CN114049792A - Anti-collision method of unmanned vehicle, vehicle-mounted device and anti-collision system - Google Patents

Anti-collision method of unmanned vehicle, vehicle-mounted device and anti-collision system Download PDF

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Publication number
CN114049792A
CN114049792A CN202111202978.2A CN202111202978A CN114049792A CN 114049792 A CN114049792 A CN 114049792A CN 202111202978 A CN202111202978 A CN 202111202978A CN 114049792 A CN114049792 A CN 114049792A
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vehicle
safety ring
dynamic
surrounding
collision
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黄宗仁
付友华
张振良
余文宇
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Qingdao Vehicle Intelligence Pioneers Inc
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Qingdao Vehicle Intelligence Pioneers Inc
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed

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  • General Physics & Mathematics (AREA)
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Abstract

The application discloses an anti-collision method, a vehicle-mounted device and an anti-collision system for an unmanned vehicle, and relates to the technical field of unmanned surface mines. The method comprises the following steps: acquiring a vehicle information table, wherein the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier; determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle and the second current speeds of the surrounding vehicles and the vehicle information table; and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle. Through the technical scheme, the reasonable running distance between the vehicle and the surrounding vehicles can be kept during vehicle meeting, meanwhile, the calculated amount is greatly reduced, the calculating speed is increased, and the timeliness of vehicle anti-collision operation execution is guaranteed.

Description

Anti-collision method of unmanned vehicle, vehicle-mounted device and anti-collision system
Technical Field
The application relates to the technical field of unmanned surface mine, in particular to an anti-collision method, an on-board device and an anti-collision system for an unmanned vehicle.
Background
The application scene of mining area is comparatively spacious, mining area operation mine card body type is great, there is great blind area, when there is someone vehicle drive in the mining area environment, unmanned mine card and someone vehicle have great safe risk of traveling in the in-process of traveling, simultaneously, because unmanned mine card also can have the deviation of traveling of certain degree in the process of traveling, easily take place safe risk of traveling with other unmanned mine card when the deviation is great, consequently, to mining area vehicle of traveling, it is necessary to establish an anticollision system who is applicable to the unmanned vehicle of mining area application scene, guarantee mining area unmanned vehicle's the security of traveling.
In the prior art, there are two main solutions for a method for preventing a vehicle from colliding: one method is that a laser radar is used for scanning environmental information around a vehicle to obtain massive point cloud data, and the distance between an obstacle (a vehicle, a pedestrian or a building and the like) and the vehicle is judged through analyzing and processing the point cloud data, so that the collision prevention between the vehicle and the obstacle is realized; the other is an anti-collision scheme based on a fixed safety ring, which mainly combines basic information (such as vehicle length and vehicle width) of a vehicle body to generate a safety ring with a fixed size, and performs anti-collision prediction according to the intersection state of the fixed safety ring between vehicles, but when the driving speed is high and the safety ring of the vehicle and a safety ring of a preceding vehicle are intersected and early-warned, the emergency braking range of the vehicle exceeds the safety distance between the vehicle and the preceding vehicle, and the vehicle still collides with the preceding vehicle. Therefore, the anti-collision scheme of the vehicle in the prior art cannot effectively ensure the driving safety of the vehicle.
Disclosure of Invention
In view of this, the application provides an anti-collision method, a vehicle-mounted device and an anti-collision system for an unmanned vehicle, and mainly aims to solve the technical problems that in the prior art, a mechanism for realizing anti-collision by using laser radar data has a large calculation processing amount and poor timeliness, and the collision risk still exists when anti-collision prediction is carried out by using the intersection state of a fixed safety ring under a scene with a high driving speed.
According to an aspect of the present application, there is provided a collision avoidance method of an unmanned vehicle, the method including:
acquiring a vehicle information table, wherein the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle and the second current speeds of the surrounding vehicles and the vehicle information table;
and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
According to still another aspect of the present application, there is provided an in-vehicle apparatus of an unmanned vehicle, including:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a vehicle information table, and the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
the determining module is used for determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the peripheral vehicles according to the first current speed of the vehicle and the second current speed of the peripheral vehicles and the vehicle information table;
and the control module is used for controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
According to yet another aspect of the application, there is provided a chip comprising at least one processor and a communication interface, the communication interface being coupled to the at least one processor, the at least one processor being configured to execute a computer program or instructions to implement the collision avoidance method for an unmanned vehicle as described above.
According to yet another aspect of the present application, there is provided a terminal including the collision prevention apparatus for an unmanned vehicle described above.
According to another aspect of the present application, there is provided an anti-collision system for an unmanned vehicle, including a server and a plurality of vehicle terminals, where the vehicle terminals are disposed on each vehicle in a mine area, the server performs data communication with the vehicle terminals, and the vehicle terminals perform data communication with each other, specifically including:
the server is used for generating a vehicle information table containing all vehicles in a mining area, and the vehicle information table at least comprises vehicle identifications and anti-collision safety rings corresponding to the vehicle identifications;
the vehicle-mounted terminal is used for acquiring the vehicle information table from the server; acquiring a first current speed of the vehicle and a second current speed of a peripheral vehicle; determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle, the second current speed of the surrounding vehicles and the vehicle information table; and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
By means of the technical scheme, compared with the prior art, the collision preventing method, the vehicle-mounted device and the collision preventing system for the unmanned vehicle provided by the application determine the first dynamic collision preventing safety ring of the vehicle and the second dynamic collision preventing safety ring of the peripheral vehicle according to the first current speed of the vehicle, the second current speed of the peripheral vehicle and the acquired vehicle information table, so that the vehicle is controlled to execute corresponding operations by judging the intersection state of the first dynamic collision preventing safety ring of the vehicle and the second dynamic collision preventing safety ring of the peripheral vehicle. Therefore, based on the dynamically updated anti-collision safety ring, according to the determined intersection state of the vehicle and the dynamic anti-collision safety ring of the surrounding vehicle, when meeting occurs, a reasonable running distance can be kept between the vehicle and the surrounding vehicle, the running safety of the vehicle is ensured, meanwhile, the calculated amount is greatly reduced, the calculation speed is improved, and the timeliness of the execution of the anti-collision operation of the vehicle is ensured.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart illustrating a collision avoidance method for an unmanned vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating another collision avoidance method for an unmanned vehicle according to an embodiment of the present application;
FIG. 3 shows a topology diagram of a vehicle-mounted terminal provided by an embodiment of the application;
fig. 4 shows a comparison effect of a basic safety ring and a dynamic anti-collision safety ring provided by the embodiment of the application, and a schematic intersection effect of the dynamic anti-collision safety ring for the intersection driving in the side area;
FIG. 5 is a schematic diagram illustrating a meeting of a dynamic warning safety circle, a dynamic deceleration safety circle and a dynamic scram safety circle provided by an embodiment of the present application;
fig. 6 is a flow chart illustrating a collision avoidance method for an unmanned vehicle according to an embodiment of the present application;
FIG. 7 is a schematic device diagram illustrating an on-board device of an unmanned vehicle according to an embodiment of the present application;
FIG. 8 is a schematic device diagram illustrating another vehicle-mounted device of an unmanned vehicle according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a chip provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of a terminal provided in an embodiment of the present application;
fig. 11 shows a topological diagram of a collision avoidance system of an unmanned vehicle according to an embodiment of the present application.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
To solve the problems existing in the prior art at present, the present embodiment provides an anti-collision method for an unmanned vehicle, where, based on a dynamically updated anti-collision safety ring, according to an intersection state of a dynamic anti-collision safety ring of a host vehicle and a surrounding vehicle obtained by determination, when meeting occurs, a reasonable driving distance can be maintained between the host vehicle and the surrounding vehicle, so as to ensure driving safety of the vehicle, and at the same time, a calculation amount is greatly reduced, a calculation speed is increased, and timeliness of execution of anti-collision operation of the vehicle is ensured, as shown in fig. 1, the method includes:
step 101, obtaining a vehicle information table, wherein the vehicle information table at least comprises a vehicle identification and an anti-collision safety ring corresponding to the vehicle identification.
