Unmanned logistics vehicle intersection intersection method and device and electronic equipment
By pre-setting avoidance points in the navigation map and monitoring the location and distance of unmanned logistics vehicles to the avoidance points in real time, the estimated arrival time at the intersection can be obtained, the passage order of unmanned logistics vehicles can be optimized, the traffic congestion problem when unmanned logistics vehicles meet at intersections can be solved, and the transportation efficiency can be improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-24
- Publication Date
- 2026-03-27
AI Technical Summary
Unmanned logistics vehicles often fail to yield to each other when they meet at intersections, causing traffic jams and reducing transportation efficiency.
By pre-setting avoidance points in the navigation map and monitoring the relative distance between the unmanned logistics vehicle and the avoidance point in real time, the estimated time to reach the intersection is obtained. Based on the traffic queue, the vehicles are controlled to pass through the intersection, thus optimizing the traffic order.
Effectively reduces congestion time and improves the transportation efficiency of unmanned logistics vehicles.
Smart Images
Figure CN121742453A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of autonomous driving technology, specifically relating to a method, device, and electronic equipment for unmanned logistics vehicles to converge at intersections. Background Technology
[0002] With the rapid development of autonomous driving technology, unmanned logistics vehicles have been widely used in warehousing, transportation and other fields. When unmanned logistics vehicles are driving on the road, they will inevitably meet other vehicles. When they meet other unmanned logistics vehicles, there are often situations where neither side can give way, resulting in traffic jams and reducing the transportation efficiency of unmanned logistics vehicles. Summary of the Invention
[0003] To address this issue, the present invention provides a method, apparatus, and electronic device for unmanned logistics vehicles to converge at intersections, thereby solving the problem that existing methods for unmanned logistics vehicles to converge at intersections often result in traffic jams due to vehicles failing to yield to each other, leading to reduced transportation efficiency of unmanned logistics vehicles.
[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for unmanned logistics vehicles to converge at intersections, comprising: Pre-set one or more coordinate points near intersections on the navigation map as avoidance points; Real-time monitoring of the position of the first unmanned logistics vehicle during its journey and its relative distance to the nearest avoidance point on the path ahead; When the relative distance is less than or equal to the preset distance, the estimated arrival time of the first unmanned logistics vehicle at the intersection is obtained in real time and the nearest avoidance point ahead is set as the target avoidance point; Obtain the traffic queue at the intersection corresponding to the target avoidance point; the traffic queue stores the estimated arrival time at the intersection for multiple unmanned logistics vehicles; Based on the estimated arrival time of the first unmanned logistics vehicle at the intersection, the passage order of the unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point is determined, and the passage queue is updated. The first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point according to the traffic queue.
[0005] Furthermore, each intersection in the navigation map has a unique intersection identifier; the avoidance point is bound to the unique intersection identifier, and obtaining the traffic queue of the intersection corresponding to the target avoidance point includes: The intersection corresponding to the target avoidance point is designated as the first intersection; Based on all the avoidance points bound to the first intersection, the estimated arrival time of all unmanned logistics vehicles entering the first intersection is obtained; The unmanned logistics vehicles entering the first intersection are sorted into a traffic queue based on their estimated arrival time at the intersection, from shortest to longest.
[0006] Furthermore, the step of obtaining the estimated arrival time at the intersection for all unmanned logistics vehicles entering the first intersection based on all avoidance points bound to the first intersection includes: Obtain the driving direction of the second unmanned logistics vehicle; If the second unmanned logistics vehicle is traveling in the direction of the avoidance point bound to the first intersection, and the relative distance between the second unmanned logistics vehicle and the avoidance point bound to the first intersection is less than or equal to a preset distance, then the second unmanned logistics vehicle is determined to be an unmanned logistics vehicle entering the first intersection, and the estimated arrival time of the second unmanned logistics vehicle at the intersection is obtained.
