CN115447586A - Unmanned vehicle safety guarantee method and system - Google Patents

Unmanned vehicle safety guarantee method and system Download PDF

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Publication number
CN115447586A
CN115447586A CN202210532797.4A CN202210532797A CN115447586A CN 115447586 A CN115447586 A CN 115447586A CN 202210532797 A CN202210532797 A CN 202210532797A CN 115447586 A CN115447586 A CN 115447586A
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China
Prior art keywords
vehicle
safety
information
given range
map
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CN202210532797.4A
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Chinese (zh)
Inventor
陈泉宇
冯冲
谢意
蒋先尧
刘志勇
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Beijing Lukaizhixing Technology Co ltd
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Beijing Lukaizhixing Technology Co ltd
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Priority to CN202210532797.4A priority Critical patent/CN115447586A/en
Publication of CN115447586A publication Critical patent/CN115447586A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Disclosed are a method and a system for securing safety of an unmanned vehicle, the method comprising: acquiring a map of an area where the vehicle is running; acquiring position information of the vehicle; acquiring environmental information within a given range around the vehicle based on the map and the position information of the vehicle; determining a safety zone of the vehicle based on the environmental information within the given range around the vehicle; and determining a coordinate set of path points of a lane line on which the vehicle can travel based on the safety section of the vehicle, and transmitting the coordinate set of the path points of the lane line on which the vehicle can travel to the vehicle.

Description

Unmanned vehicle safety guarantee method and system
Technical Field
The invention relates to the technical field of intelligent driving control, in particular to a safety guarantee method and a safety guarantee system for an unmanned vehicle.
Background
In recent years, with the rapid development of artificial intelligence technology, the realization of intellectualization and automation of driverless vehicles has become a key point of development of vehicle industry, especially in dangerous work places such as mines and the like. However, in the prior art, in order to ensure the mine safety and avoid accidents, the width of the road is usually widened and the lanes of the unmanned vehicles are increased to improve the transportation efficiency, so that the operation cost in the early stage is greatly increased.
Disclosure of Invention
An object of the present disclosure is to solve at least one aspect of the above problems and disadvantages in the related art.
According to an aspect of the present disclosure, there is provided a method for securing safety of an unmanned vehicle, including: acquiring a map of an area where the vehicle is running; acquiring position information of the vehicle; acquiring environmental information within a given range around the vehicle based on the map and the position information of the vehicle; determining a safety zone of the vehicle based on the environmental information within the given range around the vehicle; and determining a coordinate set of path points of a lane line on which the vehicle can travel based on the safety section of the vehicle, and transmitting the coordinate set of the path points of the lane line on which the vehicle can travel to the vehicle.
According to an exemplary embodiment of the present disclosure, determining the safety zone of the vehicle based on the environmental information within the given range around the vehicle includes: determining a lane line where the vehicle is located based on the map and the position information of the vehicle; determining environmental information in front of the vehicle in a given range based on a lane line where the vehicle is located and the environmental information in the given range around the vehicle; and determining a safety zone of the vehicle based on environmental information in front of the vehicle within the given range.
According to an exemplary embodiment of the present disclosure, the environmental information in front of the vehicle in the given range includes obstacle information and parkable position information in front of the vehicle in the given range.
According to an exemplary embodiment of the present disclosure, determining the safety zone of the vehicle based on the environmental information in front of the vehicle within the given range includes: acquiring position information of an obstacle located ahead of the vehicle and closest to the vehicle within the given range, and acquiring whether or not a parkable position exists between the vehicle and the closest obstacle, and if so, acquiring a parkable position farthest from the vehicle between the vehicle and the closest obstacle and taking the parkable position as a vertex of a safety section, and if not, taking the closest obstacle position as a vertex of the safety section.
According to an exemplary embodiment of the present disclosure, the obstacle includes a traveling vehicle.
According to an exemplary embodiment of the present disclosure, the unmanned vehicle safety guaranteeing method may further include: acquiring a coordinate set of path points of a lane line on a current front driving path of the vehicle based on the given range; determining a coordinate set of path points of a lane line where other driving vehicles are located in the area; and performing data matching on the coordinate set of the path point of the lane line on the current front driving path of the vehicle and the coordinate set of the path point of the lane line where other driving vehicles are located in the area to determine whether a driving vehicle exists in front of the vehicle in the given range, and if so, regarding the driving vehicle as an obstacle in front of the vehicle in the given range, and acquiring the position information of the driving vehicle.
