CN113085848B - Control method and device for unmanned road roller, electronic equipment and storage medium - Google Patents
Control method and device for unmanned road roller, electronic equipment and storage medium Download PDFInfo
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- CN113085848B CN113085848B CN202110408415.2A CN202110408415A CN113085848B CN 113085848 B CN113085848 B CN 113085848B CN 202110408415 A CN202110408415 A CN 202110408415A CN 113085848 B CN113085848 B CN 113085848B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The application provides a control method and device of an unmanned road roller, electronic equipment and a storage medium, and relates to the technical field of road rollers. The control method can acquire environmental parameters of the unmanned road roller relative to the obstacle; determining a target risk area where the unmanned road roller is located according to the environmental parameters; according to the method and the device, the target avoidance control signal corresponding to the target risk area is generated by adopting the avoidance control strategy corresponding to the risk level according to the risk level of the target risk area.
Description
Technical Field
The present disclosure relates to the field of road rollers, and particularly to a method and an apparatus for controlling an unmanned road roller, an electronic device, and a storage medium.
Background
The road roller is also called a soil compactor, is a road repairing device, can be widely applied to the filling compaction operation of large engineering projects such as high-grade highways, railways, airport runways and the like, can compact sandy, semi-viscous and viscous soil, roadbed stable soil and asphalt concrete pavement layers, and is widely applied along with the development of artificial intelligence technology.
When an existing unmanned road roller works, a driving path is generally planned according to a fixed obstacle identified by the existing unmanned road roller to finish road roller operation.
However, the existing control system is relatively simple, and the actual working environment is relatively complex, for example, there may be a situation of moving an obstacle, so the existing control system will not meet the requirements of the actual application scenario.
Disclosure of Invention
An object of the present application is to provide a method and an apparatus for controlling an unmanned road roller, an electronic device, and a storage medium, which can improve reliability and applicability of the unmanned road roller.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, the present invention provides a method of controlling an unmanned road roller, the method comprising:
acquiring environmental parameters of the unmanned road roller relative to the obstacle;
determining a target risk area where the unmanned road roller is located according to the environmental parameters;
generating a target avoidance control signal corresponding to the target risk area by adopting an avoidance control strategy corresponding to the risk grade according to the risk grade of the target risk area;
and controlling the unmanned road roller to execute avoidance operation according to the target avoidance control signal.
In an alternative embodiment, the environmental parameters include: a relative position; determining a target risk area where the unmanned road roller is located according to the environmental parameters, wherein the determining comprises the following steps:
judging whether the obstacle is in a first risk area which takes the unmanned road roller as the center and takes the radius as a first preset distance according to the relative position;
determining the first risk zone as the target risk zone if it is determined that the obstacle is within the first risk zone.
In an alternative embodiment, the environmental parameters further include: relative orientation; determining a target risk area where the unmanned road roller is located according to the environmental parameters, and further comprising:
if the obstacle is determined not to be in the first risk area, judging whether the distance between the obstacle and the unmanned road roller is larger than a first preset distance and smaller than a second preset distance or not according to the relative position;
if the distance between the obstacle and the unmanned road roller is determined to be larger than the first preset distance and smaller than a second preset distance, judging whether the obstacle is on a rolling planning path where the unmanned road roller is located or not according to the relative direction;
and if the obstacle is determined to be on the rolling planned path where the unmanned road roller is located, determining a second risk area as the target risk area.
In an optional embodiment, the determining a target risk area where the unmanned road roller is located according to the environmental parameter further includes:
and if the distance between the obstacle and the unmanned road roller is determined to be greater than the first preset distance and smaller than the second preset distance, but the obstacle is not on the rolling planning path of the unmanned road roller, determining a third risk area as the target risk area.
In an optional embodiment, if it is determined that the first risk area is the target risk area, the generating a target avoidance control signal corresponding to the target risk area includes: and generating an avoidance control signal for braking and stopping the brake and generating an alarm signal.
In an optional embodiment, if it is determined that the second risk area is the target risk area, the generating a target avoidance control signal corresponding to the target risk area includes: and generating a control signal for slowing down and slowly moving, and generating an alarm signal.
In an optional embodiment, if it is determined that the third risk area is the target risk area, the generating a target avoidance control signal corresponding to the target risk area includes: an alert signal is generated.
