Vehicle distance control method and device, electronic equipment and medium

Abstract

The invention provides a vehicle distance control method and device, electronic equipment and a medium, and can be widely applied to the technical field of intelligent logistics, and the vehicle distance control method comprises the steps: obtaining the state information of each of a plurality of vehicles located on a preset track; wherein the state information comprises one or more of a real-time position, a real-time speed and a target position, and the plurality of vehicles comprise a first vehicle; according to the real-time positions of all the vehicles, first sorting is carried out on all the vehicles, and adjacent vehicles of the first vehicle are determined according to the first sorting; according to at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle and the real-time speed of the adjacent vehicle, the speed of the first vehicle or the speed of the adjacent vehicle is adjusted on the basis of a preset vehicle following avoiding strategy, so that the adjusted distance is a safe vehicle distance. The efficiency and accuracy of vehicle distance control are improved, and the expansion diversity of the system is improved.

Description

Technical Field

[0001] This application relates to the field of smart logistics technology, and more specifically, to a vehicle distance control method, device, electronic equipment, and medium. Background Technology

[0002] Shuttle cars are widely used in modern intelligent warehousing and flexible manufacturing to transport goods. In these technologies, shuttle car operation relies on a central control system, which acquires the location and status of all vehicles, performs unified route planning, and issues commands. However, with the increasing number of vehicles, the frequency of data transmission between vehicles and the central controller also increases. This massive data transmission and processing can cause lag in the scheduling system and increase the risk of vehicle collisions. Furthermore, the fixed algorithm of the central scheduling system makes it difficult to meet the changing needs of different routes, resulting in insufficient system scalability. Summary of the Invention

[0003] The main objective of this application is to provide a vehicle distance control method, device, electronic device, and medium to at least solve the problem of vehicle collision risk in the prior art.

[0004] To achieve the above objectives, according to one aspect of this application, a vehicle distance control method is provided. The method includes: acquiring state information of each of a plurality of vehicles located on a preset track; wherein the state information includes one or more of real-time position, real-time speed, and target position, and the plurality of vehicles includes a first vehicle; sorting all the vehicles according to their real-time positions, and determining adjacent vehicles of the first vehicle according to the first sort; adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, so that the adjusted distance is at a safe following distance; wherein the preset following and avoidance strategy is used to adjust the speed of a vehicle ranked later in the first sort to follow the speed of a vehicle ranked earlier in the first sort or to increase the speed of the vehicle ranked earlier in the first sort. This application acquires state information of vehicles on a preset track, sorts the vehicles, determines adjacent vehicles based on the sort, and adjusts the speed of subsequent vehicles to follow preceding vehicles or to increase the speed of preceding vehicles based on the distance between vehicles and adjacent vehicles. This application can adjust the preset track for vehicle operation and adjust the vehicle speed according to the status of the vehicle and adjacent vehicles to maintain a safe distance between vehicles. This application helps to improve the efficiency and accuracy of vehicle distance control and enhances the scalability and versatility of the system.

[0005] Optionally, the adjacent vehicle includes the preceding vehicle adjacent to the first vehicle, and the distance includes a first distance between the first vehicle and the preceding vehicle. The step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, to ensure that the adjusted distance is at a safe following distance, includes:

[0006] When both the real-time speed of the preceding vehicle and the real-time speed of the first vehicle are not zero, the first distance is less than the following distance and the first distance is greater than the first safety distance, the real-time speed of the first vehicle is adjusted to the real-time speed of the preceding vehicle; wherein, the following distance is related to the radar sensing distance of the first vehicle;

[0007] Maintain the real-time speed of the first vehicle at the same real-time speed as the preceding vehicle until the first distance is less than the first safe distance, then adjust the real-time speed of the first vehicle to zero.

[0008] Optionally, the adjacent vehicle includes the preceding vehicle adjacent to the first vehicle, and the distance includes a first distance between the first vehicle and the preceding vehicle. The step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, to ensure that the adjusted distance is at a safe following distance, includes:

[0009] When the real-time speed of the preceding vehicle is zero, the real-time speed of the first vehicle is not zero, and the first distance is less than the avoidance distance, the real-time speed of the preceding vehicle is adjusted to a first preset speed; wherein, the avoidance distance is related to the target position of the first vehicle, and the avoidance distance is less than the second safe distance;

[0010] The real-time speed of the preceding vehicle is maintained at a preset speed until the first distance is greater than the second safe distance. The real-time speed of the preceding vehicle is determined according to the task received by the preceding vehicle, or the real-time speed of the preceding vehicle is adjusted to zero.

