Control method, apparatus, device, and storage medium for autonomously driven vehicles

Abstract

The present invention provides a control method, an apparatus, a device and a storage medium which are for an automatic driving vehicle within a limited area so that a control center adjusts the travel of the automatic driving vehicle. The method comprises: a step for acquiring pieces of state information about moving bodies within the limited area, wherein the moving bodies include a non-automatic moving body and an automatic driving vehicle, the non-automatic moving body includes a pedestrian and / or a non-automatic driving vehicle, the state information includes motion information and location information, and the motion information includes a motion direction and a motion speed; a step for determining a temporary passage restriction space corresponding to each of the moving bodies on the basis of the state information about each of the moving bodies; and a step for adjusting the current travel of the automatic driving vehicle on the basis of the current state information about the automatic driving vehicle and temporary passage restriction spaces corresponding to all other moving bodies. The method does not require the installation of a dedicated vehicle passage area, can assure the safe operation of the automatic driving vehicle within the entire limited area, and is low-cost.

Description

[Technical Field]

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, electronic device, and computer-readable storage medium for controlling an autonomous vehicle within a limited area. [Background technology]

[0002] When autonomous driving is realized in limited areas such as ports and industrial parks, to ensure the safe driving of autonomous vehicles, a dedicated vehicle traffic area is usually provided for autonomous vehicles, and non-autonomous vehicles and pedestrians are prohibited from entering the autonomous vehicle driving area, thereby ensuring the safe driving of autonomous vehicles.

[0003] However, this implementation method places relatively high demands on the facility conditions of ports and industrial parks, and it is necessary to realize the separation of autonomous vehicles from non-autonomous vehicles and pedestrians. Other methods include installing road measurement and sensing units to provide assistance to autonomous vehicles, such as using laser radar to detect obstacles and provide information about the obstacles to the autonomous vehicles. However, the high cost of laser radar makes this method difficult to implement when the area of ​​a port or industrial park is very large. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of this, the present invention provides a control method, apparatus, electronic device, and computer-readable storage medium for an autonomous vehicle within a limited area, which can ensure the safe operation of the autonomous vehicle within the limited area. [Means for solving the problem]

[0005] In order to solve the above technical problems, the present invention employs the following technical means.

[0006] According to an embodiment of the first aspect of the present invention, there is provided a method for controlling an autonomous vehicle within a limited area, in which a control center adjusts the traveling of the autonomous vehicle, comprising: acquiring status information of moving objects within the limited area, the moving objects including non-automated moving objects and automated vehicles, the non-automated moving objects including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed; determining a temporary restricted passage space corresponding to each of the moving bodies based on the state information of each of the moving bodies; and adjusting the travel of the current autonomous vehicle based on the status information of the current autonomous vehicle and the temporary restricted space corresponding to all other moving bodies.

[0007] Furthermore, the step of acquiring status information of the moving object within the limited area includes: acquiring location information of the moving object at different times and corresponding times; and determining the movement information of the moving object based on the acquired position information of the moving object and the corresponding time.

[0008] Furthermore, the position information of the mobile body and the corresponding time are acquired at predetermined time intervals, and the position information D of the mobile body acquired at the current time is k and the corresponding time T k , and the previously acquired location information D of the moving body k-1 and the corresponding time T k-1 The motion information of the moving object is determined based on the above.

[0009] Furthermore, the step of acquiring status information of the moving object within the limited area includes: The method includes a step of acquiring current location information of the mobile object and the corresponding time, and calculating state information of the mobile object at a predetermined time in the future based on a Kalman filter.

[0010] Furthermore, the motion information further includes motion acceleration, and the state information of the moving object is determined based on the three acquired position information of the moving object including the current time and the corresponding times.

[0011] Furthermore, the step of determining a temporary passage-restricted space corresponding to each of the moving bodies based on the state information of each of the moving bodies includes: determining a movement trajectory of each of the moving objects based on the movement information and map information within the limited area; The method includes a step of determining the temporary restricted passage space based on the starting point and the ending point, using the position information of the moving body as a starting point and a predetermined position after moving along the movement trajectory in the movement direction at the movement speed for a predetermined time.

[0012] Furthermore, the step of determining a temporary passage-restricted space corresponding to each of the moving bodies based on the state information of each of the moving bodies includes: determining a movement trajectory of each of the moving objects based on the movement information and map information within the limited area; The method includes a step of determining the temporary restricted passage space based on the starting point and the ending point, using the position information of the moving body as the starting point and a point extending a predetermined distance forward in the direction of movement along the movement trajectory as the ending point.

[0013] Furthermore, the method comprises: determining a time information correspondence relationship between the mobile unit and the control center; determining whether a communication failure exists based on the time information correspondence relationship, the last acquired location information of the mobile unit, and the corresponding time, and the communication failure includes a communication delay or a communication interruption; if it is determined that a communication failure exists, determining the length of time that the communication failure has existed; The method further includes a step of correcting the temporary passage-restricted space based on the length of time that the communication failure has occurred, and adjusting the travel of the autonomous moving body based on the corrected temporary passage-restricted space.

[0014] Furthermore, the step of correcting the temporary passage-restricted space based on the length of time that the communication failure has occurred includes: determining a predicted movement distance based on the length of the elapsed time and the movement speed of the moving object, starting from a position corresponding to the position information of the moving object acquired last time; and a step of defining a space from the starting point with the predicted movement distance as a radius and correcting the temporary passage restricted space.

[0015] The method further includes a step of defining a space along the movement direction with the predicted movement distance as a radius, and defining the space as the limited space.

[0016] Furthermore, the status information further includes identity information, and the identity information includes a type of the mobile object and a trust rank, and the method further includes correcting the limited space based on the identity information.