In this embodiment, the vehicle-mounted terminal acquires the vehicle information table including all vehicles in the mine area from the server side, so that the relevant information corresponding to the vehicle identifier and the relevant information corresponding to the peripheral vehicle identifier can be acquired from the vehicle information table according to the vehicle identifier and the peripheral vehicle identifier acquired through broadcast communication in the subsequent operation process of the vehicle. In addition, the anti-collision safety ring comprises an emergency stop safety ring with a first anti-collision grade, a deceleration safety ring with a second anti-collision grade and an alarm safety ring with a third anti-collision grade, wherein the first anti-collision grade is the most emergency anti-collision grade, and the rest can be done in the same way.
And 102, determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle and the second current speed of the surrounding vehicles and the vehicle information table.
In this embodiment, a vehicle mapping relationship table of the vehicle identifier and the vehicle operation information of the vehicle-mounted terminal and a surrounding vehicle mapping relationship table of the surrounding vehicle identifier and the surrounding vehicle operation information are established and updated in real time, and a first dynamic anti-collision safety circle of the vehicle and a second dynamic anti-collision safety circle of the surrounding vehicle are calculated by acquiring a first current speed of the vehicle and a second current speed of the surrounding vehicle in the surrounding vehicle mapping relationship table in the vehicle mapping relationship table, and acquiring anti-collision safety circles corresponding to the vehicle identifier and the surrounding vehicle identifier respectively from the vehicle information table.
And 103, controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
In the embodiment, a warning, a deceleration or an emergency stop operation is executed according to the intersection state of the first dynamic safety circle of the host vehicle and the second dynamic safety circle of the surrounding vehicle and the relative position information between the host vehicle and the surrounding vehicle, so that when meeting occurs, the host vehicle and the surrounding vehicle can keep a reasonable running distance, and the running safety of the vehicle is ensured. Compared with the prior art that mass point cloud data are acquired according to the laser radar to prejudge the safe driving distance between vehicles, the calculation amount can be greatly reduced, the calculation speed is increased, and the timeliness of the execution of the anti-collision operation of the vehicles is guaranteed.
Compared with the prior art, in the embodiment, according to the first current speed of the host vehicle, the second current speed of the peripheral vehicle, and the acquired vehicle information table, the first dynamic anti-collision safety circle of the host vehicle and the second dynamic anti-collision safety circle of the peripheral vehicle are determined, so that the host vehicle is controlled to execute corresponding operations by determining an intersection state of the first dynamic anti-collision safety circle of the host vehicle and the second dynamic anti-collision safety circle of the peripheral vehicle. Therefore, based on the dynamically updated anti-collision safety ring, when meeting occurs, the vehicle can keep a reasonable running distance with the surrounding vehicles according to the determined intersection state of the vehicle and the dynamic anti-collision safety ring of the surrounding vehicles, so that the running safety of the vehicles is ensured, meanwhile, the calculated amount is greatly reduced, the calculation speed is increased, and the timeliness of the execution of the anti-collision operation of the vehicles is ensured.
Further, as a refinement and an extension of the specific implementation of the above embodiment, in order to fully explain the process in the present embodiment, another collision avoidance method for an unmanned vehicle is provided, as shown in fig. 2, the method includes:
step 201, obtaining a vehicle information table, where the vehicle information table at least includes a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier.
Further, for explaining a specific implementation process of step 201, as an optional manner, the method specifically includes: the anti-collision safety ring sequentially comprises from inside to outside: an emergency stop safety ring, a speed reduction safety ring and an alarm safety ring; the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle.
In specific implementation, the server comprises a service scheduling center and a database, wherein the service scheduling center is used for allocating unique vehicle identifiers for all vehicles in a mining area, recording vehicle size parameters, minimum safe parking distances, maximum driving speeds and maximum speed braking distances corresponding to each vehicle identifier (vehicle ID), recording anti-collision safety rings corresponding to the vehicle identifiers according to the vehicle size parameters and the minimum safe parking distances of each vehicle, further recording a vehicle information table comprising the vehicle identifiers, the anti-collision safety rings, the maximum driving speeds and the maximum speed braking distances (and dynamic association coefficients), and storing the vehicle information table into the database. Wherein the minimum safe parking distance includes a minimum safe parking longitudinal distance and a minimum safe parking transverse distance.
Further, as an optional mode, the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle, and specifically includes: determining the longitudinal length and the transverse length of the emergency stop according to the acquired vehicle size parameter of each vehicle and a first preset proportion of the minimum safe stopping distance, and obtaining an emergency stop safety ring; determining the longitudinal deceleration length and the transverse deceleration length according to the longitudinal emergency stop length and the transverse emergency stop length of the emergency stop safety ring and the second preset proportion and the third preset proportion of the vehicle size parameters to obtain a deceleration safety ring; and determining the alarm longitudinal length and the alarm transverse length according to the emergency stop longitudinal length and the emergency stop transverse length of the emergency stop safety ring and a fourth preset proportion of the vehicle size parameter, and obtaining the alarm safety ring. According to the practical application scene, the method specifically comprises the following steps:
1) determining an emergency stop safety loop of the anti-collision safety loop, wherein the emergency stop safety loop is generated according to the rule that the formula for calculating the longitudinal length of the emergency stop is that the minimum safe longitudinal distance of the emergency stop is a first preset proportion (for example, the first preset proportion is 2) + the length of the vehicle, and the formula for calculating the transverse length of the emergency stop is that the minimum safe transverse distance of the emergency stop is a first preset proportion (for example, the first preset proportion is 2) + the width of the vehicle. Therefore, according to the vehicle size parameter and the minimum safe parking distance, the longitudinal length and the transverse length of the emergency stop are calculated, and the emergency stop safety ring is further determined.
2) And generating a deceleration safety circle of the anti-collision safety circle according to the determined emergency stop safety circle, wherein the generation rule of the deceleration safety circle is that the formula for calculating the deceleration longitudinal length is that the emergency stop longitudinal length of the emergency stop safety circle + the vehicle width size is in a second preset proportion (for example, the second preset proportion is 1/2), and the formula for calculating the deceleration transverse length is that the emergency stop transverse length of the emergency stop safety circle + the vehicle width size is in a third preset proportion (for example, the third preset proportion is 1/4). Therefore, the deceleration longitudinal length and the deceleration transverse length are calculated according to the scram longitudinal length and the scram transverse length in the scram safety circle, and then the deceleration safety circle is determined.
3) And generating an alarm safety ring of the anti-collision safety ring according to the determined emergency stop safety ring, wherein the generation rule of the alarm safety ring is that the formula for calculating the alarm longitudinal length is that the emergency stop longitudinal length of the emergency stop safety ring + the vehicle width size is in a fourth preset proportion (for example, the fourth preset proportion is 1), and the formula for calculating the alarm transverse length is that the emergency stop transverse length of the emergency stop safety ring + the vehicle width size is in the fourth preset proportion (for example, the fourth preset proportion is 1). Therefore, according to the scram longitudinal length and the scram transverse length in the scram safety ring, the alarm longitudinal length and the alarm transverse length are calculated, and then the alarm safety ring is determined.
Step 202, establishing and updating a vehicle mapping relation table of the vehicle identification and the vehicle running information and a surrounding vehicle mapping relation table of the surrounding vehicle identification and the surrounding vehicle running information in real time.
Further, to illustrate the specific implementation process of step 202, as an optional manner, the method specifically includes: the method comprises the steps of establishing and updating a vehicle mapping relation table of a vehicle identification and vehicle running information in real time by acquiring the vehicle running information, wherein the vehicle running information comprises first current positioning information acquired by a positioning module in a vehicle-mounted terminal and first current speed information acquired by a vehicle-mounted control center in the vehicle-mounted terminal; and acquiring the running information of the surrounding vehicle through broadcast communication with the surrounding vehicle, and establishing and updating a surrounding vehicle mapping relation table of the surrounding vehicle identification and the running information of the surrounding vehicle in real time, wherein the running information of the surrounding vehicle comprises second current positioning information and second current speed information.