[0011] Optionally, adjusting the real-time speed of the preceding vehicle to a preset speed when the real-time speed of the preceding vehicle is zero, the real-time speed of the first vehicle is not zero, and the first distance is less than the avoidance distance includes:

[0012] Update the status information of the preceding vehicle and the first vehicle, and return the step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle and the real-time speed of the adjacent vehicle, and the speed of the adjacent vehicle, according to a preset following avoidance strategy, so that the adjusted distance is at a safe distance, and continuously adjust the speed of the preceding vehicle and the first vehicle.

[0013] Optionally, the preset track includes an arc-shaped region, and the method further includes:

[0014] When the first vehicle is in the arc-shaped area and the first distance is less than the avoidance distance, the real-time speed of the preceding vehicle is adjusted to a second preset speed; wherein the second preset speed is less than the first preset speed;

[0015] Maintain the real-time speed of the preceding vehicle at the second preset speed until the first vehicle is no longer in the arc-shaped area, then adjust the real-time speed of the preceding vehicle to the first preset speed.

[0016] Optionally, before obtaining the status information of each of the vehicles, the method further includes:

[0017] Control the first vehicle to receive the first task sent by the central system;

[0018] Based on the first task, the real-time speed of the first vehicle and the target position are determined.

[0019] Optionally, before adjusting the real-time speed of the first vehicle to the real-time speed of the preceding vehicle when both the real-time speed of the preceding vehicle and the real-time speed of the first vehicle are not zero, the first distance is less than the following distance, and the first distance is greater than the first safety distance, the method further includes:

[0020] Obtain the radar sensing distance and reaction distance of the first vehicle; wherein, the reaction distance is the distance corresponding to the reaction time;

[0021] The following distance is determined based on the sum of the radar sensing distance and the reaction distance;

[0022] The first safe distance is determined based on the radar sensing distance.

[0023] To achieve the above objectives, according to another aspect of this application, a vehicle distance control device is provided, comprising:

[0024] The acquisition module is used to acquire the status information of each of a plurality of vehicles located on a preset track; wherein the status information includes one or more of real-time position, real-time speed, and target position, and the plurality of vehicles includes a first vehicle;

[0025] The sorting module is used to sort all the vehicles according to their real-time locations, and to determine the adjacent vehicles of the first vehicle according to the first sorting.

[0026] The adjustment module is used to adjust the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, so that the adjusted distance is at a safe following distance; wherein, the preset following and avoidance strategy is used to adjust the speed of the vehicle ranked later in the first ranking to follow the speed of the vehicle ranked earlier in the ranking or to increase the speed of the vehicle ranked earlier in the ranking.

[0027] According to another aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the vehicle distance control method described above through the computer program.

[0028] According to another aspect of this application, a computer-readable storage medium is provided, including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described vehicle distance control method.

[0029] According to another aspect of this application, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps of the vehicle distance control method described above.

[0030] By applying the technical solution of this application, the status information of vehicles on a preset track is acquired and sorted. Based on the sorting, adjacent vehicles are determined, and the distance between a vehicle and its adjacent vehicles is adjusted to allow subsequent vehicles to follow the preceding vehicle or increase the speed of the preceding vehicle. This application can adjust the preset track on which vehicles run and adjust the speed of vehicles according to the status of vehicles and their adjacent vehicles, maintaining a safe distance between vehicles. This application helps improve the efficiency and accuracy of vehicle distance control and enhances the scalability and versatility of the system. Attached Figure Description

[0031] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0032] Figure 1 A schematic diagram illustrating an application scenario of a vehicle distance control method provided in an embodiment of this application is shown.

[0033] Figure 2 A schematic diagram of the shape of a preset track provided in an embodiment according to this application is shown;

[0034] Figure 3 A schematic diagram of the structure of a master controller provided in an embodiment of this application is shown;

[0035] Figure 4 A schematic flowchart of a vehicle distance control method provided in an embodiment of this application is shown;

[0036] The above figures include the following reference numerals:

[0037] 102, Processor; 104, Memory; 106, Transmission device; 108, Input / output device; 201, Vehicle; 202, Preset track. Detailed Implementation

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] As described in the background section, in related technologies:

[0042] Circular shuttle vehicle (RGV) systems are widely used in modern intelligent warehousing and flexible manufacturing. In existing technologies, RGV operation control typically relies on a central dispatch system. This central dispatch system receives the location and status information of all RGVs via wireless communication, enabling unified path planning and command issuance.