[0017] The method further includes a step of correcting the limited space based on environmental conditions and / or date attributes, where the environmental conditions include weather conditions, lighting conditions, and road conditions, and the date attributes are working days or public holidays.

[0018] Furthermore, the step of adjusting the traveling of the current autonomous vehicle based on the temporary traffic-restricted space and the state information of the current autonomous vehicle includes: When it is determined based on the state information of the current autonomous vehicle that the temporary restricted-passage space exists at a predetermined distance in the forward direction of the current autonomous vehicle, the method includes a step of stopping the current autonomous vehicle until the temporary restricted-passage space is removed.

[0019] Furthermore, the step of adjusting the traveling of the current autonomous vehicle based on the temporary traffic-restricted space and the state information of the current autonomous vehicle includes: If the temporary restricted-passage space exists at a predetermined distance in the forward direction of the current autonomous vehicle, the method further includes determining whether the moving object or obstruction exists within the temporary restricted-passage space, and if the moving object or obstruction does not exist, allowing the autonomous vehicle to continue passing through, and if the moving object or obstruction exists, stopping the current autonomous vehicle until the temporary restricted-passage space is removed.

[0020] Furthermore, the step of determining whether the moving object or the obstruction is present in the temporary passage-restricted space includes: Acquiring sensing information from the autonomous vehicle sensor, the autonomous vehicle sensor being one or more of a camera, a radar, or a laser radar; Detecting an obstacle based on the sensing information and determining whether the moving object or an obstruction exists within the temporary restricted passage space.

[0021] According to an embodiment of the second aspect of the present invention, in a control device for an autonomously driven vehicle within a limited area, an acquisition module used to acquire status information of moving objects within the limited area, the moving objects including non-automated moving objects and automated vehicles, the non-automated moving objects including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed; a calculation module for determining a temporary passage-restricted space based on the state information of the moving object; and an adjustment module for adjusting the current driving of the autonomous vehicle based on the temporary restricted-passage space and the current state information of the autonomous vehicle.

[0022] According to an embodiment of the third aspect of the present invention, an electronic device comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or at least one program is loaded and executed by the processor to realize the above method.

[0023] According to an embodiment of the fourth aspect of the present invention, a computer-readable storage medium has at least one instruction or at least one program stored therein, and the at least one instruction or at least one program is loaded and executed by a processor to realize the above method. [Effects of the Invention]

[0024] The above technical means of the present invention has at least one of the following beneficial effects.

[0025] According to the method for controlling autonomous vehicles within a limited area according to the embodiment of the present invention, even if a dedicated vehicle traffic area is not set up, the safe operation of autonomous vehicles within a limited area can be guaranteed and the cost is low. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a diagram showing a scene in which the method for controlling an autonomously driven vehicle within a limited area according to the present invention is used; [Figure 2] 1 is a flowchart of a method for controlling an autonomous vehicle within a limited area provided by an embodiment of the present invention. [Figure 3] 4 is a flowchart of a method for controlling an autonomous vehicle within a limited area provided by another embodiment of the present invention. [Figure 4] FIG. 2 is a diagram showing a motion trajectory of a moving object provided by an embodiment of the present invention. [Figure 5] 4 is a flowchart of a method for controlling an autonomous vehicle within a limited area provided by another embodiment of the present invention. [Figure 6] 4 is a flowchart of a method for controlling an autonomous vehicle within a limited area provided by another embodiment of the present invention. [Figure 7] 10 is a diagram for explaining how a temporary restricted passage space corresponding to a moving object is determined based on the state information of the moving object in one embodiment of the present invention; FIG. [Figure 8] FIG. 1 is a diagram illustrating a temporary restricted-access space for non-autonomous vehicles provided by an embodiment of the present invention. [Figure 9]FIG. 1 is a diagram showing a temporary pedestrian restricted passage space provided by an embodiment of the present invention. [Figure 10] FIG. 1 is a diagram showing a temporary pedestrian restricted passage space provided by an embodiment of the present invention. [Figure 11] FIG. 1 is a diagram illustrating an autonomous vehicle driving system provided by an embodiment of the present invention. [Figure 12] 1 is a diagram showing the structure of a control device for an autonomous vehicle driving within a limited area provided by an embodiment of the present invention; [Figure 13] 1 is a diagram illustrating the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] In order to allow those skilled in the art to better understand the technical means of the present invention, the technical means in the embodiments of the present invention will be described below clearly and completely with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of the embodiments. Any other embodiments obtained by those skilled in the art based on the embodiments of the present invention without expending inventive efforts are also included in the protection scope of the present invention.

[0028] It should be noted that the terms "first," "second," etc. in the present specification and claims, as well as in the drawings, are used to distinguish between similar objects and need not be used to describe a particular order or sequence. It should be understood that the embodiments of the present invention described herein can be practiced in orders other than those shown or described herein, and that the data used in this manner can be interchanged under appropriate circumstances. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, apparatus, product, or device that is a series of steps or units, and need not be limited to those steps or units that are explicitly ordered, but may include other steps or units that are not explicitly ordered or that are inherent to the process, method, product, or device.

[0029] Hereinafter, a method, apparatus, electronic device, and computer-readable storage medium for controlling an autonomous vehicle within a limited area according to an embodiment of the present invention will be described with reference to the drawings in the specification.

[0030] First, a scenario in which the method for controlling an autonomous vehicle within a limited area according to an embodiment of the present invention is used will be described with reference to FIG.

[0031] Figure 1 shows a schematic diagram of daily traffic flow within a limited area. As shown in Figure 1, there are usually multiple moving objects within the limited area, specifically people, external vehicle A, and the current autonomous vehicle B. In this case, the current autonomous vehicle B needs to adjust its operation based on the locations of the other moving objects (temporarily restricted traffic space).