According to an exemplary embodiment of the disclosure, the obstacle comprises a static obstacle, wherein the method for securing unmanned vehicles further comprises: determining static obstacle information located ahead of the vehicle within the given range based on the map.
According to an exemplary embodiment of the present disclosure, the unmanned vehicle safety guaranteeing method may further include: determining, based on the map, parkable position information located in front of the vehicle within the given range.
According to an exemplary embodiment of the present disclosure, the given range refers to a circular range centered on a current position of the vehicle.
According to an exemplary embodiment of the present disclosure, obtaining the map includes collecting map information of the area and generating the map based on the map information.
According to an exemplary embodiment of the disclosure, the unmanned vehicle safety and security method may further include updating the map based on static obstacle information perceived by the perception units on at least some of the vehicles in the area.
According to an exemplary embodiment of the present disclosure, the unmanned vehicle safety assurance method may further include acquiring traffic information of the area, and updating the map based on the traffic information.
According to an exemplary embodiment of the present disclosure, the method for securing a safety of an unmanned vehicle may further include acquiring vehicle speed related information of the vehicle, determining a minimum safety interval of the vehicle at present based on the vehicle speed related information of the vehicle, and controlling the vehicle to decelerate or stop when the determined safety interval is smaller than the minimum safety interval.
According to an exemplary embodiment of the present disclosure, the safety interval is updated every preset time.
According to an exemplary embodiment of the present disclosure, the preset time is 0.5 to 1.5 seconds.
According to another aspect of the present disclosure, there is also provided a safety assurance system for an unmanned vehicle, including: a positioning unit configured to position a position of the vehicle; and a safe zone calculation control module that receives the position information of the vehicle from the positioning unit via a communication module, and acquires environmental information within a given range around the vehicle based on a map of an area where the vehicle is traveling and the position information of the vehicle; and determining a safety section of the vehicle based on the environmental information within the given range around the vehicle, determining a set of coordinates of waypoints of a lane line on which the vehicle can travel based on the safety section of the vehicle, and transmitting the set of coordinates of the waypoints of the lane line on which the vehicle can travel to the vehicle via the communication module.
According to an exemplary embodiment of the present disclosure, the safety interval calculation control module is configured to: determining a lane line where the vehicle is located based on the map and the position information of the vehicle; determining environmental information in front of the vehicle in a given range based on a lane line where the vehicle is located and the environmental information in the given range around the vehicle; and determining a safety zone of the vehicle based on environmental information in front of the vehicle within the given range.
According to an exemplary embodiment of the present disclosure, the safety interval calculation control module is configured to: acquiring position information of an obstacle located ahead of the vehicle and closest to the vehicle within the given range, and acquiring whether or not a parkable position exists between the vehicle and the closest obstacle, if so, acquiring a parkable position farthest from the vehicle between the vehicle and the closest obstacle and taking the parkable position as a vertex of a safety section, and if not, taking the closest obstacle position as a vertex of the safety section.
According to an exemplary embodiment of the present disclosure, the obstacle includes a traveling vehicle, wherein the safe-zone calculation control module is further configured to: acquiring a coordinate set of path points of a lane line on a current front driving path of the vehicle based on the given range; determining a coordinate set of path points of a lane line where other driving vehicles are located in the area; and performing data matching on the coordinate set of the path point of the lane line on the current front driving path of the vehicle and the coordinate set of the path point of the lane line where other driving vehicles are located in the area to determine whether a driving vehicle exists in front of the vehicle in the given range, and if so, regarding the driving vehicle as an obstacle in front of the vehicle in the given range, and acquiring the position information of the driving vehicle.
According to an exemplary embodiment of the present disclosure, the unmanned vehicle safety assurance system may further include: a map data collection vehicle configured to collect map data for the area; and the map generator is used for receiving the map data acquired by the map data acquisition vehicle, generating the map based on the map data and sending the map to the safe interval calculation control module.
According to an exemplary embodiment of the present disclosure, the unmanned vehicle safety assurance system may further include: the sensing unit is arranged on a vehicle in the area and used for sensing static obstacle information in the area, and the map generator receives the static obstacle information sensed by the sensing unit through the communication module and updates the map based on the static obstacle information.
According to an exemplary embodiment of the present disclosure, the map generator receives traffic information of the area via the communication module and updates the map based on the traffic information of the area.