In a specific implementation, as shown in fig. 3, the vehicle-mounted terminal includes a communication module, a positioning module, and a vehicle-mounted control center, for example, the communication module includes a V2N module and a V2V module, the vehicle information table including all vehicles in a mine area is obtained from a server by using the communication module (V2N module), the positioning module is used to obtain positioning information of the vehicle and transmit the positioning information to the vehicle-mounted control center, the vehicle-mounted control center integrates the positioning information and the speed information of the vehicle and broadcasts the information via the communication module (V2V module), meanwhile, the vehicle-mounted control center receives the positioning information and the speed information of the surrounding vehicles via the communication module (V2V module), and obtains collision avoidance zones corresponding to the vehicle identification and the surrounding vehicle identification in the vehicle information table, determines dynamic collision avoidance zones of the vehicle and the surrounding vehicles, and determines a collision avoidance zone of the vehicle and the surrounding vehicles by determining an intersection state of the dynamic avoidance zones of the vehicle and the surrounding vehicles, the anti-collision function of the vehicle is realized, namely the vehicle-mounted terminal has the functions of integrating the positioning information and the basic safety circle information of all vehicles and calculating the anti-collision in real time.
It should be noted that the V2V communication (Vehicle-To-Vehicle) refers To data transmission between motor vehicles based on wireless, and transmits information such as Vehicle position and speed To another Vehicle through a dedicated network. The V2V network communication is performed by using signals sent by the transmission unit mounted on each vehicle through the high-speed wireless network 10 times per second, so that the information such as the current vehicle speed, the driving direction, the geographical position, the driving route and the like of the surrounding vehicle within the preset distance range can be acquired based on the information transmission characteristics of V2V, so as to realize the information interaction between the vehicles. V2N communication (Vehicle-To-Network) is the most widely used form of Vehicle networking at present, and its main function is To connect vehicles To a cloud server through a mobile Network. The V2N network and the V2V network are not particularly limited.
In addition, the vehicle uses the communication module in the vehicle-mounted terminal to perform broadcast communication, so as to obtain the running information of the surrounding vehicles in real time, wherein the running information of the surrounding vehicles at least comprises the current positioning information of the surrounding vehicles, and simultaneously, the positioning module in the vehicle-mounted terminal is used to obtain the current positioning information (corresponding to the first current positioning information) of the vehicle, so that whether the distance between the surrounding vehicles and the vehicle is within the preset distance range or not is judged according to the current positioning information of the surrounding vehicles and the current positioning information of the vehicle. Specifically, if the distance between the surrounding vehicle and the vehicle is not within the preset distance range, the corresponding anti-collision operation is not executed; if the distance between the surrounding vehicle and the vehicle is within the preset distance range, the surrounding vehicle within the preset distance range is used as the surrounding vehicle, and corresponding anti-collision operation is performed in a targeted manner according to the related information of the surrounding vehicle, so that the reasonable analysis of the surrounding vehicle is realized, and the driving safety of the vehicle is ensured.
Step 203, obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to the first current speed information in the vehicle mapping relationship table and the second current speed information in the surrounding vehicle mapping relationship table, and the anti-collision safety rings respectively corresponding to the vehicle identifier and the surrounding vehicle identifier in the vehicle information table.
Further, to illustrate the specific implementation process of step 203, as an optional manner, the method specifically includes: respectively updating a first scram length of the vehicle to be a first dynamic scram length, a first deceleration length of the vehicle to be a first dynamic deceleration length, and a first alarm length of the vehicle to be a first dynamic alarm length according to first current speed information of the vehicle and a first dynamic correlation coefficient in a vehicle information table corresponding to the vehicle identifier, so as to obtain a first dynamic anti-collision safety circle of the vehicle; and respectively updating the second emergency stop length of the peripheral vehicles to be the second dynamic emergency stop length, the second deceleration length of the vehicle to be the second dynamic deceleration length and the second alarm length of the vehicle to be the second dynamic alarm length according to the second current speed information of the peripheral vehicles and the second dynamic correlation coefficient in the vehicle information table corresponding to the peripheral vehicle identifications, so as to obtain the second dynamic anti-collision safety circle of the peripheral vehicles. The first emergency stop length is a first emergency stop longitudinal length and/or a first emergency stop transverse length, the first speed reduction longitudinal length is a first speed reduction longitudinal length and/or a first speed reduction transverse length, and the first alarm longitudinal length is a first alarm longitudinal length and/or a first alarm transverse length; the second emergency stop length is a second emergency stop longitudinal length and/or a second emergency stop transverse length, the second speed reduction longitudinal length is a second speed reduction longitudinal length and/or a second speed reduction transverse length, and the second alarm longitudinal length is a second alarm longitudinal length and/or a second alarm transverse length; the vehicle information table further comprises a dynamic correlation coefficient for determining a dynamic anti-collision safety ring, which is determined according to the maximum driving speed and the maximum speed braking distance of the vehicle.
In specific implementation, the vehicle-mounted terminal is used for generating a dynamic anti-collision safety ring of the vehicle and surrounding vehicles. Taking the generation mode of the first dynamic emergency stop safety circle included in the first dynamic anti-collision safety circle of the vehicle as an example, the first emergency stop of the emergency stop safety circle in the vehicle anti-collision safety circle is obtainedLongitudinal length is marked as CBLAnd obtaining the current speed information V of the vehicle corresponding to the vehicle ID in the mapping relationcur(corresponding to the first current speed information) and a dynamic correlation coefficient alpha (corresponding to the first dynamic correlation coefficient) in the vehicle information table. According to the current speed information of the vehicle, stretching the first emergency stop longitudinal length of the emergency stop safety ring of the vehicle to obtain the first dynamic emergency stop longitudinal length C of the first dynamic emergency stop safety ring of the vehicleLThe dynamic correlation formula is CL＝(α*Vcur+1)*CBL. Wherein the dynamic correlation coefficient alpha is data determined by the maximum driving speed and the maximum speed braking distance. The dynamic association formula is constructed to dynamically stretch the anti-collision safety rings of the vehicle and the surrounding vehicles to obtain the dynamic anti-collision safety rings of the vehicle and the surrounding vehicles, so that the vehicle can be stopped within a safety distance when the vehicle runs at the maximum speed and needs to be stopped suddenly, and the vehicle can always keep the safety distance with the surrounding vehicles when the vehicle runs at the maximum speed and needs to be decelerated.
According to the requirements of the actual application scene, obtaining the current speed information V of the vehicle corresponding to the vehicle ID in the mapping relationcurIf the acquired current speed information of the vehicle is inconsistent with the previously acquired previous speed information, that is, it is determined that the vehicle running speed changes, the dynamic anti-collision safety ring is updated, and here, the updating mode of the dynamic anti-collision safety ring is not specifically limited.
As shown in fig. 4(b), the vehicle-mounted terminal shifts the size of each dynamic anti-collision safety circle based on the positioning origin according to the actual driving direction of the vehicle (or the actual heading of the vehicle head), so as to obtain the current dynamic anti-collision safety circle.
And 204, determining the relative position information of the vehicle and the surrounding vehicle according to the acquired first current positioning information of the vehicle and the acquired second current positioning information of the surrounding vehicle.
Step 205, controlling the host vehicle to execute corresponding operations according to the intersection state of the first dynamic anti-collision safety circle of the host vehicle and the second dynamic anti-collision safety circle of the surrounding vehicle and the relative position information of the host vehicle and the surrounding vehicle.