[0032] The so-called limited area refers to an area with a certain boundary, and specifically may be, for example, an industrial park, a port, an airport, etc.

[0033] Under normal circumstances, people (including employees, visiting personnel, etc.) may be walking within these confined spaces, and there may also be the passing of outside vehicles. When an autonomous vehicle is used to transport goods or perform other functions within such confined spaces, it is necessary to control the autonomous vehicle in a timely manner to avoid pedestrians and outside vehicles in front of it. In other words, the autonomous vehicle must treat the pedestrians and outside vehicles in front of it as obstacles (i.e., temporary restricted-passage spaces) and make the autonomous vehicle stop temporarily, wait, or take a detour.

[0034] In addition, if the limited area is relatively large and multiple autonomous vehicles need to operate at the same time, the autonomous vehicles will also need to avoid other autonomous vehicles.

[0035] That is, current autonomous vehicles operating within the industrial park must adjust their operations according to the temporary restricted space created by all other moving objects to ensure safe operation.

[0036] Hereinafter, a method for controlling an autonomous vehicle within a limited area according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0037] 2 shows a flowchart of a method for controlling autonomous vehicles within a limited area according to an embodiment of the present invention. The method is used by a control center to coordinate the driving of autonomous vehicles. The method may include steps S110: acquiring the status (including position and movement information) of each moving object; S120: calculating temporary restricted-traffic spaces corresponding to each moving object; and S130: controlling the current autonomous vehicle to avoid the temporary restricted-traffic spaces corresponding to other moving objects.

[0038] Each of the above steps will be explained in more detail below with reference to FIGS.

[0039] S110: Acquire status information of moving bodies within the limited area, the moving bodies including non-automated moving bodies and automated vehicles, the non-automated moving bodies including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed.

[0040] In an embodiment of the present invention, the moving objects within the defined area include not only autonomous vehicles but also non-autonomous moving objects, such as pedestrians and non-autonomous vehicles. During the process of controlling an autonomous vehicle, it is necessary to ensure that the autonomous vehicle can avoid all other moving objects. Therefore, during the control process, it is necessary to obtain status information for all moving objects, including the current autonomous vehicle and other moving objects. Among these, the status information for the other moving objects is used to determine whether the other moving objects are within a certain distance in the forward direction of the current autonomous vehicle, and the status information for the current autonomous vehicle can be used to determine its own status. The combination of these two status information items determines whether the operation of the current autonomous vehicle needs to be adjusted.

[0041] The so-called status information includes position information and movement information.

[0042] The location information is used to determine the specific location of the moving object within the limited area. To acquire the location information, the moving object itself can acquire the location information through a terminal, for example, a terminal device carried by the moving object itself. For example, a pedestrian can acquire the location information through a sports watch, mobile phone, etc. carried by the moving object itself. After acquiring the location information, the sports watch, wristwatch, etc. can transmit it to a control center. For a vehicle, for example, the vehicle-mounted device can acquire the location information and transmit it to a location center.

[0043] In addition, positioning terminals may be installed on all mobile objects within the limited area. The positioning terminal may include, for example, a calculation unit, memory, positioning unit, battery, communication unit, display unit, etc. The positioning unit may include positioning methods such as Beidou, GPS, and RTK, and can obtain location information of its own location. The communication unit may realize mobile communications such as 4G and 5G. The communication unit can transmit the location information of the positioning terminal to a control center at a remote end. For example, when a mobile object reaches the entrance of the limited area, a corresponding positioning terminal is installed and the positioning terminal is set up online. The positioning terminal transmits online information to the control center, and the control center begins tracking and recording the position of the positioning terminal. When the mobile object finishes traveling within the limited area and reaches the exit, the positioning terminal transmits offline information to the control center, and the control center ends tracking and recording the position of the positioning terminal.

[0044] In addition, the so-called movement information includes the movement direction and movement speed. For pedestrians, the movement speed can be calculated and obtained by a conventional device such as a sports watch and then directly transmitted to the control center. For vehicles, the vehicle speed can be calculated and obtained by an on-board device and transmitted to the control center. For movement direction, the movement direction can be determined based on the position information of both the previous and next times.

[0045] As another specific example, as shown in FIG. 3, the status information can be obtained through steps of acquiring the location information and corresponding time of the moving object at different times, and determining the movement information of the moving object based on the acquired location information and corresponding time of the moving object. That is, the positioning terminal transmits the location information and the corresponding time to the control center at the same time. The control center acquires the location information and corresponding time of the moving object at two different times at regular time intervals, and then determines the movement speed and movement direction of the moving object through the simplest calculation based on the multiple location information and corresponding times. Of course, to obtain a more accurate movement direction, the movement direction can be further corrected based on a map, i.e., passable roads displayed on the map, and the movement trajectory can be determined and the movement speed calculated based on the corrected movement direction. More specifically, the location information and corresponding time of the moving object are acquired at predetermined time intervals, and the location information D of the moving object acquired at the current time is used. k and the corresponding time T k , and the previously acquired location information D of the moving body k-1 and the corresponding time T k-1 That is, the position information and the corresponding time of the moving object are acquired once at a predetermined time interval, and the movement direction and the movement speed are constantly corrected based on the two most recently acquired position information and the corresponding time, thereby correcting the movement information of the moving object in real time and more accurately determining the status information of each moving object.