[0007] Further, controlling the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point based on the traffic queue includes: If the first unmanned logistics vehicle is in the first position of the traffic queue, then control the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point; If the first unmanned logistics vehicle is at the second position in the passage queue, the driving direction of the unmanned logistics vehicle at the first position in the passage queue is obtained as the priority driving direction; if the driving direction of the first unmanned logistics vehicle is the same as the priority driving direction, the first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point; if the driving direction of the first unmanned logistics vehicle is different from the priority driving direction, the first unmanned logistics vehicle is controlled to wait to pass.
[0008] If the first unmanned logistics vehicle is at the third position in the passage queue, then control the first unmanned logistics vehicle to wait for passage.
[0009] Furthermore, controlling the first unmanned logistics vehicle to wait for passage includes: Control the first unmanned logistics vehicle to drive into the target avoidance point and stop and wait; After the first unmanned logistics vehicle enters the target avoidance point and stops to wait, the position of the first unmanned logistics vehicle in the traffic queue is obtained in real time. When the first unmanned logistics vehicle is in the first position of the traffic queue, or when the first unmanned logistics vehicle is in the second position of the traffic queue and the driving direction is the same as the priority driving direction, the first unmanned logistics vehicle is controlled to drive out of the target avoidance point and pass through the intersection corresponding to the target avoidance point.
[0010] Further, updating the passage queue includes: When the number of unmanned logistics vehicles in the passage queue whose estimated arrival time at the intersection is less than or equal to the estimated arrival time at the intersection of the first unmanned logistics vehicle is N, the first unmanned logistics vehicle is inserted into the (N+1)th position of the passage queue.
[0011] Furthermore, the method also includes: Before setting one or more coordinate points as avoidance points, record a map of the factory area as a navigation map; The process of recording the factory area map is as follows: using unmanned logistics vehicles to travel all over the factory area according to traffic rules, and recording the coordinate points passed at preset intervals; After recording the factory area map, adjust the position of the coordinate points according to the route in the 2D map of the factory area so that the coordinate points are located on the route in the 2D map.
[0012] Furthermore, the method also includes: The unmanned transport vehicle activates safety policies in real time, and the execution of safety policies takes priority over the control commands for passage at the intersection.
[0013] Secondly, the present invention provides an unmanned logistics vehicle intersection merging device, comprising: The avoidance point module is used to preset one or more coordinate points near intersections in the navigation map as avoidance points; The real-time acquisition module is used to monitor the relative distance between the first unmanned logistics vehicle's own position and the nearest avoidance point on the path ahead during the driving process. The scheduling module is used to: acquire the estimated arrival time of the first unmanned logistics vehicle at the intersection in real time and set the nearest avoidance point ahead as the target avoidance point when the relative distance is less than or equal to a preset distance; acquire the passage queue of the intersection corresponding to the target avoidance point; store the estimated arrival time of multiple unmanned logistics vehicles at the intersection in the passage queue; determine the passage order of unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point based on the estimated arrival time of the first unmanned logistics vehicle, update the passage queue; and control the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point based on the passage queue.
[0014] Thirdly, the present invention provides an electronic device, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform any of the aforementioned unmanned logistics vehicle intersection merging methods.
[0015] The present invention, by adopting the above technical solution, has at least the following beneficial effects: This invention provides a method, device, and electronic equipment for unmanned logistics vehicles to pass through intersections. One or more coordinate points are preset near the intersection on the navigation map as avoidance points. During its journey, the first unmanned logistics vehicle monitors its relative distance to the nearest avoidance point on its path in real time. When the relative distance is less than or equal to a preset distance, the estimated arrival time at the intersection is obtained in real time, and the nearest avoidance point is set as the target avoidance point. The passage queue at the intersection corresponding to the target avoidance point is obtained, and the passage queue is updated based on the estimated arrival time of the first unmanned logistics vehicle. The first unmanned logistics vehicle is then controlled to pass through the intersection corresponding to the target avoidance point based on the passage queue. This method effectively reduces congestion time and improves the transportation efficiency of unmanned vehicles by controlling and adjusting the unmanned transport vehicles passing through the intersection based on the estimated arrival time.