In an optional embodiment, if it is determined that the third risk area is the target risk area, the generating an alarm signal includes:
respectively acquiring the relative positions corresponding to the previous moment and the current moment;
and generating an alarm signal according to the corresponding relative positions of the previous moment and the current moment.
In a second aspect, the present invention provides a control system for an unmanned road roller, the control system comprising: the system comprises an environment sensing module, a control module and an execution module; the environment sensing module is in communication connection with the control module, and the control module is in communication connection with the execution module;
the environment sensing module is used for detecting environment parameters of the unmanned road roller relative to the moving obstacle; the control module is configured to execute the control method of the unmanned road roller according to any one of the foregoing embodiments, and the execution module is configured to execute an avoidance operation under the control of the control module.
In a third aspect, the present invention provides a control apparatus for an unmanned road roller, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when the electronic device runs, the processor and the storage medium communicate with each other through the bus, and the processor executes the machine-readable instructions to execute the steps of the control method of the unmanned road roller according to any one of the preceding embodiments.
The beneficial effect of this application is:
in the control method, the control device, the electronic equipment and the storage medium of the unmanned road roller provided by the embodiment of the application, the environmental parameters of the unmanned road roller relative to the obstacle are obtained; determining a target risk area where the unmanned road roller is located according to the environmental parameters; according to the method and the device, the target avoidance control signal corresponding to the target risk area is generated by adopting the avoidance control strategy corresponding to the risk level according to the risk level of the target risk area.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart of a control method for an unmanned road roller according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another method for controlling an unmanned road roller according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of risk area division according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a control method for an unmanned road roller according to an embodiment of the present disclosure;
fig. 5 is a schematic flow chart of another method for controlling an unmanned road roller according to an embodiment of the present disclosure;
fig. 6 is a schematic flow chart of a control method for an unmanned road roller according to an embodiment of the present disclosure;
fig. 7 is a functional block diagram of a control system of an unmanned road roller according to an embodiment of the present disclosure;
fig. 8 is a functional block diagram of a control device of an unmanned road roller according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic flow chart of a control method of an unmanned road roller according to an embodiment of the present disclosure, where an execution main body of the control method may be an electronic device that can perform data processing, such as a controller and a processor, and the electronic device may be applied to the unmanned road roller. As shown in fig. 1, the control method may include:
s101, obtaining environmental parameters of the unmanned road roller relative to the obstacle.
Alternatively, a vision-based obstacle detection technology and a radar-based obstacle detection technology may be selected to detect obstacles, which is not limited herein.
Environmental parameters of the unmanned vehicle relative to the obstacle may include, but are not limited to: relative position, relative orientation, relative speed, etc. it will be appreciated that the distance information, orientation information, speed of movement, etc. between the unmanned road roller and the obstacle may be known from the environmental parameters. The obstacle may be a fixed obstacle, such as a building wall, a green belt, or a mobile obstacle, such as a walking worker, a livestock, another type of vehicle, or the like, and the present application is not limited thereto.
Optionally, the environmental parameter may be acquired by a detection sensor on the unmanned road roller, for example, the detection sensor on the unmanned road roller may detect and acquire the speed, the acceleration, the steering angle, and the like of the unmanned road roller, and detect the relevant information of the obstacle. The detection sensor may include, but is not limited to, a millimeter wave radar sensor, a vision sensor, an ultrasonic sensor, a laser radar sensor, etc., wherein the millimeter wave radar sensor may emit radio waves to the surroundings, and calculate the position, direction, and speed of the target by measuring and analyzing the reflected wave and the emitted wave; the vision sensor can be divided into a monocular camera sensor and a stereo camera sensor, both of which can identify the shape of an object, and has the characteristics of large visual angle and high angular resolution; an ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal (typically an electrical signal); the laser radar sensor can emit laser beams to detect the position and speed information of an object, and has extremely high angular resolution, distance resolution and speed resolution. According to an actual application scenario, multiple combinations of one of the environmental parameters may be selected for use, which is not limited herein, and it should be noted that the acquiring frequency of the environmental parameter is not limited herein, and optionally, the environmental parameter may be acquired by sampling according to a preset frequency.
In some embodiments, the environmental parameter may also be calculated according to a parameter acquired by the detection sensor, for example, the driving speed of the unmanned road roller and the moving speed of the obstacle may be respectively detected and acquired, and then the driving speed of the unmanned road roller relative to the obstacle may be calculated and acquired according to the driving speed of the unmanned road roller and the moving speed of the obstacle, which is not limited herein.