According to an exemplary embodiment of the disclosure, the sensing unit further comprises a sensor arranged on the vehicle for sensing vehicle speed related information of the vehicle, the safety interval calculation control module receives the vehicle speed related information sensed by the sensor through the communication module, determines a current minimum safety interval of the vehicle based on the vehicle speed related information, and sends a command of deceleration or parking to the vehicle when the determined safety interval is smaller than the minimum safety interval.
According to the safety guarantee method and the system for the unmanned vehicle, disclosed by the various embodiments of the disclosure, the operation running of the vehicles in the area can be always in a safe state, the problem of collision among the vehicles is avoided, unnecessary deceleration and parking behaviors on a running route are avoided, and therefore the actual transportation efficiency is improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a flow chart of an unmanned vehicle safety and security method according to an exemplary embodiment of the present disclosure.
FIG. 2 is a flow chart for determining a safe zone for a vehicle according to an exemplary embodiment of the present disclosure.
FIG. 3 is a schematic illustration of waypoints of a lane line in which a vehicle is located in accordance with an exemplary embodiment of the present disclosure.
Detailed Description
To more clearly illustrate the objects, aspects and advantages of the present disclosure, embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is intended to illustrate and explain the general concepts of the disclosure and should not be taken as limiting the disclosure. In the specification and drawings, the same or similar reference numerals refer to the same or similar parts or components. The figures are not necessarily to scale and certain well-known components and structures may be omitted from the figures for clarity.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and the like in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "a" or "an" does not exclude a plurality. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "top" or "bottom", etc. are used merely to indicate relative positional relationships, which may change accordingly when the absolute position of the object being described changes. When an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
In an embodiment of the present disclosure, as shown in fig. 1, a method for securing safety of an unmanned vehicle may include:
step S1: acquiring a map of an area where a vehicle runs;
step S2: acquiring position information of the vehicle;
and step S3: acquiring environmental information within a given range around a vehicle based on a map and the position information of the vehicle;
and step S4: determining a safety zone of the vehicle based on environmental information within a given range around the vehicle; and
step S8: the method includes determining a set of coordinates of waypoints of a lane line on which the vehicle can travel based on a safety section of the vehicle, and transmitting the set of coordinates of waypoints of the lane line on which the vehicle can travel to the vehicle.
In one exemplary embodiment, as shown in fig. 1, determining the safety zone of the vehicle based on the environmental information within the given range around the vehicle includes:
step S41: determining a lane line where the vehicle is located based on the position information of the vehicle and the map;
step S42: environmental information ahead of the vehicle in a given range is determined based on a lane line on which the vehicle is located and the environmental information in the given range around the vehicle.
Step S43: a safety zone of the vehicle is determined based on environmental information ahead of the vehicle within a given range.
In this embodiment, the path point of the lane line closest to the unmanned vehicle on the map may be calculated based on the position information of the unmanned vehicle (i, shown in fig. 3, i) 1 ，i 1 ，……， i 17 ) And determining the lane line of the vehicle. However, the traveling direction of the vehicle is determined based on the lane line on which the vehicle is located and the environmental information within a given range around the vehicle, and the environmental information ahead of the vehicle within the given range is determined. Therein is provided withThe position information of the driving vehicle comprises longitude, latitude, heading angle and other information.
As an example, the given range refers to a circular range having a radius r with the current position of the vehicle as the center. However, it should be noted that in other embodiments of the present disclosure, a given range may also refer to a rectangular range, an elliptical range, etc. centered on the current position of the vehicle.
In one exemplary embodiment, the environmental information in front of the vehicle in the given range includes obstacle information and parkable position information in front of the vehicle in the given range. Here, it should be noted that the obstacle information located in front of the vehicle in the given range includes a traveling vehicle located in front of the vehicle in the given range, and may also include a static obstacle located on a lane line of the vehicle in the given range and located in front of the vehicle, which needs to be avoided, and may be, for example, another vehicle that temporarily stops due to a fault or the like, another work apparatus, another obstacle that temporarily appears (for example, falling rocks, or the like), or the like. The parkable position information located in front of the vehicle within the given range refers to position information that allows the vehicle to be parked in front of the vehicle within the given range.
In one exemplary embodiment, as shown in fig. 2, determining a safety zone of the vehicle based on environmental information ahead of the vehicle within a given range includes:
step S431: position information of an obstacle located ahead of and closest to the vehicle within a given range is acquired,
step S432: acquiring whether there is a parkable position between the vehicle and the nearest obstacle, and if so, performing step S433: acquiring a parkable position farthest from the vehicle between the vehicle and the nearest obstacle and using the parkable position as a vertex of the safety zone, if not, executing step S434: the nearest obstacle position is set as the vertex of the safety zone.