Further, to illustrate the specific implementation process of step 205, as an optional manner, the method specifically includes: the first dynamic anti-collision safety ring comprises a first dynamic emergency stop safety ring, a first dynamic speed reduction safety ring and a first dynamic alarm safety ring, and the second dynamic anti-collision safety ring comprises a second dynamic emergency stop safety ring, a second dynamic speed reduction safety ring and a second dynamic alarm safety ring; if the situation that a first dynamic alarm safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic alarm safety ring in second dynamic anti-collision safety rings of surrounding vehicles is monitored, the vehicle is kept to continue to run and early warning information is generated; if the situation that a first dynamic deceleration safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic deceleration safety ring in second dynamic anti-collision safety rings of peripheral vehicles is monitored, and the relative position information is that the vehicle is in a side area or a rear area of the peripheral vehicles, controlling the vehicle to execute deceleration operation; or the relative position information is that the vehicle is in the front area of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running; if the situation that a first dynamic scram safety ring in the first dynamic anti-collision safety rings and a second dynamic scram safety ring in second dynamic anti-collision safety rings of peripheral vehicles are in an intersection state and the relative position information is that the vehicle is in the side area or the rear area of the peripheral vehicles is monitored, controlling the vehicle to execute scram operation; or the relative position information is that the vehicle is in the area in front of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running.
In specific implementation, as shown in fig. 5, if it is monitored that a first dynamic warning safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic warning safety ring in second dynamic anti-collision safety rings of surrounding vehicles, the vehicle is kept to continue running and early warning information is generated; if the situation that a first dynamic deceleration safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic deceleration safety ring in second dynamic anti-collision safety rings of peripheral vehicles is monitored, and the relative position information is that the vehicle is in a side area or a rear area of the peripheral vehicles, controlling the vehicle to execute deceleration operation; if the situation that a first dynamic deceleration safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic deceleration safety ring in second dynamic anti-collision safety rings of the peripheral vehicles is monitored, and the relative position information is that the vehicle is in the front area of the peripheral vehicles, controlling the vehicle to continue running or run in an accelerated mode; if the situation that a first dynamic scram safety ring in the first dynamic anti-collision safety rings and a second dynamic scram safety ring in second dynamic anti-collision safety rings of peripheral vehicles are in an intersection state and the relative position information is that the vehicle is in the side area or the rear area of the peripheral vehicles is monitored, controlling the vehicle to execute scram operation; and if the situation that a first dynamic scram safety ring in the first dynamic anti-collision safety rings and a second dynamic scram safety ring in the second dynamic anti-collision safety rings of the peripheral vehicles are in an intersection state and the relative position information is that the vehicle is in the front area of the peripheral vehicles is monitored, controlling the vehicle to continue running or accelerate running.
According to the requirements of the actual application scene, the relative position information of the host vehicle and the surrounding vehicles can be determined, and then the intersection state judgment is performed, for example, the relative position information of the surrounding vehicles is judged according to the positioning information of the host vehicle and the positioning information of the surrounding vehicles, if the surrounding vehicles are in the rear area of the host vehicle, the host vehicle does not need to judge the intersection state of the dynamic anti-collision safety ring, and the normal running is kept; if the surrounding vehicles are in the front area or the side area of the vehicle, the vehicle needs to judge the intersection state of the dynamic anti-collision safety ring, and then the vehicle is controlled to execute corresponding operations, so that the judgment calculation amount is reduced, and the timeliness of vehicle control is enhanced.
Specifically, the intersection state of the dynamic anti-collision safety ring of the vehicle and the dynamic anti-collision safety rings of the surrounding vehicles is judged, if the dynamic alarm safety ring of the vehicle is intersected with the dynamic alarm safety rings of the surrounding vehicles, the vehicle and the surrounding vehicles respectively execute early warning operation, and corresponding early warning information is reported to a server so as to be used as a data source for subsequent risk assessment; if the dynamic deceleration safety circle of the vehicle is intersected with the dynamic deceleration safety circle of the surrounding vehicle, the vehicle executes deceleration operation; and if the dynamic emergency stop safety ring of the vehicle is intersected with the dynamic emergency stop safety rings of the surrounding vehicles, the vehicle executes emergency stop operation.
For example, the intersection state of the dynamic anti-collision safety circle of the host vehicle and the dynamic anti-collision safety circle of the surrounding vehicle may be determined, and after the intersection state is determined, the relative position information of the host vehicle and the surrounding vehicle may be determined, so as to determine whether to control the host vehicle to continue to run normally or to control the host vehicle to perform warning, deceleration and emergency stop operations. It can be seen that, the processing manner of the sequence or synchronization of the judgment of the relative position information of the host vehicle and the peripheral vehicle by the host vehicle and the judgment of the intersection state of the dynamic anti-collision safety ring of the host vehicle and the dynamic anti-collision safety ring of the peripheral vehicle, or the logical sequence of the judgment is not specifically limited.
The technical effects achieved by applying the method provided by the embodiment specifically include:
1) a new construction mechanism of a vehicle safety ring (anti-collision safety ring) is created, specifically, the anti-collision safety ring is constructed according to vehicle size parameters (length and width) and a minimum safe parking distance (a minimum safe parking longitudinal distance and a minimum safe parking transverse distance), the anti-collision safety ring is respectively an emergency stop safety ring, a deceleration safety ring and a warning safety ring according to the size from inside to outside, a dynamic anti-collision safety ring is constructed according to the anti-collision safety ring, a current speed of a vehicle and a dynamic correlation coefficient, so that a construction mechanism of a dynamically generated vehicle safety ring based on the change of the speed of the vehicle is further created, a dynamic anti-collision safety ring calculation model is constructed based on the speed and the braking distance, namely, the dynamic anti-collision safety ring calculation model ensures that the detection range of the vehicle safety ring is in positive correlation with the current speed by introducing a current speed factor and a braking distance factor, therefore, the method can flexibly and effectively adapt to the driving risks of different speeds, and provides a good judgment basis for an anti-collision mechanism between vehicles.
2) The vehicle-mounted terminal of the own vehicle can acquire a vehicle information table including all vehicles in the mine from the server, and broadcast the positioning information and speed information of the own vehicle to surrounding vehicles, simultaneously acquiring the positioning information and the speed information of the surrounding vehicles, on one hand, generating a dynamic anti-collision safety ring of the vehicle according to the current speed, the dynamic association coefficient and the anti-collision safety ring of the vehicle, on the other hand, generating the dynamic anti-collision safety ring of the surrounding vehicles according to the current speed, the dynamic association coefficient and the anti-collision safety ring of the surrounding vehicles, and executing warning, deceleration or scram operation according to the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle and the relative position information between the vehicle and the surrounding vehicle, so that the vehicle can keep a reasonable running distance with surrounding vehicles when meeting, and the running safety of the vehicle is ensured.
3) After the vehicle-mounted terminal acquires the vehicle information table from the server side, the vehicle information table is stored in a memory of the vehicle, and in the driving process of the vehicle, the positioning information and the speed information of the vehicle can be broadcasted to the surrounding vehicles, and the positioning information and the speed information of the surrounding vehicles can be received, so that information interaction between the vehicles can be realized. Meanwhile, a vehicle-mounted control center of a vehicle-mounted terminal is used for generating a dynamic anti-collision safety ring of the vehicle and a dynamic anti-collision safety ring of surrounding vehicles, and judging the intersection state of the dynamic anti-collision safety rings, namely information processing is finished at a vehicle end.
The present application takes a specific scenario as an example, and the above embodiments are described in detail. In a mining area, after the vehicle-mounted terminal is normally started, the vehicle-mounted terminal pulls the vehicle information tables of all vehicles recorded by the service scheduling center through a V2N network, and after the vehicles normally run, the vehicle-mounted terminal sends the positioning information and speed information of the vehicle and obtains the positioning information and speed information of surrounding vehicles through a V2V network. After the vehicle-mounted terminal of the vehicle acquires the positioning information and the speed information of the surrounding vehicles, calculating the dynamic anti-collision safety ring of the vehicle and the dynamic anti-collision safety ring of the surrounding vehicles, and controlling the vehicle to execute corresponding operations according to the determined intersection condition between the dynamic anti-collision safety ring of the vehicle and the dynamic anti-collision safety ring of the surrounding vehicles. Based on this, as shown in fig. 6, a collision avoidance method for an unmanned vehicle specifically includes:
step 601, the server side generates a vehicle information table.
Step 602, the vehicle-mounted terminal acquires a vehicle information table from the server side. Specifically, after the vehicle-mounted terminal is started, the vehicle information table is obtained from a service scheduling center of the server side.