[0043] To address the aforementioned problems, embodiments of this application provide a vehicle distance control method. This method acquires the state information of vehicles on a preset track, sorts the vehicles, determines adjacent vehicles based on the sorting, and adjusts the speed of subsequent vehicles to follow the preceding vehicle or increase the speed of the preceding vehicle based on the spacing and distance between the vehicles and their adjacent vehicles. This application can adjust the preset track on which vehicles run and adjust the speed of vehicles according to the state of the vehicles and their adjacent vehicles, maintaining a safe distance between vehicles. This application helps improve the efficiency and accuracy of vehicle distance control and enhances the scalability and versatility of the system.

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0045] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a vehicle distance control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0046] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle distance control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0047] This embodiment provides a vehicle distance control method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0048] It should be noted that the information collected in this application is information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data all comply with the relevant laws, regulations, and standards of the relevant countries and regions, and necessary confidentiality measures have been taken. This process does not violate public order and good morals, and corresponding access points are provided for users to choose whether to authorize or refuse. The automated decision-making involved in this application provides users with corresponding access points to choose whether to agree to or refuse the automated decision-making results; if the user chooses to refuse, the process proceeds to the expert decision-making stage.

[0049] Figure 2 This is a schematic diagram illustrating one embodiment of the preset track in this application. Figure 3 This is a diagram showing the connection relationship between the main controller and the vehicle in this application. Figure 4 This is a flowchart illustrating a vehicle distance control method according to an embodiment of this application. The vehicle distance control method includes:

[0050] Step S100: Obtain the status information of each of the multiple vehicles 201 located on the preset track 202; wherein, the status information includes one or more of real-time position, real-time speed, and target position, and the multiple vehicles include the first vehicle;

[0051] Step S200: Based on the real-time locations of all vehicles, perform a first sorting on all vehicles, and determine the adjacent vehicles of the first vehicle based on the first sorting.

[0052] Step S300: Based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, and according to a preset following and avoidance strategy, adjust the speed of the first vehicle or the adjacent vehicle so that the adjusted distance is at a safe following distance; wherein, the preset following and avoidance strategy is used to adjust the speed of the vehicle ranked later in the first ranking to follow the speed of the vehicle ranked earlier in the ranking or to increase the speed of the vehicle ranked earlier in the ranking.

[0053] like Figure 1 As shown, the preset track in this application can be circular or any other arbitrary shape. Those skilled in the art can set a suitable preset track based on the specific space of the warehouse, the storage space of the transported goods, etc. (Refer to...) Figure 2 As shown, in this application, the central dispatch system is connected to multiple master controllers, each of which is connected to multiple vehicles. The master controllers adjust the speeds of the multiple vehicles to maintain a safe distance between them. In this application, the master controller can be a PLC controller. This application uses master controllers to control the distance between multiple vehicles, which helps to mitigate system errors caused by the large amount of data transmission between the vehicles and the central dispatch system, and improves the accuracy of vehicle distance control.

[0054] In some embodiments, the vehicle in this application can communicate wirelessly with the main controller. A location information code is preset on the track, and a scanner is installed on the vehicle to determine its real-time location by scanning the location information code. The vehicle is also equipped with a speed detection device to detect its real-time speed. The target location can be a task parameter set by the central dispatch system for the vehicle. The vehicle can also be equipped with radar to obtain the distance to adjacent vehicles, thereby protecting the vehicle and reducing the risk of collisions with neighboring vehicles.

[0055] The main controller of this application acquires the real-time location of all vehicles connected to it, sorts the vehicles according to their real-time locations, and determines the adjacent vehicles of each vehicle. When a new vehicle is inserted or a vehicle is removed, the first sorting is updated, and the adjacent vehicles of each vehicle are updated.