[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a flowchart illustrating an exemplary embodiment of the present invention of a method for unmanned logistics vehicles to converge at intersections; Figure 2 This is a schematic block diagram illustrating an unmanned logistics vehicle intersection convergence device according to an exemplary embodiment of the present invention; Figure 3 This is a schematic diagram of an electronic device illustrated in an exemplary embodiment of the present invention.
[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.
[0021] With the rapid development of autonomous driving technology, unmanned logistics vehicles have been widely used in warehousing, transportation and other fields. When unmanned logistics vehicles are driving on the road, they will inevitably meet other vehicles. When they meet other unmanned logistics vehicles, there are often situations where neither side can give way, resulting in traffic jams and reducing the transportation efficiency of unmanned logistics vehicles.
[0022] This invention provides a method, device, and electronic device for unmanned logistics vehicles to converge at intersections. Based on a set avoidance point, the current position, driving direction, and estimated arrival time at the intersection of the unmanned logistics vehicle are obtained. The scheduling instructions for unmanned transport vehicles passing through the intersection are adjusted according to the estimated arrival time, which can effectively reduce congestion time and improve the transportation efficiency of unmanned transport vehicles.
[0023] The methods and apparatus of the present invention will be described below through specific embodiments.
[0024] Please see Figure 1 , Figure 1 This is a flowchart illustrating an exemplary embodiment of the present invention of a method for unmanned logistics vehicles to converge at intersections. See also: Figure 1 The method includes: Step S11: Preset one or more coordinate points near the intersection in the navigation map as avoidance points; Step S12: Monitor in real time the relative distance between the position of the first unmanned logistics vehicle and the nearest avoidance point on the path ahead; Step S13: When the relative distance is less than or equal to the preset distance, obtain the estimated arrival time of the first unmanned logistics vehicle at the intersection in real time and set the nearest avoidance point ahead as the target avoidance point; Step S14: Obtain the traffic queue of the intersection corresponding to the target avoidance point. The traffic queue stores the estimated arrival time of multiple unmanned logistics vehicles at the intersection. Step S15: Based on the estimated arrival time of the first unmanned logistics vehicle at the intersection, determine the passage order of the unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point, and update the passage queue. Step S16: Control the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point according to the traffic queue.
[0025] It should be noted that the technical solution provided in this embodiment can be used in practice as a mini-program or a plugin loaded into existing systems or applications, or as a standalone application that implements its functions through external interfaces. Applicable scenarios include, but are not limited to, autonomous vehicle intersections.
[0026] It should be noted that the preset distance is set according to specific business needs; the estimated time to reach the intersection is obtained by dividing the relative distance between the unmanned logistics vehicle and the avoidance point by the current speed of the unmanned logistics vehicle; the passage queue also includes a unique identification code corresponding to the unmanned logistics vehicle, and each unique identification code corresponds to an estimated time to reach the intersection, which is used to determine which unmanned logistics vehicle the estimated time to reach the intersection belongs to.
[0027] It is understood that the method provided in this embodiment presets one or more coordinate points near the intersection in the navigation map as avoidance points. During the driving process, the first unmanned logistics vehicle monitors its own position and the relative distance to the nearest avoidance point on the path ahead in real time. When the relative distance is less than or equal to the preset distance, the estimated arrival time of the first unmanned logistics vehicle at the intersection is obtained in real time, and the nearest avoidance point ahead is set as the target avoidance point. The passage queue of the intersection corresponding to the target avoidance point is obtained, and the passage queue is updated according to the estimated arrival time of the first unmanned logistics vehicle at the intersection. The first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point according to the passage queue. In this method, the unmanned transport vehicle passing through the intersection is controlled and adjusted according to the estimated arrival time at the intersection, which can effectively reduce the congestion time and improve the transportation efficiency of the unmanned transport vehicle.
[0028] In practice, step S11, "preset one or more coordinate points near the intersection in the navigation map as avoidance points", includes: manually setting avoidance points near the intersection in the navigation map based on experience in navigating unmanned logistics intersections.