[0046] More specifically, as shown in Figure 4, the origin and the positive directions of the X and Y axes of a corresponding plane coordinate system are defined in the limited area where the autonomous vehicle operates. After the positioning terminal obtains the geographical location information (e.g., longitude and latitude) of the moving object, this information is converted into coordinate values ​​in the XOY coordinate system, for example, the center coordinates (Xc, Yc) of the moving object. The speed of the vehicle is expressed as (V, θ) or (V x ,V y ), where V is the magnitude of the velocity, θ is the angle between the velocity direction and the positive direction of the X axis, and V x and V yare the magnitudes of the velocity on the X and Y axes, respectively.

[0047] Let us suppose that the coordinates of the positioning terminal at time k-1 and time k are (x k-1 ,y k-1 ),(x k ,y k ) and the time interval between time k-1 and time k is ΔT, the speed of the positioning terminal is

[0048]

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[0049]

number

[0050]

number

[0051]

number

[0052] In addition, the current state information (including position information and movement information) of the mobile object can be used to further estimate the state information of the mobile object at a predetermined time in the future based on the Kalman filter.

[0053] The Kalman filter is an algorithm for linear least mean square error estimation of dynamic systems, and is divided into two parts: prediction and update of the system.

[0054] The prediction is calculated using the following system state estimation equation:

[0055]

number

[0056] If the object moves at a uniform speed in a straight line within ΔT time, then Bu k =0, and the state transition matrix A is

[0057]

number

[0058]

number

[0059] The system state equation for the update part is

[0060]

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[0061]

number

[0062]

number

[0063] The covariance correction equation for the update part is

[0064]

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[0065] By repeating the above equations, the position and speed of each moving object at a predetermined time in the future can be predicted based on the current position information of the moving object obtained by the control center.

[0066] In one embodiment, the motion information may further include motion acceleration, taking into consideration that the moving object may move at variable speeds.

[0067] For example, for a vehicle, the motion acceleration can be acquired by a terminal device such as a vehicle gyroscope and transmitted to a control center. In addition, the control center can determine the state information of the moving object based on three pieces of acquired position information of the moving object and the corresponding times, including the current time. That is, one motion speed can be first obtained based on the first two pieces of position information and the corresponding times, and then another motion speed can be obtained based on the next two pieces of position information and the corresponding times, and then the motion acceleration can be obtained based on the two motion speeds.

[0068] Based on the motion acceleration, it is possible to know whether the moving object is accelerating or decelerating, and based on this information, the specific position of the moving object at the next predicted time can be further corrected and calculated. In other words, it is possible to more accurately determine whether the moving object will pose an obstacle to the current autonomous vehicle, further improving safety.

[0069] S120: Determine a temporary restricted passage space corresponding to each of the moving bodies based on the state information of each of the moving bodies.

[0070] That is, after acquiring the position information and movement information of the moving objects, the temporary passage-restricted space corresponding to each moving object is determined based on the acquired position information and movement information.

[0071] The temporary restricted space for moving objects refers to an area that the current autonomous vehicle must avoid, i.e., an area that any other moving object other than the current autonomous vehicle may pass through.

[0072] There are various methods for determining a temporary restricted passage space corresponding to a moving object based on the state information of the moving object. As shown in FIG. 5, in one embodiment of the present invention, the step of determining a temporary restricted-entry space corresponding to each of the moving bodies based on the status information of each of the moving bodies includes the steps of: determining a movement trajectory of the non-automatic moving body based on the movement information and map information within the limited area; and determining the temporary restricted-entry space based on the starting point and the ending point, with the location information of the moving body as the starting point and a predetermined position after moving along the movement trajectory in the movement direction at the movement speed for a predetermined time as the ending point.

[0073] In other words, after obtaining the location information, speed and direction of movement of the moving body at a certain time, it is assumed that the speed and direction of movement of the moving body will remain unchanged within a specified time period, and the area that the moving body passed through within this time period is calculated. This is then combined with map information within the limited area to obtain the area through which non-automated moving bodies can pass, i.e., the temporary restricted passage space.

[0074] As shown in FIG. 6, in another embodiment of the present invention, the step of determining a temporary restricted-passage space corresponding to each of the moving bodies based on the status information of each of the moving bodies includes the steps of: determining a movement trajectory of the non-automatic moving body based on the movement information and map information within the limited area; and determining the temporary restricted-passage space based on the starting point, which is the position information of the moving body, and the end point, which is a point extending a predetermined distance forward in the movement direction along the movement trajectory.

[0075] That is, after obtaining the location information, movement speed, and movement direction of the mobile object at a certain time, a predetermined distance is extended forward (e.g., 3 meters forward for pedestrians, 6 meters forward for vehicles, etc.) to calculate the area that the mobile object may pass through at the next time. The predetermined distance can be set based on experience, for example, the maximum distance reached by the mobile object at that movement speed in historical data. Sometimes, due to a problem with the communication signal, a communication failure may occur between the mobile object and the control center, which may cause, for example, communication delays or communication interruptions. Accordingly, the received status information of the mobile object may have a time deviation, and the status information may not accurately correspond to the real-time status of the mobile object when received. If the status information is not corrected, safety may be affected.

[0076] Therefore, in one embodiment of the present invention, the method further includes the steps of: determining a time information correspondence relationship between the mobile body and the control center; determining whether a communication failure, including a communication delay or interruption, exists based on the time information correspondence relationship and the last acquired location information of the mobile body and the corresponding time; determining the length of time that has elapsed since the communication failure if it is determined that a communication failure exists; and correcting the temporary restricted-passage space based on the length of time that has elapsed since the communication failure, and adjusting the travel of the automated mobile body based on the corrected temporary restricted-passage space.

[0077] The time information correspondence relationship between the mobile unit and the control center may be a synchronous relationship, or may be a relationship having a certain time difference rather than synchronization.