In one exemplary embodiment, the running vehicle located ahead of the vehicle within the given range is determined by:
step S11: acquiring a coordinate set of path points of a lane line on a current front driving path of the vehicle based on a given range;
step S12: determining a coordinate set of path points of a lane line where other driving vehicles are located in the area;
step S13: the coordinate set of the route point of the lane line on the traveling route ahead of the vehicle at present and the coordinate set of the route point of the lane line on which the other traveling vehicle in the area is located are data-matched to determine whether there is another traveling vehicle ahead of the vehicle in the given range, the traveling vehicle is regarded as a traveling vehicle ahead of the vehicle in the given range if there is another traveling vehicle, and the position information of the traveling vehicle is acquired, for example, by a positioning unit on the traveling vehicle.
In an exemplary embodiment, the method may further include the step S21 of determining static obstacle information located in front of the vehicle within a given range based on a current map.
In an exemplary embodiment, the method may further include the step S31 of determining parkable position information located in front of the vehicle within a given range based on a current map. Specifically, the parkable position may be determined based on, for example, traffic information in the current map and road conditions of a lane line on which the vehicle is traveling in the current map. The current traffic information may be obtained from other terminals through the communication module, and includes, for example, whether a traffic control area exists or not, and the road condition of a lane line traveled by the vehicle includes whether a slope that does not allow parking exists or not, a specific position of the slope, and the like.
In one exemplary embodiment, obtaining a map of an area traveled by a vehicle includes collecting map information of the area traveled by the vehicle and generating the map based on the map information. The map may be generated in advance by using map information acquired by a map information acquisition vehicle carrying a device such as a laser radar and a laser point cloud, and the map may include information such as a lane line, a vehicle driving track, a road condition of the lane line (for example, whether a slope exists, a position where the slope exists, and the like), a traffic control area, and the like. In addition, the map of the area can be updated in real time through environmental information sensed by sensing units such as vehicle-mounted cameras, laser radars and millimeter wave radars on vehicles running in the area; and/or, the map of the area can be updated in real time through environment information and the like collected by a monitoring camera, a radar and the like arranged in the area, so that the map can comprise static obstacle information such as other vehicles, other operating equipment, other obstacles (such as falling rocks) which temporarily stop due to faults and the like, and the like. In addition, the map of the area may also be updated based on current traffic information. When the traffic information changes, for example, updated traffic information for the area may be obtained, for example, based on operator input, and the map may be updated based on the traffic information. Of course, it is also possible to acquire the traffic information of the area in real time and update the map in real time based on the traffic information.
In an exemplary embodiment, as shown in fig. 1, the method may further include step S5: acquiring vehicle speed related information (such as vehicle speed, accelerator opening, brake pedal angle, etc.) of the vehicle, calculating a minimum safety interval of the current vehicle based on the vehicle speed related information of the vehicle, and then executing step S6: judging whether the determined safety interval is smaller than the minimum safety interval, and when the determined safety interval is smaller than the minimum safety interval, executing the step S7: controlling the vehicle to decelerate or stop, otherwise executing the step S8: the method includes determining a set of coordinates of path points of a lane line on which the vehicle can travel based on a safety section of the vehicle, and transmitting the set of coordinates of the path points of the lane line on which the vehicle can travel to the vehicle.
In one exemplary embodiment, the update time of the safety interval is determined based on vehicle speed-related information of the vehicle and a distance from the current position of the vehicle to a vertex of the safety interval. For example, in the case where the vehicle speed is the same, when the distance from the current position of the vehicle to the vertex of the safety zone is large, the safety zone may be updated at a longer interval, and when the distance from the current position of the vehicle to the vertex of the safety zone is small, the safety zone needs to be updated at a shorter interval. However, it will be appreciated by those skilled in the art that in some other embodiments of the present disclosure, the safety interval may also be updated at predetermined time intervals, which may be, for example, 0.5 seconds to 1.5 seconds, such as 1 second. Of course, the security intervals may also be updated in real time.
In an exemplary embodiment, the method may further include monitoring and recognizing whether there is an abnormality in the communication network, and controlling the vehicle to travel to a stop at a vertex of the safety interval when the abnormality in the communication network is recognized. In this way, it is possible to ensure that the position information of the vehicle is acquired in time, the map is updated, and the coordinate set of the waypoints of the lane line on which the vehicle can travel and the like are transmitted to the vehicle, and so on.