[0029] It should be noted that the conditions at each intersection within the factory area are different. First, conduct an on-site survey of all intersections within the factory area, classifying them according to traffic risks and road conditions, and then determine the specific location and scope of the avoidance points. For example, if an intersection has blind spots and high pedestrian traffic, the area where pedestrians cross frequently can be designated as the avoidance point; at intersections near loading and unloading areas, where forklift operations or goods are frequently stacked, the avoidance point should be extended 1.5 meters outward from the edge of the loading and unloading area.
[0030] In practice, step S12, "real-time monitoring of the relative distance between the position of the first unmanned logistics vehicle and the nearest avoidance point on the path ahead", includes: the unmanned logistics vehicle only cares about the nearest avoidance point on the path ahead, and does not process avoidance points that are not on the path or avoidance points on the path behind, even if they are identified.
[0031] It should be noted that the position of the first unmanned logistics vehicle is a coordinate point, and the distance between this coordinate point and the nearest avoidance point on the path ahead is used as the relative distance between the first unmanned logistics vehicle and the nearest avoidance point. In practice, the "preset distance" in step S13 is set according to specific business needs.
[0032] It should be noted that if the business requirement is safety first, the preset distance will be longer; if the business requirement is efficiency first, the preset distance will be shorter.
[0033] In practice, step S14, "obtaining the traffic queue of the intersection corresponding to the target avoidance point," includes: designating the intersection corresponding to the target avoidance point as the first intersection; obtaining the estimated arrival time of all unmanned logistics vehicles entering the first intersection based on all avoidance points bound to the first intersection; and sorting the unmanned logistics vehicles entering the first intersection from shortest to longest estimated arrival time to obtain the traffic queue.
[0034] It should be noted that each intersection in the navigation map has a unique intersection identifier; the avoidance point is bound to the unique intersection identifier, and each intersection can have multiple avoidance points, and each avoidance point belongs to only one intersection.
[0035] Specifically, based on all the avoidance points bound to the first intersection, the estimated arrival time of all unmanned logistics vehicles entering the first intersection is obtained, including: obtaining the driving direction of the second unmanned logistics vehicle; if the driving direction of the second unmanned logistics vehicle is towards the avoidance point bound to the first intersection, and the relative distance between the second unmanned logistics vehicle and the avoidance point bound to the first intersection is less than or equal to a preset distance, then the second unmanned logistics vehicle is determined to be an unmanned logistics vehicle entering the first intersection, and the estimated arrival time of the second unmanned logistics vehicle is obtained.
[0036] It should be noted that when identifying whether an unmanned logistics vehicle is entering an intersection, it can be quickly identified based on the direction of travel. Unmanned logistics vehicles traveling in the direction of the corresponding yield point are all in the state of entering the intersection; unmanned logistics vehicles traveling in the direction away from the corresponding yield point are all in the state of leaving the intersection; unmanned logistics vehicles in the state of leaving the intersection are removed from the traffic queue and then reordered.
[0037] It is understood that the technical solution provided in this embodiment obtains the current position, driving direction and estimated time to reach the intersection of the unmanned logistics vehicle based on the set avoidance point, and controls and adjusts the unmanned transport vehicle passing through the intersection according to the estimated time to reach the intersection, which can effectively reduce the congestion time and improve the transportation efficiency of the unmanned transport vehicle.
[0038] In practice, step S15, "updating the passage queue", includes: when the number of unmanned logistics vehicles in the passage queue whose estimated arrival time at the intersection is less than or equal to the estimated arrival time at the intersection of the first unmanned logistics vehicle is N, inserting the first unmanned logistics vehicle into the N+1 position of the passage queue.
[0039] It should be noted that unmanned logistics vehicles in the queue whose estimated arrival time at the intersection is less than or equal to that of the first unmanned logistics vehicle should have priority to pass.