Step 603, the vehicle-mounted terminal broadcasts the vehicle positioning information and the speed information by using the network signal, and acquires the positioning information and the speed information of the surrounding vehicles. Specifically, the vehicle-mounted terminal acquires the positioning information and the speed information of the surrounding vehicle, establishes the mapping relation between the positioning information and the speed information of the surrounding vehicle and the vehicle ID, and stores the mapping relation into the memory.
And step 604, the vehicle-mounted terminal generates a dynamic anti-collision safety ring of the vehicle and surrounding vehicles.
Step 605, determining the intersection state of the dynamic anti-collision safety circle of the vehicle and the dynamic anti-collision safety circles of the surrounding vehicles.
Step 606, if the dynamic warning safety circle of the vehicle intersects with the dynamic warning safety circle of the surrounding vehicle, step 607 is executed.
In step 607, the host vehicle and the neighboring vehicles each execute an early warning operation.
Step 608, if the dynamic deceleration safety circle of the vehicle intersects with the dynamic deceleration safety circle of the surrounding vehicle, step 609 is executed.
And step 609, judging the relative position information of the vehicle and the surrounding vehicles according to the positioning information of the vehicle and the positioning information of the surrounding vehicles, and executing speed reduction operation or continuing normal driving according to the relative position information. For example, when the relative position information is that the surrounding vehicle is in the front area or the side area of the host vehicle, the deceleration operation is executed; when the surrounding vehicle is in the area behind the vehicle, the vehicle continues to normally travel.
Step 610, if the dynamic emergency stop safety circle of the vehicle intersects with the dynamic emergency stop safety circle of the surrounding vehicle, step 611 is executed.
In step 611, the relative position information between the host vehicle and the neighboring vehicle is determined based on the positioning information of the host vehicle and the positioning information of the neighboring vehicle, and the scram operation is executed or the normal driving is continued based on the relative position information. For example, when the relative position information is that the surrounding vehicle is in the area in front of the host vehicle or in the area to the side of the host vehicle, an emergency stop operation is performed; the surrounding vehicle continues normal running or accelerated running in the area behind the vehicle.
Further, as a specific implementation of the method shown in fig. 1 and fig. 2, an embodiment of the present application provides an onboard device of an unmanned vehicle, as shown in fig. 7, the onboard device includes: an acquisition module 701, a determination module 703 and a control module 705. The functions of the communication module in the vehicle-mounted terminal include an obtaining module 701, and the functions of the vehicle-mounted control center in the vehicle-mounted terminal include a determining module 703 and a control module 705.
The obtaining module 701 is configured to obtain a vehicle information table, where the vehicle information table at least includes a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier.
The determining module 703 is configured to determine a first dynamic anti-collision safety circle of the host vehicle and a second dynamic anti-collision safety circle of the peripheral vehicle according to the first current speed of the host vehicle and the second current speed of the peripheral vehicle, and the vehicle information table.
The control module 705 is configured to control the host vehicle to perform a corresponding operation by determining an intersection state of a first dynamic anti-collision safety circle of the host vehicle and a second dynamic anti-collision safety circle of a neighboring vehicle.
In a specific application scenario, as shown in fig. 8, the method further includes: a relationship establishing module 702, a relative position determining module 704. The function of the vehicle-mounted control center in the vehicle-mounted terminal includes a relationship establishing module 702, and the function of the positioning module in the vehicle-mounted terminal includes a relative position determining module 704.
In a specific application scenario, the anti-collision safety ring sequentially comprises from inside to outside: an emergency stop safety ring, a speed reduction safety ring and an alarm safety ring; the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle.
In a specific application scenario, the anti-collision safety circle is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle, and specifically includes: determining the longitudinal length and the transverse length of the emergency stop according to the acquired vehicle size parameter of each vehicle and a first preset proportion of the minimum safe stopping distance, and obtaining an emergency stop safety ring; determining the longitudinal deceleration length and the transverse deceleration length according to the longitudinal emergency stop length and the transverse emergency stop length of the emergency stop safety ring and the second preset proportion and the third preset proportion of the vehicle size parameters to obtain a deceleration safety ring; and determining the alarm longitudinal length and the alarm transverse length according to the emergency stop longitudinal length and the emergency stop transverse length of the emergency stop safety ring and a fourth preset proportion of the vehicle size parameter, and obtaining the alarm safety ring.
In a specific application scenario, the relationship establishing module 702 is configured to establish and update a vehicle mapping relationship table of the vehicle identifier and the vehicle operation information and a surrounding vehicle mapping relationship table of the surrounding vehicle identifier and the surrounding vehicle operation information in real time.
In a specific application scenario, the relationship establishing module 702 is specifically configured to: the method comprises the steps of establishing and updating a vehicle mapping relation table of a vehicle identification and vehicle running information in real time by acquiring the vehicle running information, wherein the vehicle running information comprises first current positioning information acquired by a positioning module in a vehicle-mounted terminal and first current speed information acquired by a vehicle-mounted control center in the vehicle-mounted terminal; and acquiring the running information of the surrounding vehicle through broadcast communication with the surrounding vehicle, and establishing and updating a surrounding vehicle mapping relation table of the surrounding vehicle identification and the running information of the surrounding vehicle in real time, wherein the running information of the surrounding vehicle comprises second current positioning information and second current speed information.
In a specific application scenario, the determining module 703 is specifically configured to: and obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to first current speed information in the vehicle mapping relation table and second current speed information in the surrounding vehicle mapping relation table, and anti-collision safety rings respectively corresponding to the vehicle identification and the surrounding vehicle identification in the vehicle information table.
In a specific application scenario, the vehicle information table further includes a dynamic correlation coefficient for determining a dynamic anti-collision safety ring, which is determined according to the maximum driving speed and the maximum speed braking distance of the vehicle; the determining module 703 specifically includes:
a vehicle dynamic determining unit 7031, configured to update a first sudden stop length of the vehicle to be a first dynamic sudden stop length, a first deceleration length of the vehicle to be a first dynamic deceleration length, and a first warning length of the vehicle to be a first dynamic warning length, respectively, according to first current speed information of the vehicle and a first dynamic correlation coefficient in a vehicle information table corresponding to the vehicle identifier, to obtain a first dynamic anti-collision safety circle of the vehicle;
a peripheral vehicle dynamic determination unit 7032, configured to update a second sudden stop length of the peripheral vehicle to a second dynamic sudden stop length, a second deceleration length of the host vehicle to a second dynamic deceleration length, and a second warning length of the host vehicle to a second dynamic warning length, respectively, according to second current speed information of the peripheral vehicle and a second dynamic correlation coefficient in a vehicle information table corresponding to the peripheral vehicle identifier, to obtain a second dynamic anti-collision safety circle of the peripheral vehicle;
the first emergency stop length is a first emergency stop longitudinal length and/or a first emergency stop transverse length, the first speed reduction longitudinal length is a first speed reduction longitudinal length and/or a first speed reduction transverse length, and the first alarm longitudinal length is a first alarm longitudinal length and/or a first alarm transverse length; the second emergency stop length is a second emergency stop longitudinal length and/or a second emergency stop transverse length, the second speed reduction longitudinal length is a second speed reduction longitudinal length and/or a second speed reduction transverse length, and the second alarm longitudinal length is a second alarm longitudinal length and/or a second alarm transverse length.
In a specific application scenario, the relative position determining module 704 is configured to determine the relative position information between the host vehicle and the neighboring vehicle according to the acquired first current positioning information of the host vehicle and the acquired second current positioning information of the neighboring vehicle.
In a specific application scenario, the control module 705 is specifically configured to: and controlling the host vehicle to execute corresponding operation according to the intersection state of the first dynamic anti-collision safety ring of the host vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle and the relative position information of the host vehicle and the surrounding vehicle.