[0056] This application adjusts vehicle speed based on the distance and speed of adjacent vehicles to mitigate the risk of collisions. Specifically, for two adjacent vehicles in operation, the speed of the vehicle following the sequence is adjusted to match the speed of the vehicle preceding the sequence, with subsequent vehicles following the preceding vehicle in real time. Alternatively, the speed of the preceding vehicle is increased until the distance between adjacent vehicles meets the target position of the following vehicle. This application adjusts the vehicle speed in real time via a main controller, regardless of the shape of the track. Users can adjust the shape of the preset track according to their needs, improving the system's applicability.

[0057] Optionally, the adjacent vehicle includes the preceding vehicle adjacent to the first vehicle, and the distance includes a first distance between the first vehicle and the preceding vehicle. The step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, to ensure that the adjusted distance is at a safe following distance, includes:

[0058] When both the real-time speed of the preceding vehicle and the real-time speed of the first vehicle are not zero, the first distance is less than the following distance and the first distance is greater than the first safety distance, the real-time speed of the first vehicle is adjusted to the real-time speed of the preceding vehicle; wherein, the following distance is related to the radar sensing distance of the first vehicle;

[0059] Maintain the real-time speed of the first vehicle at the same real-time speed as the preceding vehicle until the first distance is less than the first safe distance, then adjust the real-time speed of the first vehicle to zero.

[0060] In this application, the following distance and the first safe distance are preset lengths. If the operating parameters of the vehicles corresponding to the main controller are all the same, and the detection devices are also the same, all vehicles correspond to the same following distance and the first safe distance. If the operating parameters and detection device parameters of the vehicles corresponding to the main controller are different, a corresponding following distance and the first safe distance are set for each vehicle. Specifically, if two adjacent vehicles are both in operation, the first distance is greater than the first safe distance but less than the following distance, and the speed of the first vehicle that is later in the sequence follows the speed of the vehicle that is earlier in the sequence. The following speed is related to the radar sensing distance and the reaction distance of the first vehicle. The following speed is the minimum distance that the radar of the first vehicle can sense and the minimum distance corresponding to the reaction time of the first vehicle. The first safe distance is the maximum distance that the radar of the first vehicle can sense. In this application, the first vehicle is any vehicle connected to the main controller. Before and after the following adjustment, both the first vehicle and the vehicle in front can receive task instructions from the central dispatch system, adjust their own state, update their own state information after adjustment, and continuously adjust their speed based on the preset following and avoidance strategy. This application uses a preset following and avoidance strategy to adjust the speed of two adjacent vehicles that are both in operation, thereby mitigating the risk of collision between adjacent vehicles.

[0061] In some embodiments, although the speed of the first vehicle is set to follow that of the preceding vehicle, the weight of the cargo loaded by the first vehicle and the preceding vehicle are different, and the friction between the first vehicle and the preceding vehicle and the preset track is also different. In some cases, the first distance will become smaller and smaller. Therefore, when the first distance is less than the first safe distance, that is, when the distance between the first vehicle and the preceding vehicle is too close, the speed of the first vehicle is adjusted to zero to alleviate the problem of collision between the two vehicles.

[0062] Optionally, the adjacent vehicle includes the preceding vehicle adjacent to the first vehicle, and the distance includes a first distance between the first vehicle and the preceding vehicle. The step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, to ensure that the adjusted distance is at a safe following distance, includes:

[0063] When the real-time speed of the preceding vehicle is zero, the real-time speed of the first vehicle is not zero, and the first distance is less than the avoidance distance, the real-time speed of the preceding vehicle is adjusted to a first preset speed; wherein, the avoidance distance is related to the target position of the first vehicle, and the avoidance distance is less than the second safe distance;

[0064] The real-time speed of the preceding vehicle is maintained at a preset speed until the first distance is greater than the second safe distance. The real-time speed of the preceding vehicle is determined according to the task received by the preceding vehicle, or the real-time speed of the preceding vehicle is adjusted to zero.

[0065] In some embodiments, the avoidance distance is the difference between the target position of the first vehicle and its real-time position, or the avoidance distance of the first vehicle is determined based on the difference between the target position and the real-time position. The avoidance distance may be slightly larger than this difference. The first preset speed is the speed of a normally operating vehicle, and the specific value of the first preset speed can be set according to the actual working conditions. The second safety distance is a value greater than the avoidance distance. If the first distance is greater than the second safety distance, it indicates that the preceding vehicle will not affect the first vehicle, and therefore, the speed of the preceding vehicle can be restored (i.e., the speed is zero); or the speed of the preceding vehicle can be determined based on the newly received task instructions. This application, through an avoidance strategy, enables the preceding vehicle to avoid subsequent vehicles when stationary, ensuring the normal execution of the tasks of subsequent vehicles.