[0040] In practice, step S16, "controlling the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point according to the traffic queue," includes: if the first unmanned logistics vehicle is in the first position of the traffic queue, then controlling the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point; if the first unmanned logistics vehicle is in the second position of the traffic queue, then obtaining the driving direction of the unmanned logistics vehicle in the first position of the traffic queue as the priority driving direction; if the driving direction of the first unmanned logistics vehicle is the same as the priority driving direction, then controlling the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point; if the driving direction of the first unmanned logistics vehicle is different from the priority driving direction, then controlling the first unmanned logistics vehicle to wait to pass; if the first unmanned logistics vehicle is in the third position or later of the traffic queue, then controlling the first unmanned logistics vehicle to wait to pass.
[0041] It should be noted that if the first unmanned logistics vehicle is in the same priority direction as the first unmanned logistics vehicle and is in the second position, then the first unmanned logistics vehicle can be controlled to pass through the intersection at the same time as the first unmanned logistics vehicle. Otherwise, it will continue to wait until the first unmanned logistics vehicle reaches the first position before it can be controlled to pass through the intersection.
[0042] Specifically, controlling the first unmanned logistics vehicle to wait for passage includes: controlling the first unmanned logistics vehicle to enter the target avoidance point and stop to wait; after the first unmanned logistics vehicle enters the target avoidance point and stops to wait, obtaining the position of the first unmanned logistics vehicle in the passage queue in real time; when the first unmanned logistics vehicle is in the first position of the passage queue, or when the first unmanned logistics vehicle is in the second position of the passage queue and the driving direction is the same as the priority driving direction, controlling the first unmanned logistics vehicle to leave the target avoidance point and pass through the intersection corresponding to the target avoidance point.
[0043] It should be noted that the process of using mature autonomous driving technology to control the first unmanned logistics vehicle to enter the target avoidance point is as follows: if no vehicle is detected between its own position and the target avoidance point, the first unmanned logistics vehicle is controlled to enter the target avoidance point and stop to wait; if a vehicle is detected between its own position and the target avoidance point, the first unmanned logistics vehicle is controlled to follow and wait until there are no vehicles between the first unmanned logistics vehicle's own position and the target avoidance point, after which it enters the avoidance point and stops to wait.
[0044] In practice, the method also includes: recording a factory area map as a navigation map before setting one or more coordinate points as avoidance points; the process of recording the factory area map is as follows: using unmanned logistics vehicles to travel all over the factory area according to traffic rules, and recording the coordinate points passed at preset intervals; after the factory area map is recorded, the position of the coordinate points is adjusted according to the route in the two-dimensional map of the factory area so that the coordinate points are located on the route of the two-dimensional map.
[0045] It should be noted that the preset interval is set according to specific business needs; the smaller the preset interval, the more detailed the map will be.
[0046] It should be noted that the recorded factory area map is usually a discrete point, and the coordinates need to be adjusted to place it on the route of the two-dimensional map, which helps to improve the positioning accuracy of the unmanned logistics vehicle.
[0047] In practice, the method also includes: the unmanned transport vehicle activates safety policies in real time, and the execution of safety policies has a higher priority than the control commands for passage at the intersection.
[0048] It should be noted that the unmanned logistics vehicle activates safety strategies in real time, employing existing strategies such as combining LiDAR, cameras, millimeter-wave radar, and ultrasonic radar. By leveraging the complementary nature of different sensors (e.g., LiDAR's 3D modeling, camera's visual recognition, and millimeter-wave radar's ranging and speed measurement), the detection accuracy of obstacles, pedestrians, and traffic signs is improved, enabling avoidance and other safety measures. For example, if the unmanned logistics vehicle is in the first position in the queue and should be guided through an intersection, but this conflicts with a safety strategy (pedestrian avoidance), the safety strategy, specifically pedestrian avoidance, takes priority. Only after pedestrians have yielded should the unmanned logistics vehicle be guided through the intersection.
