane of the current intelligent vehicle includes: The travel lane of the current intelligent vehicle is determined based on at least a preset task level of the current intelligent vehicle.

7. The method of claim 6, wherein, The determination of the travel lane of the current intelligent vehicle based on at least the preset task level of the current intelligent vehicle includes: When the preset task level of the current intelligent vehicle is a preset priority level, and the predicted waiting durations of the current intelligent vehicle in the two travel lanes are not equal, it is determined that the travel lane with the shortest predicted waiting duration is the travel lane of the current intelligent vehicle.

8. The method of claim 6, wherein, The determination of the travel lane of the current intelligent vehicle based on at least the preset task level of the current intelligent vehicle includes: When the preset task level of the current intelligent vehicle is a preset priority level, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are the same, the driving channel with the least number of previous intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

9. The method of claim 6, wherein, The method comprises the following steps: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of each previous intelligent vehicle on the two driving channels are all preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are different, the driving channel with the shortest predicted waiting time length is determined as the driving-in channel of the current intelligent vehicle.

10. The method of claim 6, wherein, The method comprises the following steps: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of each previous intelligent vehicle on the two driving channels are all preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are the same, the driving channel with the least number of previous intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

11. The method of claim 6, wherein, The method comprises the following steps: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of each previous intelligent vehicle on the two driving channels are all preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are the same, the driving channel with the least number of previous intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

12. The method of claim 6, wherein, The method comprises the following steps: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of each previous intelligent vehicle on the two driving channels are all preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are the same, the driving channel with the least number of previous intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle.

13. A vehicle door buffer, characterized in that The method comprises the following steps: When the preset task level of the current intelligent vehicle is a preset ordinary level, and the preset task levels of each previous intelligent vehicle on the two driving channels are all preset ordinary levels, and the predicted waiting time lengths of the current intelligent vehicle in the two driving channels are the same, the driving channel with the least number of previous intelligent vehicles is determined as the driving-in channel of the current intelligent vehicle. The method comprises the following steps: The method comprises the following steps: The plurality of buffer positions are longitudinally arranged in sequence and are parallel to each other, each buffer position is provided with two limiting guide rods, the two limiting guide rods are arranged on the two lateral sides of the buffer position in the transverse direction, the two limiting guide rods form openings at the two longitudinal ends of the buffer position, one intelligent vehicle can be temporarily parked between the two limiting guide rods of each buffer position, the two openings of each buffer position are in communication with the two driving channels, the driving of the two driving channels follows a preset channel driving rule, and the buffer zone outlet and the buffer zone inlet are arranged in opposite directions of the door buffer zone.

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