[0066] Optionally, adjusting the real-time speed of the preceding vehicle to a preset speed when the real-time speed of the preceding vehicle is zero, the real-time speed of the first vehicle is not zero, and the first distance is less than the avoidance distance includes:

[0067] Update the status information of the preceding vehicle and the first vehicle, and return the step of adjusting the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle and the real-time speed of the adjacent vehicle, and the speed of the adjacent vehicle, according to a preset following avoidance strategy, so that the adjusted distance is at a safe distance, and continuously adjust the speed of the preceding vehicle and the first vehicle.

[0068] In this application, when the first vehicle and the preceding vehicle are avoiding or following another vehicle, the status information of each vehicle is updated in real time, and the speed is updated again based on the updated status information. The preset following and avoidance strategy is executed cyclically to improve the accuracy of vehicle distance control.

[0069] Optionally, the preset track includes an arc-shaped region, and the method further includes:

[0070] When the first vehicle is in the arc-shaped area and the first distance is less than the avoidance distance, the real-time speed of the preceding vehicle is adjusted to a second preset speed; wherein the second preset speed is less than the first preset speed;

[0071] Maintain the real-time speed of the preceding vehicle at the second preset speed until the first vehicle is no longer in the arc-shaped area, then adjust the real-time speed of the preceding vehicle to the first preset speed.

[0072] In circular or arc-shaped areas, the speed is lower to prevent the vehicle in front from traveling too fast and widening the distance between the two vehicles. Therefore, a strategy is adopted to exit and avoid the situation, thus reducing the speed of the vehicle in front.

[0073] Optionally, before obtaining the status information of each of the vehicles, the method further includes:

[0074] Control the first vehicle to receive the first task sent by the central system;

[0075] Based on the first task, the real-time speed of the first vehicle and the target position are determined.

[0076] Optionally, before adjusting the real-time speed of the first vehicle to the real-time speed of the preceding vehicle when both the real-time speed of the preceding vehicle and the real-time speed of the first vehicle are not zero, the first distance is less than the following distance, and the first distance is greater than the first safety distance, the method further includes:

[0077] Obtain the radar sensing distance and reaction distance of the first vehicle; wherein, the reaction distance is the distance corresponding to the reaction time;

[0078] The following distance is determined based on the sum of the radar sensing distance and the reaction distance;

[0079] The first safe distance is determined based on the radar sensing distance.

[0080] To achieve the above objectives, according to another aspect of this application, a vehicle distance control device is provided, comprising:

[0081] The acquisition module is used to acquire the status information of each of a plurality of vehicles located on a preset track; wherein the status information includes one or more of real-time position, real-time speed, and target position, and the plurality of vehicles includes a first vehicle;

[0082] The sorting module is used to sort all the vehicles according to their real-time locations, and to determine the adjacent vehicles of the first vehicle according to the first sorting.

[0083] The adjustment module is used to adjust the speed of the first vehicle or the adjacent vehicle based on at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle, and the real-time speed of the adjacent vehicle, according to a preset following and avoidance strategy, so that the adjusted distance is at a safe following distance; wherein, the preset following and avoidance strategy is used to adjust the speed of the vehicle ranked later in the first ranking to follow the speed of the vehicle ranked earlier in the ranking or to increase the speed of the vehicle ranked earlier in the ranking.

[0084] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the vehicle distance control method of this application will be described in detail below with reference to specific embodiments.

[0085] The purpose of this invention is to overcome the shortcomings of the prior art and provide an autonomous following and avoidance control system and method for RGVs based on electrical control. Through on-board sensing and vehicle-master communication, it achieves automatic following and avoidance at the electrical level, reduces dependence on the central system, and improves system reliability and response speed.

[0086] This application aims to reduce over-reliance on a central dispatch system and avoid increasing the risk of collisions due to lag caused by massive data uploads in multi-vehicle, high-frequency operation scenarios. The fixed algorithms of central dispatch systems are ill-suited to handle dynamic path changes and lack scalability and flexibility. Current central control systems typically rely on simple stop-and-wait strategies, which are ineffective for efficient dynamic obstacle avoidance.

[0087] The hardware components of this application are as follows:

[0088] 1. Communication System: Each vehicle communicates with the ground-based main control PLC in real time via wireless or leaky cable.