And S102, determining a target risk area where the unmanned road roller is located according to the environmental parameters.
Based on the obtained environmental parameters, a target risk area where the unmanned road roller is located can be determined according to the environmental parameters, and it can be understood that the risk levels of the target risk area where the unmanned road roller is located are different under different environmental parameters.
S103, generating a target avoidance control signal corresponding to the target risk area by adopting an avoidance control strategy corresponding to the risk grade according to the risk grade of the target risk area.
The different risk levels can correspond to different avoidance control strategies, and according to the risk level of the target risk area, an avoidance control strategy corresponding to the risk level can be adopted to generate a target avoidance control signal corresponding to the target risk area, so that when the unmanned road roller is controlled to run based on the target avoidance control signal, obstacles can be avoided, and the application scene of the unmanned road roller is widened. Particularly, when the barrier is a moving barrier, the method and the device can carry out avoidance operation in time according to different application scenes.
Optionally, it should be noted that, when generating a target avoidance control signal corresponding to a target risk region, the target avoidance control signal may also be implemented by combining a preset active anti-collision model, for example, the target avoidance control signal may be implemented by an active anti-collision model based on a safety state, where the safety state may be divided into two types, one of which is safety time, and the main idea is to control the behavior of the unmanned road roller by comparing a safety time threshold with a calculated collision time period, and a corresponding algorithm is called a safety time logical algorithm; the second is safe distance, the main idea is to expect a certain safe distance from the obstacle, calculate the distance between the unmanned road roller and the obstacle and compare the safe distance with the distance, so as to control the behavior of the unmanned road roller, the corresponding algorithm is called safe distance logic algorithm, and the algorithm is not limited here, and can be flexibly selected according to the actual application scene.
And S104, controlling the unmanned road roller to execute avoidance operation according to the target avoidance control signal.
It is to be understood that, after the target avoidance control signal is generated, the unmanned road roller may be controlled to perform an avoidance operation according to the target avoidance control signal, and optionally, the avoidance operation may include, but is not limited to: the driving direction may be adjusted, without limitation, according to the actual application scenario.
In summary, the control method of the unmanned road roller provided by the embodiment of the application can acquire the environmental parameters of the unmanned road roller relative to the obstacle; determining a target risk area where the unmanned road roller is located according to the environmental parameters; according to the method and the device, the target avoidance control signal corresponding to the target risk area is generated by adopting the avoidance control strategy corresponding to the risk level according to the risk level of the target risk area.
Fig. 2 is a schematic flow chart of another control method for an unmanned road roller according to an embodiment of the present application. Fig. 3 is a schematic diagram of risk area division according to an embodiment of the present application. Optionally, the environmental parameters include: a relative position; as shown in fig. 2, the determining the target risk area where the unmanned road roller is located according to the environmental parameters includes:
s201, judging whether the obstacle is in a first risk area which takes the unmanned road roller as the center and takes the radius as a first preset distance according to the relative position.
It can be understood that, according to the relative position between the unmanned road roller and the obstacle, the distance between the unmanned vehicle and the obstacle may be calculated, and then, according to the distance, it may be determined whether the obstacle is within a first risk area S1 centered on the unmanned road roller O and having a radius as a first preset distance, where the first risk area S1 may refer to the area shown in fig. 3.
S202, if the obstacle is determined to be in the first risk area, determining that the first risk area is the target risk area.
If it is determined that the obstacle is within the first risk zone S1, as shown in fig. 3, the target risk zone may be determined to be the first risk zone, and it can be seen that the obstacle is very close to the unmanned road roller compared to the other risk zones, and it can be understood that the risk is very high.
Therefore, if it is determined that the first risk area is the target risk area, the generating of the target avoidance control signal corresponding to the target risk area may include: and generating an avoidance control signal for braking and stopping the brake and generating an alarm signal.
Based on the above description, it can be understood that, if the obstacle is located in the first risk area S1, the probability of danger occurring at this time is high, for example, when the obstacle is a pedestrian, the pedestrian will have a potential danger, then an avoidance control signal of braking and stopping may be generated at this time, and a warning signal may be generated. It can be understood that by applying the embodiment of the application, the unmanned road roller can be ensured to run according to the rolling planned path, and further the rolling effect is ensured.