[0078] As one example, for example, the control center and the positioning terminal on the mobile object may be time-synchronized; specifically, the time of the positioning terminal may be set to the time of the control center, or both the control center and the positioning terminal may be synchronized to a time signal standard provided by a third party.

[0079] The positioning terminal on the mobile unit stamps a time stamp when transmitting information, and when the control center receives the positioning information from the positioning terminal, it compares the time stamp in the positioning information with the time at the control center based on the time stamp, and determines whether a communication failure exists and determines the length of time that the communication failure has lasted. For example, if the difference between the time stamp information in the received positioning information and the time when the control center received the positioning information is 0.5 seconds, it indicates that the duration of the communication failure is 0.5 seconds.

[0080] In one embodiment of the present invention, the step of correcting the temporary restricted-access space based on the length of time elapsed since the communication failure includes the steps of: determining a predicted movement distance based on the length of time elapsed and the movement speed of the moving body, starting from a position corresponding to the position information of the moving body acquired last time; and defining a space from the starting point with the predicted movement distance as its radius, and correcting the temporary restricted-access space.

[0081] In this case, the method of defining the space can be selected according to the specific situation. In one possible embodiment of the present invention, a space is defined along the movement direction with the predicted movement distance as a radius, and the defined space is the limited space. That is, the position coordinates of the moving object are defined as a spot, the predicted movement distance is defined as a radius, and a sector area with a predetermined angle, for example, 120°, is defined.

[0082] Below, we will explain in more detail how to determine temporary restricted passage spaces, using Figure 7.

[0083] First, we will explain the process of calculating a temporary restricted area based on the speed and direction of a non-autonomous vehicle. The vehicle's center coordinates (Xc, Yc), vehicle size (w, l), vehicle speed (V, θ), and communication delay Δt can be obtained using a positioning device.

[0084] Let the safety distances around the vehicle be d1, d2, d3, and d4, where d1 is the safety distance away from the vehicle in the forward direction of the vehicle, d2 is the safety distance behind the forward direction of the vehicle, and d3 and d4 are the safety distances on the left and right sides of the forward direction of the vehicle, respectively.

[0085] The size of d1 is related to the vehicle speed, and the distance that the vehicle travels within time t0 is defined as the temporary restricted-traffic space. That is, d1=v*t0, for example, t0 can be set to 2 seconds, and the distance range that the vehicle travels in 2 seconds in the forward direction is set as part of the temporary restricted-traffic space. d2, d3, and d4 can be set to fixed values ​​depending on the situation on-site, for example, they can be fixed to 3 meters, 1 meter, and 1 meter, respectively. Therefore, the formula for calculating the size of the temporary restricted-traffic space is: Length = 1 + V*(t0+Δt)+ 3 Width = w + 1 + 1 = w + 2 and The coordinates of the four vertices A (X1, Y1), B (X2, Y2), C (X3, Y3), and D (X4, Y4) of the section that is blocked by the above settings are as follows: X1 = Xc+(l / 2+d1)*cosθ- (w / 2+d3)*sinθ= Xc+(l / 2+v*(t0+Δt))*cosθ- (w / 2+1)*sinθ Y1 = Yc+ (l / 2+d1)*sinθ+ (w / 2+d3)*cosθ= Xc+(l / 2+v*(t0+Δt))*sinθ+ (w / 2+1)*cosθ X2 = Xc+(l / 2+d1)*cosθ+ (w / 2+d4)*sinθ= Xc+(l / 2+v*(t0+Δt))*cosθ+ (w / 2+1)*sinθ Y2 = Yc+ (l / 2+d1)*sinθ- (w / 2+d4)*cosθ= Xc+(l / 2+v*(t0+Δt))*sinθ- (w / 2+1)*cosθ X3 = Xc-(l / 2+d2)*cosθ+ (w / 2+d4)*sinθ= Xc+(l / 2+ 3)*cosθ+ (w / 2+1)*sinθ Y3 = Yc+ (l / 2+d2)*sinθ- (w / 2+d4)*cosθ= Xc+(l / 2+ 3)*sinθ- (w / 2+1)*cosθ X4 = Xc-(l / 2+d2)*cosθ- (w / 2+d3)*sinθ=Xc+(l / 2+ 3)*cosθ- (w / 2+1)*sinθ Y4 = Yc+(l / 2+d2)*sinθ+ (w / 2+d3)*cosθ=Xc+(l / 2+ 3)*sinθ+ (w / 2+1)*cosθ It can be calculated that:

[0086] The temporary restricted access space can be represented by a closed polygon in the control center, and the temporary restricted access space can be recorded by recording the consecutive vertices, which can be represented by points A(X1,Y1), B(X2,Y2), C(X3,Y3), D(X4,Y4), A(X1,Y1).

[0087] When a communication delay occurs, it can be easily set so that the vehicle continues to travel in the original direction. In the case of a communication interruption, the time is relatively long, and there is a relatively high possibility that the vehicle's forward direction will change. Therefore, assuming that the vehicle's speed remains constant, the direction is within a sector area with the initial direction being the center direction. For example, the angles between the initial direction and the left and right boundaries of the sector are 60°, and the sector radius is R = V * (t0 + Δt). If the communication delay is relatively long, the size of the vehicle can be ignored when calculating the temporary restricted area. The apex angle of the sector can be 120°.

[0088] Next, we will explain the calculation process of a temporary restricted-passage space corresponding to a pedestrian, for example, a company employee. The positioning terminal determines that the center coordinates of the pedestrian are (Xc, Yc) and the pedestrian's speed is V. Since the pedestrian's speed is relatively low, a fixed circular area around the person can be set as the temporary restricted-passage space, and the radius of the circle is R. Radius = v*(t0+Δt) If the temporary restricted passage space is a sector or a circle, it can be represented by a closed polygon, that is, by recording a number of vertices on a curve to approximate the closed curve.