[0089] 2. Location system: Each vehicle is equipped with a location barcode scanner, which obtains the current real-time location by scanning the track barcode.

[0090] 3. Ground main control system: Set up a main controller to obtain the status and location of each vehicle and process and issue control signals.

[0091] 4. Protection System: Each vehicle is equipped with a lidar system as a second layer of protection.

[0092] Explanation of the principle:

[0093] The vehicle control unit is the core processing unit of each vehicle, and its configuration requires the following operations:

[0094] Speed ​​and position control: Receives tasks from the central dispatch system and instructions from the main control PLC to dynamically adjust the vehicle's speed and reach the destination.

[0095] Follow-up decision: If no follow-up instruction is received, it runs at normal speed; if a follow-up instruction is received from the main control PLC, it begins to follow the follow-up speed sent by the main control PLC.

[0096] Avoidance decision: If no avoidance command is received, remain stationary and wait for a task to be issued; if an avoidance command is received from the main control PLC, proceed at normal speed until the avoidance command disappears if there is no task; if a follow command is received midway, proceed at the follow speed until the avoidance command disappears. It is understandable that avoidance only applies to vehicles without a task.

[0097] The central dispatch system, also known as the Host Computer System (WCS), is responsible for receiving and processing production orders, breaking them down into tasks, and assigning them to each vehicle for transport. The main control PLC is responsible for monitoring and safety control. Each vehicle receives a task from the central dispatch system and executes it. The speed at which it runs is controlled by the main control PLC. For example, if the vehicle in front is moving slowly and a following vehicle enters its following distance, the main control PLC needs to send the speed of the vehicle in front to the current vehicle to avoid a collision. When a vehicle is idle and has not received a task from the central dispatch system, if it blocks the progress of a following vehicle, the main control PLC needs to send an avoidance command to allow the idle vehicle to move forward until it is away from the target position of the following vehicle. In summary, the central control system is only responsible for assigning tasks to each vehicle and receiving completion signals; it does not participate in the process itself. The main control PLC monitors the position and speed of each vehicle throughout the entire process to perform collision avoidance and obstacle avoidance control.

[0098] Main control PLC:

[0099] Receive the following status from each vehicle: current position, current speed, and target position;

[0100] Send status information to each vehicle: following command, avoidance command, following speed, and stop.

[0101] Control Logic: Receive the current position of each vehicle, sort each vehicle in ascending order, dynamically establish a coordinate system for each vehicle, obtain the preceding vehicle number for each vehicle, and when the distance between the preceding and following vehicles is within the following distance, send a following instruction and the preceding vehicle's speed to the following vehicle, and the following vehicle follows the preceding vehicle's speed to maintain a constant distance; when the preceding vehicle is free and the following vehicle's target position conflicts with the preceding vehicle (i.e., the target position is outside the preceding vehicle's position (the preceding vehicle's position is between the current vehicle's position and the target position)), send a yield instruction to the preceding vehicle, and the preceding vehicle moves at a normal speed (normal speed is the free speed when the vehicle is in automatic mode and there is no following vehicle) until the current position and the following vehicle's target position are no longer in conflict. During the yielding process, the preceding vehicle can receive tasks from the central dispatch system and can also execute following instructions. Specifically, when it is performing a yielding task and there is another vehicle in front of it, if the distance between the two vehicles is less than the following distance, then it must both perform yielding and follow (its speed is controlled by the preceding vehicle, and it follows the preceding vehicle's speed).