Optionally, the alarm signal may be a sound alarm signal, a light alarm signal, or a combination of multiple types of alarm signals, which is not limited herein and may be flexibly set according to an actual application scenario.
Fig. 4 is a schematic flow chart of another control method for an unmanned road roller according to an embodiment of the present application. Optionally, the environmental parameters further include: relative orientation; as shown in fig. 4, the determining a target risk area where the unmanned road roller is located according to the environmental parameters further includes:
s301, if the obstacle is determined not to be in the first risk area, judging whether the distance between the obstacle and the unmanned road roller is larger than a first preset distance and smaller than a second preset distance or not according to the relative position.
According to the relative position, if the obstacle is determined not to be in the first risk area, then according to the relative position, the risk area where the obstacle is located can be further determined, optionally, according to the relative position, whether the distance between the obstacle and the unmanned road roller is larger than a first preset distance and smaller than a second preset distance or not can be judged, wherein the first preset distance is smaller than the second preset distance, optionally, the first preset distance can be 2 meters, 3 meters and the like, the second preset distance can be 10 meters, 15 meters and the like, and the method is not limited in the above, and can be flexibly set according to the actual application scene.
And S302, if the distance between the obstacle and the unmanned road roller is determined to be larger than a first preset distance and smaller than a second preset distance, judging whether the obstacle is on a rolling planned path where the unmanned road roller is located or not according to the relative direction.
It can be understood that, as shown in fig. 3, if it is determined that the distance between the obstacle and the unmanned road roller is greater than the first preset distance and less than the second preset distance, which indicates that the obstacle is closer to the unmanned road roller, it may be further determined whether the obstacle is on the rolling planned path where the unmanned road roller is located according to the relative orientation of the obstacle and the unmanned road roller, and optionally, the rolling planned path may be a linear path, but is not limited thereto. It can be understood that the rolling area in any shape can be composed of a plurality of linear rolling planned paths, and different current positions can correspond to different rolling planned paths in the driving process of the unmanned road roller.
And S303, if the obstacle is determined to be on the rolling planned path where the unmanned road roller is located, determining that the second risk area is the target risk area.
It can be understood that if the obstacle is on the planned rolling path of the unmanned road roller, it indicates that the obstacle is closer to the unmanned road roller, and if the unmanned road roller continues to travel along the planned rolling path, the danger is more likely to occur, and the second risk area S2 may be determined as the target risk area.
Optionally, if it is determined that the second risk area is the target risk area, the generating of the target avoidance control signal corresponding to the target risk area includes: and generating a control signal for slowing down and slowly moving, and generating an alarm signal.
Based on the above description, as shown in fig. 3, it can be understood that the risk of the second risk area S2 is lower than that of the first risk area S1, and optionally, if it is determined that the second risk area is the target risk area, a control signal for slowing down and crawling may be generated, and a warning signal may be generated, where the unmanned road roller may be controlled to slow down and navigate according to the control signal for slowing down, and the generated warning signal may be used to warn workers, pedestrians, and the like around the unmanned road roller, which may be specifically referred to the foregoing description, and the description of the present application is not repeated herein.
Fig. 5 is a schematic flow chart of another control method for an unmanned road roller according to an embodiment of the present application. Based on the above embodiment, as shown in fig. 5, the determining a target risk area where the unmanned road roller is located according to the environmental parameters further includes:
s401, if it is determined that the distance between the obstacle and the unmanned road roller is larger than a first preset distance and smaller than a second preset distance, but the obstacle is not located on a rolling planning path where the unmanned road roller is located, determining that a third risk area is a target risk area.
As shown in fig. 3, if it is determined that the distance between the obstacle and the unmanned road roller is greater than the first preset distance and smaller than the second preset distance, but the obstacle is not on the rolling planned path where the unmanned road roller is located, it can be understood that the risk is general at this time, and the third risk area S3 may be determined as the target risk area. Based on the above description, it can be appreciated that the first risk zone is higher in risk level than the second risk zone, which is higher in risk level than the third risk zone.
Of course, it should be noted that, according to the driving state of the unmanned road roller and the moving state of the obstacle, the environmental parameters of the unmanned road roller relative to the obstacle may change from moment to moment, that is, the current moment determines that the second risk area is the target risk area, and then at the next moment, the first risk area or the third risk area may be the target risk area, or at the next moment, the second target risk area is still the target risk area, which is not limited herein.