In a specific application scene, the first dynamic anti-collision safety circle comprises a first dynamic emergency stop safety circle, a first dynamic speed reduction safety circle and a first dynamic alarm safety circle, and the second dynamic anti-collision safety circle comprises a second dynamic emergency stop safety circle, a second dynamic speed reduction safety circle and a second dynamic alarm safety circle; the control module 705 specifically includes:
the first control unit 7051 is configured to, if it is monitored that a first dynamic warning safety loop in the first dynamic anti-collision safety loops is in an intersection state with a second dynamic warning safety loop in second dynamic anti-collision safety loops of neighboring vehicles, keep the vehicle running continuously and generate early warning information;
a second control unit 7052, configured to control the host vehicle to perform a deceleration operation if it is monitored that a first dynamic deceleration safety circle of the first dynamic anti-collision safety circles is in an intersection state with a second dynamic deceleration safety circle of second dynamic anti-collision safety circles of the peripheral vehicle, and the relative position information is that the host vehicle is in a side area or a rear area of the peripheral vehicle; or the relative position information is that the vehicle is in the front area of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running;
a third control unit 7053, configured to control the host vehicle to perform an emergency stop operation if it is monitored that the first dynamic emergency stop safety loop of the first dynamic anti-collision safety loops is in an intersection state with the second dynamic emergency stop safety loop of the second dynamic anti-collision safety loops of the neighboring vehicles, and the relative position information is that the host vehicle is in a side area or a rear area of the neighboring vehicles; or the relative position information is that the vehicle is in the area in front of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running.
Further, as shown in fig. 9, chip 900 includes one or more (including two) processors 901 and a communication interface 903. The communication interface 903 is coupled to the at least one processor 901, and the at least one processor 901 is configured to execute a computer program or instructions to implement the collision avoidance method for the unmanned vehicle.
Preferably, the memory 904 stores the following elements: an executable module or a data structure, or a subset thereof, or an expanded set thereof.
In the present embodiment, the memory 904 may include a read-only memory and a random access memory, and provides instructions and data to the processor 901. A portion of memory 904 may also include non-volatile random access memory (NVRAM).
In the illustrated embodiment, the memory 904, the communication interface 903, and the memory 904 are coupled together by a bus system 902. The bus system 902 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. For ease of description, the various buses are labeled as bus system 902 in FIG. 9.
The method described in the foregoing embodiment of the present application may be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 901. The processor 901 may be a general-purpose processor (e.g., a microprocessor or a conventional processor), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate, transistor logic device or discrete hardware component, and the processor 901 may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present invention.
Further, as shown in fig. 10, terminal 1000 includes in-vehicle device 1001 of the above-described unmanned vehicle. The terminal 1000 can perform the method described in the above embodiment through the in-vehicle device 1001 of the unmanned vehicle. It can be understood that the implementation manner of controlling the in-vehicle device 1001 of the unmanned vehicle by the terminal 1000 may be set according to an actual application scenario, and the embodiment of the present application is not particularly limited.
The terminal 1000 includes, but is not limited to: the vehicle can implement the method provided by the application through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera.
Further, as a specific implementation of the method shown in fig. 1 and fig. 2, an embodiment of the present application provides a collision avoidance system for an unmanned vehicle, as shown in fig. 11, the collision avoidance system includes: the system comprises a server and a plurality of vehicle-mounted terminals, wherein the server comprises a service scheduling center and a database, the vehicle-mounted terminals are arranged on each vehicle in a mining area, the server is in data communication with the vehicle-mounted terminals, and the vehicle-mounted terminals are in data communication with each other.
The server is used for generating a vehicle information table containing all vehicles in a mining area, and the vehicle information table at least comprises vehicle identifications and anti-collision safety rings corresponding to the vehicle identifications.
The vehicle-mounted terminal is used for acquiring the vehicle information table from the server; acquiring a first current speed of the vehicle and a second current speed of a peripheral vehicle; determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle, the second current speed of the surrounding vehicles and the vehicle information table; it should be noted that, it should be noted that other corresponding descriptions of the functional modules and functional units related to the collision avoidance system for an unmanned vehicle provided in this embodiment may refer to the corresponding descriptions in fig. 1 and fig. 2, and are not described herein again.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus a necessary general hardware platform, and can also be implemented by hardware. By applying the technical scheme of the application, compared with the prior art, the embodiment of the invention is based on the dynamically updated anti-collision safety ring, and according to the intersection state of the vehicle and the dynamic anti-collision safety ring of the surrounding vehicle, when meeting occurs, the vehicle can keep a reasonable driving distance with the surrounding vehicle, so that the driving safety of the vehicle is ensured, meanwhile, the calculated amount is greatly reduced, the calculation speed is increased, and the timeliness of the execution of the anti-collision operation of the vehicle is ensured.
The embodiment of the invention provides the following technical scheme:
a1, a collision avoidance method for an unmanned vehicle, comprising:
acquiring a vehicle information table, wherein the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle and the second current speeds of the surrounding vehicles and the vehicle information table;
and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
A2, the method according to claim A1, wherein the anti-collision safety ring comprises the following components in sequence from inside to outside: an emergency stop safety ring, a speed reduction safety ring and an alarm safety ring; the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle.
A3, the method according to claim a2, wherein the anti-collision safety circle is determined by the server according to the acquired vehicle size parameter and minimum safe stopping distance of each vehicle, and specifically comprises:
determining the longitudinal length and the transverse length of the emergency stop according to the acquired vehicle size parameter of each vehicle and a first preset proportion of the minimum safe stopping distance, and obtaining an emergency stop safety ring;
determining the longitudinal deceleration length and the transverse deceleration length according to the longitudinal emergency stop length and the transverse emergency stop length of the emergency stop safety ring and the second preset proportion and the third preset proportion of the vehicle size parameters to obtain a deceleration safety ring;
and determining the alarm longitudinal length and the alarm transverse length according to the emergency stop longitudinal length and the emergency stop transverse length of the emergency stop safety ring and a fourth preset proportion of the vehicle size parameter, and obtaining the alarm safety ring.
A4, the method according to claim a1, further comprising, before the step of determining the first dynamic collision-preventing safety circle of the host vehicle and the second dynamic collision-preventing safety circle of the surrounding vehicles according to the first current speed of the host vehicle and the second current speed of the surrounding vehicles, and the vehicle information table:
and establishing and updating a vehicle mapping relation table of the vehicle identification and the vehicle running information and a surrounding vehicle mapping relation table of the surrounding vehicle identification and the surrounding vehicle running information in real time.
A5, the method according to claim a4, wherein the creating and updating the host vehicle mapping relationship table of the host vehicle identification and the host vehicle operation information and the surrounding vehicle mapping relationship table of the surrounding vehicle identification and the surrounding vehicle operation information in real time, specifically comprises:
the method comprises the steps of establishing and updating a vehicle mapping relation table of a vehicle identification and vehicle running information in real time by acquiring the vehicle running information, wherein the vehicle running information comprises first current positioning information acquired by a positioning module in a vehicle-mounted terminal and first current speed information acquired by a vehicle-mounted control center in the vehicle-mounted terminal;
and acquiring the running information of the surrounding vehicle through broadcast communication with the surrounding vehicle, and establishing and updating a surrounding vehicle mapping relation table of the surrounding vehicle identification and the running information of the surrounding vehicle in real time, wherein the running information of the surrounding vehicle comprises second current positioning information and second current speed information.
A6, the method according to claim a5, the determining a first dynamic collision avoidance safety band of the host vehicle and a second dynamic collision avoidance safety band of the surrounding vehicles according to the first current speed of the host vehicle and the second current speed of the surrounding vehicles, and the vehicle information table, specifically comprising:
and obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to first current speed information in the vehicle mapping relation table and second current speed information in the surrounding vehicle mapping relation table, and anti-collision safety rings respectively corresponding to the vehicle identification and the surrounding vehicle identification in the vehicle information table.