[0089] In order to further optimize the corrected temporary restricted space, in one embodiment of the present invention, the status information further includes identity information, and the identity information includes a type of moving body and a trust rank, and the method further includes a step of correcting the restricted space based on the identity information.

[0090] For example, for pedestrians, the identity information can be expressed as type and credit rank. In terms of type, pedestrians can be divided into employees, temporary employees, and non-employees. Employees have received good safety training and can strictly follow traffic rules, while temporary employees, regardless of the amount of safety training they have received, are less familiar with traffic rules and are more likely to violate certain rules, and non-employees are more likely to violate rules. In addition, considering that not all employees will always follow traffic rules, the credit rank of the employee can be determined based on their past violations of rules.

[0091] In addition, for a vehicle, the type in the identity information indicates whether it belongs to an external non-autonomous vehicle, an internal non-autonomous vehicle, or an internal autonomous vehicle. Generally, the probability of external non-autonomous vehicles, internal non-autonomous vehicles, and internal autonomous vehicles complying with traffic rules will gradually increase. In addition, the vehicle's credibility rank can be determined based on the probability of violation of rules in the past.

[0092] It has been proven that the higher the probability of following traffic rules, the more reliable the estimated movement information is. That is, when determining the temporary restricted area, the determined area can be relatively small. Conversely, the higher the probability of violating traffic rules, the corresponding temporary restricted area should be relatively lenient to ensure safety.

[0093] For example, as shown in Figure 8, area 1 is a temporary restricted-access space for non-autonomous vehicles when there is no communication failure, and the temporary restricted-access space for non-autonomous vehicles on the left is relatively small because the control center has access to the vehicle's real-time location information. Area 2 (the entire sector-shaped area) on the right is a temporary restricted-access space when there is a communication failure, and the range of the temporary restricted-access space is relatively large after correction.

[0094] Furthermore, traffic regulations prohibit non-autonomous vehicles from crossing the center line of the road. Therefore, by combining the map information provided with the map, the temporary restricted area can be further modified to remove the area to the left of the center line, resulting in Area 3 in the figure (i.e., the area indicated by the dotted line in Area 2).

[0095] As shown in Figure 9, area 4 is a temporary restricted-access space for pedestrians when there is no communication failure. Because the control center has real-time location information for pedestrians, the temporary restricted-access space for pedestrians on the left is relatively small. Area 5 on the right is a temporary restricted-access space when there is a communication failure. After the temporary restricted-access space is corrected, its range is relatively large. Traffic regulations prohibit pedestrians from crossing the center line of the road. While employees may strictly adhere to this rule, temporary employees with relatively low reputations may not strictly adhere to this rule and may cross the center line of the road. Therefore, if the pedestrian is a temporary employee with a relatively low reputation, there is no need to correct the temporary restricted-access space. If the pedestrian is an employee, the temporary restricted-access space can be limited to the area where the pedestrian can pass in the forward direction, i.e., area 6 in the figure.

[0096] In some possible implementations of the present invention, the restricted space can be further adjusted based on environmental conditions and / or date attributes. The environmental conditions include weather conditions and lighting conditions, and the date attributes include working days or public holidays. For example, in terms of weather conditions, when visibility is poor due to fog, rain, etc. and the safe driving distance is relatively short, the temporary restricted space can be appropriately enlarged. In addition, the required safety level differs for different date attributes, and the temporary restricted space can be adjusted based on this.

[0097] For example, as shown in Figure 10, there is a building on one side of the pedestrian, so the pedestrian cannot pass through. Therefore, the temporary restricted space corrected based on the road conditions is shown in area 7.

[0098] S130: Adjust the driving of the current autonomous vehicle based on the status information of the current autonomous vehicle and the temporary restricted spaces corresponding to all other moving objects.

[0099] That is, after obtaining the status information of all moving bodies and determining the temporary restricted-traffic spaces corresponding to each moving body, the driving of the current self-driving vehicle is adjusted based on the status information of the current self-driving vehicle and the temporary restricted-traffic spaces corresponding to all other moving bodies.

[0100] In one embodiment of the present invention, step S130 includes, when it is determined based on the state information of the current autonomous vehicle that the temporary restricted-traffic space exists within a predetermined distance in the forward direction of the current autonomous vehicle, stopping the current autonomous vehicle until the temporary restricted-traffic space is removed.

[0101] In other words, if it is determined that a temporary restricted passage space exists within a predetermined distance in the forward direction of the current autonomous vehicle, the current autonomous vehicle will be stopped until the other moving objects move away.

[0102] In another embodiment of the present invention, step S130 includes a step of further determining whether the moving object or an obstacle blocking the moving object is present within the temporary restricted-passage space if the temporary restricted-passage space is present within a predetermined distance in the forward direction of the current autonomous vehicle, and allowing the autonomous vehicle to continue passing if the moving object or obstacle is not present, and stopping the current autonomous vehicle until the temporary restricted-passage space is removed if the moving object or obstacle is present.

[0103] Among these, the obstructions may be trees, buildings, etc. For example, a sensor may be installed in the autonomous vehicle to detect whether a moving object or obstruction is present within a predetermined range. As shown in FIG. 11 , area 8 is the detection range of the sensor, and area 9 is a temporary restricted-access space determined based on the status information of each moving object. If the autonomous vehicle is traveling directly, the sensor further detects whether a moving object or obstruction is present in the temporary restricted-access space ahead, and if there are no moving objects or obstructions, the autonomous vehicle can proceed forward. If the autonomous vehicle makes a right turn, the sensor cannot detect the area to the right because it is blocked by a building on the right. Therefore, the autonomous vehicle cannot pass through the temporary restricted-access space on the right and must park and wait until the temporary restricted-access space is removed.