[0049] Please see Figure 2 , Figure 2 This is a schematic block diagram illustrating an unmanned logistics vehicle intersection merging device according to an exemplary embodiment of the present invention. See also: Figure 2 The unmanned logistics vehicle intersection intersection device 100 includes: The avoidance point module 101 is used to preset one or more coordinate points near intersections in the navigation map as avoidance points; The real-time acquisition module 102 is used to monitor the relative distance between the position of the first unmanned logistics vehicle and the nearest avoidance point on the path ahead in real time during the driving process; The scheduling module 103 is used to obtain the estimated arrival time of the first unmanned logistics vehicle at the intersection in real time and set the nearest avoidance point ahead as the target avoidance point when the relative distance is less than or equal to the preset distance; obtain the passage queue of the intersection corresponding to the target avoidance point, and store the estimated arrival time of multiple unmanned logistics vehicles at the intersection in the passage queue; determine the passage order of unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point based on the estimated arrival time of the first unmanned logistics vehicle, and update the passage queue.
[0050] It should be noted that the device provided in this embodiment is applicable to scenarios including but not limited to: intersections where driverless vehicles meet.
[0051] It should be noted that the preset distance is set according to specific business needs; the estimated time to reach the intersection is obtained by dividing the relative distance between the unmanned logistics vehicle and the avoidance point by the current speed of the unmanned logistics vehicle; the passage queue also includes a unique identification code corresponding to the unmanned logistics vehicle, and each unique identification code corresponds to an estimated time to reach the intersection, which is used to determine which unmanned logistics vehicle the estimated time to reach the intersection belongs to.
[0052] It is understood that the device provided in this embodiment presets one or more coordinate points near the intersection in the navigation map as avoidance points. During the driving process, the first unmanned logistics vehicle monitors its own position and the relative distance to the nearest avoidance point on the path ahead in real time. When the relative distance is less than or equal to the preset distance, the estimated arrival time of the first unmanned logistics vehicle at the intersection is obtained in real time, and the nearest avoidance point ahead is set as the target avoidance point. The passage queue of the intersection corresponding to the target avoidance point is obtained, and the passage queue is updated according to the estimated arrival time of the first unmanned logistics vehicle at the intersection. The first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point according to the passage queue. In this method, the unmanned transport vehicle passing through the intersection is controlled and adjusted according to the estimated arrival time at the intersection, which can effectively reduce the congestion time and improve the transportation efficiency of the unmanned transport vehicle.
[0053] Please see Figure 3 , Figure 3 This is a schematic diagram of an electronic device illustrated in an exemplary embodiment of the present invention. See also: Figure 3 The electronic device 200 includes: at least one processor 202; and Memory 201 is communicatively connected to at least one processor 202; wherein, The memory 201 stores instructions that can be executed by at least one processor 202, which enables the at least one processor 202 to perform any of the above-described unmanned logistics vehicle intersection merging methods.
[0054] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0056] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.
[0057] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.
[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0059] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A method for unmanned logistics vehicles to converge at intersections, characterized in that, The method includes: Pre-set one or more coordinate points near intersections on the navigation map as avoidance points; Real-time monitoring of the position of the first unmanned logistics vehicle during its journey and its relative distance to the nearest avoidance point on the path ahead; When the relative distance is less than or equal to the preset distance, the estimated arrival time of the first unmanned logistics vehicle at the intersection is obtained in real time and the nearest avoidance point ahead is set as the target avoidance point; Obtain the traffic queue at the intersection corresponding to the target avoidance point, and the traffic queue stores the estimated arrival time at the intersection for multiple unmanned logistics vehicles; Based on the estimated arrival time of the first unmanned logistics vehicle at the intersection, the passage order of the unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point is determined, and the passage queue is updated. The first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point according to the traffic queue.
2. The method according to claim 1, characterized in that, Each intersection in the navigation map has a unique intersection identifier, and the avoidance point is bound to the unique intersection identifier; obtaining the traffic queue of the intersection corresponding to the target avoidance point includes: The intersection corresponding to the target avoidance point is designated as the first intersection; Based on all the avoidance points bound to the first intersection, the estimated arrival time of all unmanned logistics vehicles entering the first intersection is obtained; The unmanned logistics vehicles entering the first intersection are sorted into a traffic queue based on their estimated arrival time at the intersection, from shortest to longest.