[0102] Control process: The master controller collects the speed information of each vehicle, including one or more of the actual position, actual speed, turning, automatic operation, and idle state. The master controller writes the mode information of each vehicle: operating state (following / freely running), following speed, avoidance mode, low-speed avoidance. That is, the speed information and mode information can be regarded as the state information in this application. The control logic adopted by the master controller (i.e., the preset following and avoidance strategy): 1. Set the following distance P1 (i.e., the following distance in this application) and the stopping distance P2 (i.e., the first safety distance in this application). For example, P1 is set to 10 meters and P2 is set to 3 meters. 2. Set the avoidance distance P3 (i.e., the avoidance distance in this application) and the stopping distance P4 (i.e., the second safety distance in this application), and P4 > P3; for example, P3 is set to 5 meters and P4 is set to 10 meters; 3. Establish position coordinates: According to the actual position of each vehicle collected, arrange the vehicle positions from large to small to obtain the vehicle numbers with the largest to smallest positions on the loop. 4. Following mode: According to the obtained arranged vehicle numbers, know the front and rear vehicles of each vehicle (i.e., adjacent vehicles in this application). If there are four vehicles a, b, c, d on the preset track, and the position arrangement is also a, b, c, d. When the position P2 < a - b < P1, the master controller writes the operating state (following) of vehicle b, and the master controller writes the following speed of vehicle b = the actual speed of vehicle a; when the position a - b < P2, the master controller writes the following speed of vehicle b = 0; 5. Avoidance mode: When vehicle b collects the information "in automatic operation" and the front vehicle a is in the "idle state" and the position a - b < P3, the master controller writes the "avoidance mode" for vehicle a. At this time, vehicle b is in the following mode and vehicle a is in the avoidance mode, and the speed of vehicle a is automatically given an automatic speed inside the vehicle. When a - b > P4, the master controller clears the avoidance mode of vehicle a. In normal operation, the vehicle speed through the bend is very slow. To avoid the avoidance vehicle accelerating as soon as it exits the bend and leaving the avoidance mode to stop, according to the information "turning" collected by vehicle b (i.e., this application is in the arc area), when the position a - b < P3, write low-speed avoidance for vehicle a. Vehicle a still runs at the bend speed after exiting the bend until vehicle b exits the bend, and then the two run at the normal speed.

[0103] Among them, the position of the vehicle is a circular coordinate system, and the maximum position and the 0 position coincide. Arranging the positions of each vehicle from small to large gives the position sorting of each vehicle. In this way, the vehicle with the first position is the rear vehicle of the vehicle with the second position (because the position in the vehicle's forward direction becomes larger).

[0104] The following distance should be greater than the sensing distance of the obstacle avoidance radar. To reserve the reaction time for the rear vehicle (when the front vehicle decelerates, the rear vehicle's reaction following speed will not reach the radar sensing area), the distance can be set > radar sensing distance + reaction time distance (0.5 meters).

[0105] In this application, the avoidance distance and parking distance are unrelated to the target location. The following vehicle executes the task corresponding to the target location. If the preceding vehicle remains within the avoidance distance, it will continuously trigger the avoidance action until the distance is beyond the parking distance. For example, if the following vehicle needs to reach a target location 100 meters away, and the distance between the preceding and following vehicles is less than the avoidance distance, then the preceding vehicle will execute the avoidance distance action. If the distance between the preceding and following vehicles is greater than the parking distance, then the preceding vehicle will stop.

[0106] According to another aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the vehicle distance control method described above through the computer program.

[0107] According to another aspect of this application, a computer-readable storage medium is provided, including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described vehicle distance control method.

[0108] According to another aspect of this application, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps of the vehicle distance control method described above.

[0109] It should be noted that the above are merely illustrative examples and do not specifically limit the implementation logic.

[0110] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0117] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] 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.

[0119] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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 that element.

[0120] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle distance control method characterized by, The vehicle distance control method comprises: acquiring state information of each vehicle in a plurality of vehicles located on a preset track; wherein the state information comprises one or more of a real-time position, a real-time speed, and a target position, and the plurality of vehicles comprises a first vehicle; performing a first sorting on all the vehicles according to the real-time positions of all the vehicles, and determining a neighboring vehicle of the first vehicle according to the first sorting; adjusting a speed of the first vehicle or the neighboring vehicle based on a preset following-vehicle avoidance strategy according to at least one of a distance between the first vehicle and the neighboring vehicle, the real-time speed of the first vehicle, and the real-time speed of the neighboring vehicle, so that the adjusted distance is within a safe distance; wherein the preset following-vehicle avoidance strategy is used to adjust the speed of a vehicle ranked later in the first sorting to follow the speed of a vehicle ranked earlier or to increase the speed of the vehicle ranked earlier.