Optionally, if it is determined that the third risk area is the target risk area, the generating of the target avoidance control signal corresponding to the target risk area may include: an alert signal is generated.
It will be appreciated that where an obstacle is located in the third risk zone, where the risk is common, an alarm signal may optionally be generated to alert surrounding staff, pedestrians, etc. That is, the unmanned road roller still can normally travel at this moment, and the work efficiency of the unmanned road roller is ensured, and unnecessary halt is avoided, and the working time is prolonged.
Fig. 6 is a schematic flow chart of another control method for an unmanned road roller according to an embodiment of the present application. Optionally, as shown in fig. 6, if it is determined that the third risk area is the target risk area, the generating the alarm signal may include:
s501, relative positions corresponding to the previous moment and the current moment are respectively obtained.
And S502, generating an alarm signal according to the corresponding relative positions of the previous moment and the current moment.
Wherein, when the obstacle is a moving obstacle, if it is determined that the obstacle is located in the third risk area, the obstacle may be continuously moved closer to or continuously moved away from the unmanned road roller, it is understood that, if the obstacle is continuously moved away from the unmanned road roller, the risk of danger occurring at this time is continuously reduced, that is, no warning signal is generated, and an invalid warning signal is avoided, whereas, if the obstacle is continuously moved closer to the unmanned road roller, for example, at the current time, the obstacle is located in the third risk area and farther from the unmanned road roller, and at the next time, although the obstacle is still located in the third risk area, compared to the previous time, the obstacle is closer to the unmanned road roller, for timely warning, the relative positions corresponding to the previous time and the current time may be respectively obtained, and the relative distances between the unmanned road roller and the obstacle at the previous time and the current time may be respectively calculated according to the relative positions, if the relative distance corresponding to the current moment is determined to be smaller than the relative distance corresponding to the previous moment, an alarm signal is generated, and it can be understood that staff, pedestrians and the like can be warned in time through the alarm signal, so that the risk probability is reduced.
Of course, it should be noted that alarm signals of different strengths may be generated depending on the level of the risk area.
Based on the embodiment, it can be seen that, by applying the embodiment of the application, the area which takes the unmanned road roller as the center and takes the radius smaller than the first preset distance can be divided into the first risk area; dividing an area, with the radius larger than the first preset distance and smaller than the second preset distance, on the rolling planning path where the unmanned road roller is located into a second risk area; dividing an area with a radius larger than the first preset distance and smaller than the second preset distance but not on a rolling planning path where the unmanned road roller is located into a third risk area, so that the area with the radius smaller than the second preset distance is divided into a plurality of risk areas by taking the unmanned road roller as a center, and an avoidance control strategy corresponding to the risk levels can be adopted according to the risk levels of different risk areas to generate a target avoidance control signal corresponding to a target risk area; on the other hand, the applicability and the reliability of the unmanned road roller can be improved.
Fig. 7 is a functional block diagram of a control system of an unmanned road roller according to an embodiment of the present disclosure. Alternatively, as shown in fig. 7, the unmanned road roller control system 100 may include: a context awareness module 110, a control module 120, and an execution module 130; the basic principle and the generated technical effect of the control module 120 in the control system are the same as those of the corresponding method embodiments described above, and for a brief description, reference may be made to corresponding contents in the method embodiments for a part not mentioned in this embodiment. Optionally, the environment sensing module 110 and the control module 120 may communicate through a CAN bus, and the control module 120 and the execution module 130 may also communicate through the CAN bus, but not limited thereto.
An environment sensing module 110, configured to detect an environmental parameter of the unmanned road roller relative to a moving obstacle; the control module 120 is configured to execute the method for controlling the unmanned road roller according to any one of claims 1-8, and the execution module 130 is configured to execute an avoidance operation under the control of the control module.