[0104] Examples of the sensing device include a camera, a radar, a laser radar, and the like.

[0105] In one possible example of the present invention, the step of determining whether the moving body is present within the temporary restricted-access space includes the steps of acquiring sensing information from the autonomous vehicle, and detecting and identifying obstacles based on the sensing information to determine whether the moving body or an obstacle blocking the moving body is present within the temporary restricted-access space.

[0106] Hereinafter, the control device for an autonomously driven vehicle within a limited area according to the present invention will be described with reference to FIG.

[0107] As shown in FIG. 12, the control device for an autonomous driving vehicle within a limited area according to one embodiment of the present invention includes: an acquisition module 210 used to acquire status information of moving objects within the limited area, the moving objects including non-automated moving objects and automated vehicles, the non-automated moving objects including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed; a calculation module 220 for determining a temporary restricted passage space based on the state information of the moving object; and an adjustment module 230 for adjusting the current driving of the autonomous vehicle based on the temporary restricted space and the current state information of the autonomous vehicle.

[0108] It should be noted that the device provided in the above embodiments is described by way of example only with respect to the division of each of the above functional modules when realizing its functions. In actual use, the above functions can be allocated and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to achieve all or part of the above functions. Furthermore, the device provided in the above embodiments and the corresponding method embodiments belong to the same concept, and the specific implementation details thereof can be found in the corresponding method embodiments. Further details will not be described here.

[0109] In addition, according to an embodiment of the present invention, there is further provided an electronic device, which includes a processor and a memory, and at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the method provided in the above embodiment.

[0110] The memory may be used to store software programs and modules. The processor executes the software programs and modules stored in the memory to perform various functions and data processing. The memory may mainly include a program storage area and a data storage area, of which the program storage area can store the operating system, application programs required for functions, etc., and the data storage area can store newly created data according to the use of the device. In addition, the memory may include high-speed random access memory and may further include non-volatile memory. For example, it may include at least one magnetic disk storage, flash memory device, or other volatile solid-state storage. Accordingly, the memory may further include a memory controller to provide the processor with access to the memory.

[0111] Method embodiments provided by embodiments of the present invention may be executed on a terminal, a server, or a similar computing device; that is, the electronic device may include a terminal, a server, or a similar computing device. Taking a server-based implementation as an example, FIG. 13 shows a schematic diagram of a server configuration for a method for controlling an autonomous vehicle within a limited area. The server 700 may vary considerably in configuration and performance, and may include one or more central processing units (CPUs) 710 (e.g., one or more processors), memory 730, and storage medium 720 (e.g., one or more mass memories) for storing one or more application programs 723 or data 722. The memory 730 and storage medium 720 may be transient or persistent memory. The program stored in storage medium 720 may include one or more modules, each of which may include operations for a set of instructions in the server. Furthermore, the central processor 710 is configured to communicate with the storage medium 720 and can execute the operations for the set of instructions in the storage medium 720 on the server 700. The server 700 may further include one or more power sources 770, one or more wired or wireless network interfaces 750, one or more input / output interfaces 740, and / or one or more operating systems 721, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0112] The I / O interface 740 may be used to transmit and receive data via a network. A specific example of such a network may include a wireless network provided by the server 700's communications provider. In one example, the I / O interface 740 includes a network adapter (Network Interface Controller, NIC) and may communicate with the Internet by connecting to other network devices via a base station. In one example, the I / O interface 740 may be a radio frequency (RF) module and may be used to communicate with the Internet wirelessly. The wireless communication may use any communication standard or protocol, including, but not limited to, Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, and Short Messaging Service (SMS).

[0113] Those skilled in the art will understand that the structure shown in FIG. 13 is merely a schematic diagram, and that server 700 may include more or fewer modules than those shown in FIG. 13, or may have a different arrangement than that shown in FIG. 13.

[0114] An embodiment of the present invention further provides a computer-readable storage medium, which may be installed in an electronic device to store at least one instruction or at least one program related to implementing the method, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for controlling an autonomous vehicle within a limited area.

[0115] Preferably, in this embodiment of the present invention, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash disk, a read-only memory (ROM), a random access memory (RAM), a portable hard disk, a magnetic disk, or an optical disk.

[0116] An embodiment of the present invention further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions stored in a computer-readable storage medium, wherein a processor of a computing device reads the computer instructions from the computer-readable storage medium and executes the computer instructions to cause the computing device to perform the method for controlling an autonomous vehicle within a limited area provided in the various preferred embodiments above.

[0117] It should be noted that the order of the above-described embodiments of the present invention is for descriptive purposes only and does not imply superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above in this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the examples and still achieve desirable results. Also, processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or advantageous.

[0118] Each embodiment in this specification is described in a progressive manner, and identical or similar parts between embodiments may be referred to. The emphasis in each embodiment is on the differences between each embodiment. In particular, the device embodiments are generally similar to the method embodiments, and therefore the description is relatively simple. For relevant parts, please refer to the description of the method embodiments.

[0119] Those skilled in the art will understand that all or part of the steps in the above embodiments can be achieved through hardware, or by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0120] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications, equivalent replacements, improvements, etc. are included within the scope of protection of the present invention as long as they do not deviate from the spirit and principles of the present invention.