2. The vehicle distance control method according to claim 1, characterized by, The neighboring vehicle comprises a previous vehicle adjacent to the first vehicle, and the distance comprises a first distance between the first vehicle and the previous vehicle. The adjusting of the speed of the first vehicle or the neighboring vehicle based on the preset following-vehicle avoidance strategy according to at least one of the distance between the first vehicle and the neighboring vehicle, the real-time speed of the first vehicle, and the real-time speed of the neighboring vehicle, so that the adjusted distance is within a safe distance, comprises: when the real-time speed of the previous vehicle and the real-time speed of the first vehicle are both non-zero, the first distance is less than a following distance, and the first distance is greater than a first safe distance, adjusting the real-time speed of the first vehicle to be the real-time speed of the previous vehicle; wherein the following distance is related to a radar sensing distance of the first vehicle; maintaining the real-time speed of the first vehicle to be the real-time speed of the previous vehicle until the first distance is less than the first safe distance, and adjusting the real-time speed of the first vehicle to be zero.

3. The vehicle distance control method according to claim 1, characterized by, The neighboring vehicle comprises a previous vehicle adjacent to the first vehicle, and the distance comprises a first distance between the first vehicle and the previous vehicle. The adjusting of the speed of the first vehicle or the neighboring vehicle based on the preset following-vehicle avoidance strategy according to at least one of the distance between the first vehicle and the neighboring vehicle, the real-time speed of the first vehicle, and the real-time speed of the neighboring vehicle, so that the adjusted distance is within a safe distance, comprises: when the real-time speed of the previous vehicle is zero, the real-time speed of the first vehicle is non-zero, and the first distance is less than an avoidance distance, adjusting the real-time speed of the previous vehicle to be a first preset speed; wherein the avoidance distance is related to a target position of the first vehicle; maintaining the real-time speed of the previous vehicle to be the preset speed until the first distance is greater than a second safe distance, determining the real-time speed of the previous vehicle according to a task received by the previous vehicle or adjusting the real-time speed of the previous vehicle to be zero; wherein the avoidance distance is less than the second safe distance.

4. The vehicle distance control method according to claim 3, characterized by The method further comprises: updating the state information of the previous vehicle and the first vehicle, and returning to the step of adjusting the speed of the first vehicle or the adjacent vehicle based on the preset following-vehicle avoidance strategy to make the adjusted distance between the first vehicle and the adjacent vehicle be a safe distance, according to at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle and the real-time speed of the adjacent vehicle, and continuously adjusting the speed of the previous vehicle and the first vehicle.

5. The vehicle distance control method according to claim 3, characterized by, The preset track includes an arc region, and the method further comprises: adjusting the real-time speed of the previous vehicle to a second preset speed when the first vehicle is in the arc region and the first distance is less than the avoidance distance; wherein the second preset speed is less than the first preset speed; maintaining the real-time speed of the previous vehicle as the second preset speed until the first vehicle is not in the arc region, and adjusting the real-time speed of the previous vehicle to the first preset speed.

6. The vehicle distance control method according to claim 1, characterized by The method further comprises: controlling the first vehicle to receive a first task sent by a central system; determining the real-time speed and the target position of the first vehicle according to the first task.

7. The vehicle distance control method according to claim 2, characterized by The method further comprises: obtaining a radar sensing distance and a reaction distance of the first vehicle; wherein the reaction distance is a distance corresponding to a reaction time; determining the following distance according to the sum of the radar sensing distance and the reaction distance; determining the first safe distance according to the radar sensing distance.

8. A vehicle distance control device characterized by comprising: The vehicle distance control device comprises: an obtaining module configured to obtain state information of each vehicle in a plurality of vehicles located on a preset track; wherein the state information comprises one or more of a real-time position, a real-time speed and a target position, and the plurality of vehicles comprises a first vehicle; a sorting module configured to sort all the vehicles according to the real-time positions of all the vehicles, and determine an adjacent vehicle of the first vehicle according to the first sorting; an adjusting module configured to adjust the speed of the first vehicle or the adjacent vehicle based on a preset following-vehicle avoidance strategy, according to at least one of the distance between the first vehicle and the adjacent vehicle, the real-time speed of the first vehicle and the real-time speed of the adjacent vehicle, so that the adjusted distance is a safe distance; wherein the preset following-vehicle avoidance strategy is used to adjust the speed of a vehicle ranked later in the first sorting to follow the speed of a vehicle ranked earlier or to increase the speed of the vehicle ranked earlier.

9. An electronic device, comprising: The electronic device comprises: A memory in which a computer program is stored, and a processor configured to execute the vehicle distance control method according to any one of claims 1 to 7 by the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored program, wherein the device in which the computer readable storage medium is located executes the vehicle distance control method according to any one of claims 1 to 7 when the program runs.

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