3. The method according to claim 2, characterized in that, The method of obtaining the estimated arrival time of all unmanned logistics vehicles entering the first intersection based on all avoidance points bound to the first intersection includes: Obtain the driving direction of the second unmanned logistics vehicle; If the second unmanned logistics vehicle is traveling in the direction of the avoidance point bound to the first intersection, and the relative distance between the second unmanned logistics vehicle and the avoidance point bound to the first intersection is less than or equal to a preset distance, then the second unmanned logistics vehicle is determined to be an unmanned logistics vehicle entering the first intersection, and the estimated arrival time of the second unmanned logistics vehicle at the intersection is obtained.
4. The method according to claim 1, characterized in that, The step of controlling the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point based on the traffic queue includes: If the first unmanned logistics vehicle is in the first position of the traffic queue, then control the first unmanned logistics vehicle to pass through the intersection corresponding to the target avoidance point; If the first unmanned logistics vehicle is at the second position in the passage queue, then the driving direction of the unmanned logistics vehicle at the first position in the passage queue is obtained as the priority driving direction; if the driving direction of the first unmanned logistics vehicle is the same as the priority driving direction, then the first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point; if the driving direction of the first unmanned logistics vehicle is different from the priority driving direction, then the first unmanned logistics vehicle is controlled to wait to pass. If the first unmanned logistics vehicle is at the third position in the passage queue, then control the first unmanned logistics vehicle to wait for passage.
5. The method according to claim 4, characterized in that, The control of the first unmanned logistics vehicle to wait for passage includes: Control the first unmanned logistics vehicle to drive into the target avoidance point and stop and wait; After the first unmanned logistics vehicle enters the target avoidance point and stops to wait, the position of the first unmanned logistics vehicle in the traffic queue is obtained in real time; when the first unmanned logistics vehicle is in the first position of the traffic queue, or when the first unmanned logistics vehicle is in the second position of the traffic queue and the driving direction is the same as the priority driving direction, the first unmanned logistics vehicle is controlled to drive out of the target avoidance point and pass through the intersection corresponding to the target avoidance point.
6. The method according to claim 1, characterized in that, Updating the passage queue includes: When the number of unmanned logistics vehicles in the passage queue whose estimated arrival time at the intersection is less than or equal to the estimated arrival time at the intersection of the first unmanned logistics vehicle is N, the first unmanned logistics vehicle is inserted into the (N+1)th position of the passage queue.
7. The method according to claim 1, characterized in that, The method further includes: Before setting one or more coordinate points as avoidance points, record a map of the factory area as a navigation map; The process of recording the factory area map is as follows: using unmanned logistics vehicles to travel all over the factory area according to traffic rules, and recording the coordinate points passed at preset intervals; After recording the factory area map, adjust the position of the coordinate points according to the route in the 2D map of the factory area so that the coordinate points are located on the route in the 2D map.
8. The method according to any one of claims 1-7, characterized in that, The method further includes: The unmanned transport vehicle activates safety policies in real time, and the execution of safety policies takes priority over the control commands for passage at the intersection.
9. A device for unmanned logistics vehicles to converge at intersections, characterized in that, include: The avoidance point module is used to preset one or more coordinate points near intersections in the navigation map as avoidance points; The real-time acquisition module is used to monitor the relative distance between the first unmanned logistics vehicle's own position and the nearest avoidance point on the path ahead during the driving process. The scheduling module is used to obtain the estimated arrival time of the first unmanned logistics vehicle at the intersection in real time and set the nearest avoidance point ahead as the target avoidance point when the relative distance is less than or equal to a preset distance; obtain the passage queue of the intersection corresponding to the target avoidance point; and store the estimated arrival time of multiple unmanned logistics vehicles at the intersection in the passage queue. Based on the estimated arrival time of the first unmanned logistics vehicle at the intersection, the passage order of the unmanned logistics vehicles passing through the intersection corresponding to the target avoidance point is determined, and the passage queue is updated; based on the passage queue, the first unmanned logistics vehicle is controlled to pass through the intersection corresponding to the target avoidance point.
10. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.