Claims

1. A method for controlling an autonomous vehicle within a limited area, in which a control center adjusts the driving of the autonomous vehicle, acquiring status information of moving objects within the limited area, the moving objects including non-automated moving objects and automated vehicles, the non-automated moving objects including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed; determining a temporary restricted passage space corresponding to each of the moving bodies based on the state information of each of the moving bodies; and adjusting the driving of the current autonomous vehicle based on status information of the current autonomous vehicle and the temporary restricted space corresponding to all other moving bodies.

2. The step of acquiring status information of a moving object within the limited area includes: acquiring location information of the moving object at different times and corresponding times; and determining the motion information of the moving object based on the acquired position information of the moving object and the corresponding time.

3. The position information of the mobile body and the corresponding time are acquired at predetermined time intervals, and the position information D of the mobile body acquired at the current time is ｋ and the corresponding time T ｋ , and the previously acquired position information D of the moving body ｋ－１ and the corresponding time T ｋ－１ 3. The method of claim 2, wherein the motion information of the moving object is determined based on:

4. The step of acquiring status information of a moving object within the limited area includes:

2. The method according to claim 1, further comprising the step of acquiring current location information of the mobile object and a corresponding time, and calculating state information of the mobile object at a predetermined time in the future based on a Kalman filter.

5. The method according to claim 3 or 4, characterized in that the movement information further includes movement acceleration, and the state information of the moving body is determined based on the position information of the moving body acquired three times including the current time and the corresponding times.

6. The step of determining a temporary passage-restricted space corresponding to each of the moving bodies based on the state information of each of the moving bodies includes: determining a movement trajectory of each of the moving objects based on the movement information and map information within the limited area; The method according to claim 2, further comprising the step of: determining the temporary restricted passage space based on the starting point and the ending point, the starting point being the position information of the moving body, and the ending point being a predetermined position after the moving body has traveled along the movement trajectory in the movement direction at the movement speed for a predetermined time.

7. The step of determining a temporary passage-restricted space corresponding to each of the moving bodies based on the state information of each of the moving bodies includes: determining a movement trajectory of each of the moving objects based on the movement information and map information within the limited area; The method according to claim 2, further comprising a step of determining the temporary restricted passage space based on the starting point and the ending point, the starting point being the position information of the moving body and the point extending a predetermined distance forward in the direction of movement along the movement trajectory.

8. determining a time information correspondence relationship between the mobile unit and the control center; determining whether a communication failure exists based on the time information correspondence relationship, the last acquired location information of the mobile unit, and the corresponding time, and the communication failure includes a communication delay or a communication interruption; if it is determined that a communication failure exists, determining the length of time that the communication failure has existed; 2. The method of claim 1, further comprising: correcting the temporary restricted-traffic space based on the length of time that the communication failure has occurred; and adjusting the travel of the autonomous vehicle based on the corrected temporary restricted-traffic space.

9. The step of correcting the temporary passage-restricted space based on the length of time that the communication failure has occurred includes: A position corresponding to the last acquired position information of the moving body is used as a starting point, determining a predicted movement distance based on the length of the elapsed time and the movement speed of the moving object; The method according to claim 8, further comprising: a step of defining a space from the starting point with a radius equal to the predicted movement distance, and correcting the temporary restricted passage space.

10. The method according to claim 9, further comprising the step of defining a space along the direction of movement with a radius equal to the predicted movement distance as the limited area.

11. The method according to any one of claims 8 to 10, characterized in that the status information further includes identity information, the identity information including a type of mobile object and a trust rank, and the method further includes a step of correcting the limited area based on the identity information.

12. The method of claim 11, further comprising the step of correcting the limited area based on environmental conditions and / or date attributes, wherein the environmental conditions include weather conditions, lighting conditions, and road conditions, and the date attributes are working days or public holidays.

13. The step of adjusting the current traveling of the autonomous vehicle based on the temporary traffic-restricted space and the current state information of the autonomous vehicle includes:

2. The method of claim 1, further comprising: when it is determined based on state information of the current autonomous vehicle that the temporary restricted-traffic space exists at a predetermined distance in the forward direction of the current autonomous vehicle, stopping the current autonomous vehicle until the temporary restricted-traffic space is removed.

14. The step of adjusting the current traveling of the autonomous vehicle based on the temporary traffic-restricted space and the current state information of the autonomous vehicle includes:

2. The method of claim 1, further comprising: if the temporary restricted-traffic space exists at a predetermined distance in the forward direction of the current autonomous vehicle, determining whether the moving object or obstruction exists within the temporary restricted-traffic space; and if the moving object or obstruction does not exist, allowing the autonomous vehicle to continue passing through; and if the moving object or obstruction exists, stopping the current autonomous vehicle until the temporary restricted-traffic space is removed.

15. The step of determining whether the moving object or the obstruction is present in the temporary passage-restricted space includes: Acquiring sensing information from a sensor of the autonomous vehicle, the sensor of the autonomous vehicle being one or more of a camera, a radar, or a laser radar; The method according to claim 14, further comprising: detecting an obstacle based on the sensing information and determining whether the moving object or an obstruction is present within the temporary restricted passage space.

16. In a control device for an autonomous vehicle within a limited area, an acquisition module used to acquire status information of moving objects within the limited area, the moving objects including non-automated moving objects and automated vehicles, the non-automated moving objects including pedestrians and / or non-automated vehicles, the status information including movement information and position information, and the movement information including movement direction and movement speed; a calculation module for determining a temporary passage-restricted space based on the state information of the moving object; and an adjustment module for adjusting the driving of the current autonomous vehicle based on the temporary restricted-passage space and status information of the current autonomous vehicle.

17. In electronic devices, An electronic device comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the method of claim 1.

18. In a computer-readable storage medium, A computer-readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or at least one program being loaded and executed by a processor to implement the method of claim 1.

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