A7, the method according to claim a6, the vehicle information table further comprising a dynamic correlation coefficient for determining a dynamic anti-collision safety circle, determined according to a maximum driving speed and a maximum speed braking distance of the vehicle;
the obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to the first current speed information in the vehicle mapping relationship table and the second current speed information in the surrounding vehicle mapping relationship table, and the anti-collision safety rings respectively corresponding to the vehicle identifier and the surrounding vehicle identifier in the vehicle information table specifically includes:
respectively updating a first scram length of the vehicle to be a first dynamic scram length, a first deceleration length of the vehicle to be a first dynamic deceleration length, and a first alarm length of the vehicle to be a first dynamic alarm length according to first current speed information of the vehicle and a first dynamic correlation coefficient in a vehicle information table corresponding to the vehicle identifier, so as to obtain a first dynamic anti-collision safety circle of the vehicle;
respectively updating a second emergency stop length of the peripheral vehicle to be a second dynamic emergency stop length, a second deceleration length of the vehicle to be a second dynamic deceleration length, and a second alarm length of the vehicle to be a second dynamic alarm length according to second current speed information of the peripheral vehicle and a second dynamic correlation coefficient in a vehicle information table corresponding to the peripheral vehicle identification, so as to obtain a second dynamic anti-collision safety circle of the peripheral vehicle;
the first emergency stop length is a first emergency stop longitudinal length and/or a first emergency stop transverse length, the first speed reduction longitudinal length is a first speed reduction longitudinal length and/or a first speed reduction transverse length, and the first alarm longitudinal length is a first alarm longitudinal length and/or a first alarm transverse length;
the second emergency stop length is a second emergency stop longitudinal length and/or a second emergency stop transverse length, the second speed reduction longitudinal length is a second speed reduction longitudinal length and/or a second speed reduction transverse length, and the second alarm longitudinal length is a second alarm longitudinal length and/or a second alarm transverse length.
A8, the method according to claim a1, further comprising, before the step of controlling the host vehicle to perform corresponding operations by determining the intersection state of the first dynamic anti-collision safety circle of the host vehicle and the second dynamic anti-collision safety circle of the surrounding vehicle:
and determining the relative position information of the vehicle and the surrounding vehicles according to the acquired first current positioning information of the vehicle and the acquired second current positioning information of the surrounding vehicles.
A9, the method according to claim A8, wherein the controlling the host vehicle to perform corresponding operations by determining an intersection state of a first dynamic anti-collision safety circle of the host vehicle and a second dynamic anti-collision safety circle of a surrounding vehicle includes:
and controlling the host vehicle to execute corresponding operation according to the intersection state of the first dynamic anti-collision safety ring of the host vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle and the relative position information of the host vehicle and the surrounding vehicle.
A10, the method of claim A9, the first dynamic anti-collision safety circle comprising a first dynamic scram safety circle, a first dynamic deceleration safety circle, and a first dynamic warning safety circle, the second dynamic anti-collision safety circle comprising a second dynamic scram safety circle, a second dynamic deceleration safety circle, and a second dynamic warning safety circle;
the method for controlling the vehicle to execute corresponding operations by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle and the relative position information of the vehicle and the surrounding vehicle specifically comprises the following steps:
if the situation that a first dynamic alarm safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic alarm safety ring in second dynamic anti-collision safety rings of surrounding vehicles is monitored, the vehicle is kept to continue to run and early warning information is generated;
if the situation that a first dynamic deceleration safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic deceleration safety ring in second dynamic anti-collision safety rings of peripheral vehicles is monitored, and the relative position information is that the vehicle is in a side area or a rear area of the peripheral vehicles, controlling the vehicle to execute deceleration operation; or the relative position information is that the vehicle is in the front area of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running;
if the situation that a first dynamic scram safety ring in the first dynamic anti-collision safety rings and a second dynamic scram safety ring in second dynamic anti-collision safety rings of peripheral vehicles are in an intersection state and the relative position information is that the vehicle is in the side area or the rear area of the peripheral vehicles is monitored, controlling the vehicle to execute scram operation; or the relative position information is that the vehicle is in the area in front of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running.
B11, an in-vehicle device for an unmanned vehicle, comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a vehicle information table, and the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
the determining module is used for determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the peripheral vehicles according to the first current speed of the vehicle and the second current speed of the peripheral vehicles and the vehicle information table;
and the control module is used for controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
B12, the vehicle-mounted device of claim B11, wherein the anti-collision safety ring comprises the following components in sequence from inside to outside: an emergency stop safety ring, a speed reduction safety ring and an alarm safety ring; the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle.
B13, the vehicle-mounted device of claim B12, wherein the anti-collision safety circle is determined by the server according to the acquired vehicle size parameter and minimum safe stopping distance of each vehicle, and specifically comprises the following steps:
determining the longitudinal length and the transverse length of the emergency stop according to the acquired vehicle size parameter of each vehicle and a first preset proportion of the minimum safe stopping distance, and obtaining an emergency stop safety ring;
determining the longitudinal deceleration length and the transverse deceleration length according to the longitudinal emergency stop length and the transverse emergency stop length of the emergency stop safety ring and the second preset proportion and the third preset proportion of the vehicle size parameters to obtain a deceleration safety ring;
and determining the alarm longitudinal length and the alarm transverse length according to the emergency stop longitudinal length and the emergency stop transverse length of the emergency stop safety ring and a fourth preset proportion of the vehicle size parameter, and obtaining the alarm safety ring.
The B14 the on-board unit of claim B11, further comprising:
and the relationship establishing module is used for establishing and updating a vehicle mapping relationship table of the vehicle identification and the vehicle running information and a surrounding vehicle mapping relationship table of the surrounding vehicle identification and the surrounding vehicle running information in real time.
B15, the vehicle-mounted device of claim B14, wherein the relationship establishing module is specifically configured to:
the method comprises the steps of establishing and updating a vehicle mapping relation table of a vehicle identification and vehicle running information in real time by acquiring the vehicle running information, wherein the vehicle running information comprises first current positioning information acquired by a positioning module in a vehicle-mounted terminal and first current speed information acquired by a vehicle-mounted control center in the vehicle-mounted terminal;
and acquiring the running information of the surrounding vehicle through broadcast communication with the surrounding vehicle, and establishing and updating a surrounding vehicle mapping relation table of the surrounding vehicle identification and the running information of the surrounding vehicle in real time, wherein the running information of the surrounding vehicle comprises second current positioning information and second current speed information.
B16, the on-board device of claim B15, the determining means being specifically configured to:
and obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to first current speed information in the vehicle mapping relation table and second current speed information in the surrounding vehicle mapping relation table, and anti-collision safety rings respectively corresponding to the vehicle identification and the surrounding vehicle identification in the vehicle information table.
B17, the vehicle-mounted device of claim B16, wherein the vehicle information table further comprises a dynamic association coefficient for determining a dynamic anti-collision safety circle, which is determined according to the maximum driving speed and the maximum speed braking distance of the vehicle;
the determining module specifically includes:
the vehicle dynamic determining unit is used for respectively updating a first scram length of the vehicle to be a first dynamic scram length, a first deceleration length of the vehicle to be a first dynamic deceleration length and a first alarm length of the vehicle to be a first dynamic alarm length according to first current speed information of the vehicle and a first dynamic correlation coefficient in a vehicle information table corresponding to the vehicle identifier, so as to obtain a first dynamic anti-collision safety circle of the vehicle;
the peripheral vehicle dynamic determining unit is used for respectively updating a second emergency stop length of the peripheral vehicle to be a second dynamic emergency stop length, a second deceleration length of the vehicle to be a second dynamic deceleration length and a second alarm length of the vehicle to be a second dynamic alarm length according to second current speed information of the peripheral vehicle and a second dynamic correlation coefficient in a vehicle information table corresponding to the peripheral vehicle identification, so as to obtain a second dynamic anti-collision safety circle of the peripheral vehicle;
the first emergency stop length is a first emergency stop longitudinal length and/or a first emergency stop transverse length, the first speed reduction longitudinal length is a first speed reduction longitudinal length and/or a first speed reduction transverse length, and the first alarm longitudinal length is a first alarm longitudinal length and/or a first alarm transverse length;
the second emergency stop length is a second emergency stop longitudinal length and/or a second emergency stop transverse length, the second speed reduction longitudinal length is a second speed reduction longitudinal length and/or a second speed reduction transverse length, and the second alarm longitudinal length is a second alarm longitudinal length and/or a second alarm transverse length.