The control module is configured to execute the method provided in the foregoing embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a functional module schematic diagram of a control device of an unmanned road roller according to an embodiment of the present application, where the control device may be integrated in a terminal device or a chip of the terminal device, and the terminal may be a computing device with a data processing function. As shown in fig. 8, the electronic device may include: a processor 210, a storage medium 220, and a bus 230, wherein the storage medium 220 stores machine-readable instructions executable by the processor 210, and when the electronic device is operated, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A method of controlling an unmanned road roller, the method comprising:
acquiring environmental parameters of the unmanned road roller relative to the obstacle;
determining a target risk area where the unmanned road roller is located according to the environmental parameters;
generating a target avoidance control signal corresponding to the target risk area by adopting an avoidance control strategy corresponding to the risk grade according to the risk grade of the target risk area;
controlling the unmanned road roller to execute avoidance operation according to the target avoidance control signal;
wherein the environmental parameters include: a relative position; determining a target risk area where the unmanned road roller is located according to the environmental parameters, wherein the determining comprises the following steps: judging whether the obstacle is in a first risk area which takes the unmanned road roller as the center and takes the radius as a first preset distance according to the relative position; determining the first risk zone as the target risk zone if it is determined that the obstacle is within the first risk zone;
the environmental parameters further include: relative orientation; determining a target risk area where the unmanned road roller is located according to the environmental parameters, and further comprising: if the obstacle is determined not to be in the first risk area, judging whether the distance between the obstacle and the unmanned road roller is larger than a first preset distance and smaller than a second preset distance or not according to the relative position; if the distance between the obstacle and the unmanned road roller is determined to be larger than the first preset distance and smaller than a second preset distance, judging whether the obstacle is on a rolling planning path where the unmanned road roller is located or not according to the relative direction; and if the obstacle is determined to be on the rolling planned path where the unmanned road roller is located, determining a second risk area as the target risk area.
2. The method of claim 1, wherein said determining a target risk zone for said unmanned vehicle from said environmental parameters further comprises:
and if the distance between the obstacle and the unmanned road roller is determined to be greater than the first preset distance and smaller than the second preset distance, but the obstacle is not on the rolling planning path of the unmanned road roller, determining a third risk area as the target risk area.
3. The method according to claim 1, wherein if it is determined that the first risk zone is the target risk zone, the generating a target avoidance control signal corresponding to the target risk zone comprises: and generating an avoidance control signal for braking and stopping the brake and generating an alarm signal.
4. The method according to claim 1, wherein if it is determined that the second risk zone is the target risk zone, the generating a target avoidance control signal corresponding to the target risk zone comprises: and generating a control signal for slowing down and slowly moving, and generating an alarm signal.
5. The method according to claim 2, wherein if it is determined that the third risk zone is the target risk zone, the generating a target avoidance control signal corresponding to the target risk zone includes: an alert signal is generated.
6. The method of claim 5, wherein if it is determined that the third risk zone is the target risk zone, the generating an alert signal comprises:
respectively acquiring the relative positions corresponding to the previous moment and the current moment;
and generating an alarm signal according to the corresponding relative positions of the previous moment and the current moment.
7. A control system for a drone roller, the control system comprising: the system comprises an environment sensing module, a control module and an execution module; the environment sensing module is in communication connection with the control module, and the control module is in communication connection with the execution module;
the environment sensing module is used for detecting environment parameters of the unmanned road roller relative to the moving obstacle; the control module is used for executing the control method of the unmanned road roller as claimed in any one of claims 1-6, and the execution module is used for executing an avoidance operation under the control of the control module.
8. A control device for an unmanned road roller, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method of controlling an unmanned vehicle according to any of claims 1 to 6.
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| CN115871660B (en) * | 2023-02-06 | 2023-07-21 | 河北工业大学 | Unmanned road roller obstacle avoidance method and system with bimodal feature fusion |
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| US5461357A (en) * | 1992-01-29 | 1995-10-24 | Mazda Motor Corporation | Obstacle detection device for vehicle |
| ATE529761T1 (en) * | 2008-11-25 | 2011-11-15 | Fiat Ricerche | DETERMINATION AND SIGNALING OF A DRIVE FOR A MOTOR VEHICLE ABOUT A POSSIBLE COLLISION OF THE MOTOR VEHICLE WITH AN OBSTACLE |
| CN107016850A (en) * | 2016-01-28 | 2017-08-04 | 福特环球技术公司 | Avoid the method and system of Workplace Safety risk |
| CN107818694A (en) * | 2016-09-12 | 2018-03-20 | 中兴通讯股份有限公司 | alarm processing method, device and terminal |
| US10793166B1 (en) * | 2019-03-14 | 2020-10-06 | Caterpillar Inc. | Method and system for providing object detection warning |
| CN111506084B (en) * | 2020-05-19 | 2021-09-28 | 安徽江淮汽车集团股份有限公司 | Obstacle avoidance method, apparatus, device and storage medium for unmanned vehicle |
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