B18, the vehicle-mounted device of claim B11, further comprising:
and the relative position determining module is used for determining the relative position information of the vehicle and the surrounding vehicles according to the acquired first current positioning information of the vehicle and the acquired second current positioning information of the surrounding vehicles.
B19, the on-board unit of claim B18, the control module being specifically configured to:
and controlling the host vehicle to execute corresponding operation according to the intersection state of the first dynamic anti-collision safety ring of the host vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle and the relative position information of the host vehicle and the surrounding vehicle.
B20, the in-vehicle device of claim B19, the first dynamic anti-collision safety circle comprising a first dynamic scram safety circle, a first dynamic deceleration safety circle and a first dynamic warning safety circle, the second dynamic anti-collision safety circle comprising a second dynamic scram safety circle, a second dynamic deceleration safety circle and a second dynamic warning safety circle;
the control module specifically comprises:
the first control unit is used for keeping the vehicle continuously running and generating early warning information if the situation that a first dynamic alarm safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic alarm safety ring in second dynamic anti-collision safety rings of surrounding vehicles is monitored;
the second control unit is used for controlling the vehicle to execute deceleration operation if the situation that a first dynamic deceleration safety ring in the first dynamic anti-collision safety rings is intersected with a second dynamic deceleration safety ring in second dynamic anti-collision safety rings of the surrounding vehicles is monitored, and the relative position information is that the vehicle is in the side area or the rear area of the surrounding vehicles; or the relative position information is that the vehicle is in the front area of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running;
a third control unit, configured to control the host vehicle to perform an emergency stop operation if it is monitored that the first dynamic emergency stop safety loop of the first dynamic anti-collision safety loops is in an intersection state with the second dynamic emergency stop safety loop of the second dynamic anti-collision safety loops of the neighboring vehicles, and the relative position information is that the host vehicle is in a side area or a rear area of the neighboring vehicles; or the relative position information is that the vehicle is in the area in front of the surrounding vehicle, and the vehicle is controlled to continue running or accelerate running.
C21, a chip comprising at least one processor and a communication interface, the communication interface coupled with the at least one processor, the at least one processor for executing a computer program or instructions to implement the method of collision avoidance for an unmanned vehicle of any of claims a1-a 10.
D22, a terminal comprising the collision avoidance device of an unmanned vehicle of any of claims B11-B20.
E23, an anti-collision system of unmanned vehicles, including server and a plurality of vehicle mounted terminal, vehicle mounted terminal sets up on every vehicle in the mining area, the server carries out data communication with the vehicle mounted terminal, carry out data communication between the vehicle mounted terminal, specifically include:
the server is used for generating a vehicle information table containing all vehicles in a mining area, and the vehicle information table at least comprises vehicle identifications and anti-collision safety rings corresponding to the vehicle identifications;
the vehicle-mounted terminal is used for acquiring the vehicle information table from the server; acquiring a first current speed of the vehicle and a second current speed of a peripheral vehicle; determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle, the second current speed of the surrounding vehicles and the vehicle information table; and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.

Claims (10)

1. A method of collision avoidance for an unmanned vehicle, comprising:
acquiring a vehicle information table, wherein the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle and the second current speeds of the surrounding vehicles and the vehicle information table;
and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
2. The method of claim 1, wherein the anti-collision safety ring comprises, in order from inside to outside: an emergency stop safety ring, a speed reduction safety ring and an alarm safety ring; the anti-collision safety ring is determined by the server according to the acquired vehicle size parameter and the minimum safe parking distance of each vehicle.
3. The method according to claim 2, wherein the anti-collision safety circle is determined by the server according to the acquired vehicle size parameter and minimum safe stopping distance of each vehicle, and specifically comprises:
determining the longitudinal length and the transverse length of the emergency stop according to the acquired vehicle size parameter of each vehicle and a first preset proportion of the minimum safe stopping distance, and obtaining an emergency stop safety ring;
determining the longitudinal deceleration length and the transverse deceleration length according to the longitudinal emergency stop length and the transverse emergency stop length of the emergency stop safety ring and the second preset proportion and the third preset proportion of the vehicle size parameters to obtain a deceleration safety ring;
and determining the alarm longitudinal length and the alarm transverse length according to the emergency stop longitudinal length and the emergency stop transverse length of the emergency stop safety ring and a fourth preset proportion of the vehicle size parameter, and obtaining the alarm safety ring.
4. The method according to claim 1, wherein the step of determining the first dynamic collision-prevention safety circle of the host vehicle and the second dynamic collision-prevention safety circle of the surrounding vehicles according to the first current speed of the host vehicle and the second current speed of the surrounding vehicles and the vehicle information table further comprises:
and establishing and updating a vehicle mapping relation table of the vehicle identification and the vehicle running information and a surrounding vehicle mapping relation table of the surrounding vehicle identification and the surrounding vehicle running information in real time.
5. The method according to claim 4, wherein the creating and updating the host vehicle mapping relationship table of the host vehicle identifier and the host vehicle operation information and the surrounding vehicle mapping relationship table of the surrounding vehicle identifier and the surrounding vehicle operation information in real time specifically includes:
the method comprises the steps of establishing and updating a vehicle mapping relation table of a vehicle identification and vehicle running information in real time by acquiring the vehicle running information, wherein the vehicle running information comprises first current positioning information acquired by a positioning module in a vehicle-mounted terminal and first current speed information acquired by a vehicle-mounted control center in the vehicle-mounted terminal;
and acquiring the running information of the surrounding vehicle through broadcast communication with the surrounding vehicle, and establishing and updating a surrounding vehicle mapping relation table of the surrounding vehicle identification and the running information of the surrounding vehicle in real time, wherein the running information of the surrounding vehicle comprises second current positioning information and second current speed information.
6. The method according to claim 5, wherein the determining a first dynamic anti-collision safety circle of the host vehicle and a second dynamic anti-collision safety circle of the surrounding vehicle according to the first current speed of the host vehicle and the second current speed of the surrounding vehicle and the vehicle information table specifically comprises:
and obtaining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicle according to first current speed information in the vehicle mapping relation table and second current speed information in the surrounding vehicle mapping relation table, and anti-collision safety rings respectively corresponding to the vehicle identification and the surrounding vehicle identification in the vehicle information table.
7. An in-vehicle apparatus of an unmanned vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a vehicle information table, and the vehicle information table at least comprises a vehicle identifier and an anti-collision safety ring corresponding to the vehicle identifier;
the determining module is used for determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the peripheral vehicles according to the first current speed of the vehicle and the second current speed of the peripheral vehicles and the vehicle information table;
and the control module is used for controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
8. A chip, characterized in that the chip comprises at least one processor and a communication interface, the communication interface being coupled with the at least one processor, the at least one processor being configured to execute a computer program or instructions to implement the collision avoidance method of an unmanned vehicle according to any of claims 1-6.
9. A terminal, characterized in that the terminal comprises a collision preventing device for an unmanned vehicle according to claim 7.
10. The utility model provides an anticollision system of unmanned vehicle which characterized in that, includes server and a plurality of vehicle mounted terminal, vehicle mounted terminal sets up on every vehicle in the mining area, the server with vehicle mounted terminal carries out data communication, carry out data communication between the vehicle mounted terminal, specifically include:
the server is used for generating a vehicle information table containing all vehicles in a mining area, and the vehicle information table at least comprises vehicle identifications and anti-collision safety rings corresponding to the vehicle identifications;
the vehicle-mounted terminal is used for acquiring the vehicle information table from the server; acquiring a first current speed of the vehicle and a second current speed of a peripheral vehicle; determining a first dynamic anti-collision safety ring of the vehicle and a second dynamic anti-collision safety ring of the surrounding vehicles according to the first current speed of the vehicle, the second current speed of the surrounding vehicles and the vehicle information table; and controlling the vehicle to execute corresponding operation by judging the intersection state of the first dynamic anti-collision safety ring of the vehicle and the second dynamic anti-collision safety ring of the surrounding vehicle.
CN202111202978.2A 2021-10-15 2021-10-15 Anti-collision method of unmanned vehicle, vehicle-mounted device and anti-collision system Pending CN114049792A (en)

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