According to the unmanned vehicle safety guarantee method disclosed by the embodiment of the disclosure, the operation running of the vehicle can be always in a safe state, the problem of collision among the vehicles is avoided, and unnecessary deceleration and parking behaviors on a running route are avoided, so that the actual transportation efficiency is improved.
The embodiment of the disclosure also provides a safety guarantee system for the unmanned vehicle. The safeguard system may include: a positioning unit 22 and a safety zone calculation control module 30 provided on the vehicle 20. The positioning unit 22 is configured to locate the position of the vehicle 20, which may be, for example, a GNSS or the like. The safety zone calculation control module 30 receives the position information of the vehicle 20 from the positioning unit 22 through the communication module 10, and acquires environmental information within a given range around the vehicle 20 based on a map of an area where the vehicle 20 travels and the position information of the vehicle 20; and determines a safe zone of the vehicle 20 based on the environmental information within a given range around the vehicle 20, and determines a set of coordinates of waypoints of a lane line on which the vehicle 20 can travel based on the safe zone of the vehicle 20, and transmits the set of coordinates of the waypoints of the lane line on which the vehicle 20 can travel to the vehicle 20 via the communication module 10. The safety range calculation control module 30 may be a field device, or a remote device, for example, may be disposed in the cloud, and communicate with the vehicle 20 through the communication module 10.
In an exemplary embodiment, the safety interval calculation control module 30 is configured to: determining a lane line where the vehicle 30 is located based on the position information of the vehicle 30 and the map; then, the environmental information in front of the vehicle 20 in the given range is determined based on the lane line where the vehicle 30 is located and the environmental information in the given range around the vehicle 20, and the safety zone of the vehicle 20 is determined based on the environmental information in front of the vehicle 20 in the given range.
In an exemplary embodiment, the safety interval calculation control module 30 is configured to: position information of an obstacle located ahead of the vehicle 20 and closest to the vehicle 20 within a given range is acquired, and whether or not there is a parkable position between the vehicle 20 and the closest obstacle is acquired, and if there is, a parkable position farthest from the vehicle 20 between the vehicle 20 and the closest obstacle is acquired and taken as a vertex of a safety section, and if not, the closest obstacle position is taken as a vertex of the safety section.
In an exemplary embodiment, the obstacle includes a running vehicle located in front of the vehicle 20 within a given range, wherein the safety zone calculation control module is further configured to: acquiring a set of coordinates of path points of a lane line on a current forward travel path of the vehicle 20 based on a given range; determining a coordinate set of path points of a lane line where other running vehicles are located in the area; and data-matching the set of coordinates of the path points of the lane line on the current forward traveling path of the vehicle 20 with the set of coordinates of the path points of the lane line in which other traveling vehicles are present in the area to determine whether there is a traveling vehicle ahead of the vehicle 20 in the given range, and if there is a traveling vehicle, the traveling vehicle is regarded as an obstacle in front of the vehicle 20 in the given range.
In an exemplary embodiment, the unmanned vehicle safety and security system further comprises a map data collection vehicle and a map generator 40. The map data collection vehicle is configured to collect map data of an area. The map generator 40 receives map data collected by the map data collection vehicle via the communication module 10 and generates a map based on the map data. The map generator 40 may be a field device or a remote device, for example, may be disposed in the cloud and communicate with the map data collection vehicle through the communication module 10. It should be noted that, in some other exemplary embodiments of the present disclosure, a map of the area where the vehicle travels may be stored in the storage unit of the safe zone calculation control module 30 in advance.
In an exemplary embodiment, the unmanned vehicle safety assurance system further includes a sensing unit 21, the sensing unit 21 being disposed on a vehicle in the area and sensing static obstacle information in the area, and the map generator receiving the static obstacle information sensed by the sensing unit 21 via the communication module 10 and updating the map based on the static obstacle information. In addition, the unmanned vehicle safety guarantee system can further comprise environmental information sensing equipment such as a monitoring camera and a radar which are arranged in the area, and the map of the area is updated in real time based on information collected by the equipment.
In an exemplary embodiment, the communication module 10 is further configured to obtain traffic information of the area from the other terminal 50, and the map generator receives the traffic information of the area via the communication module 10 and updates the map based on the traffic information of the area.
The map generator 40 may be a field device or a remote device, for example, may be disposed in the cloud and communicate with the map data collection vehicle through the communication module 10. It should be noted that, in some other exemplary embodiments of the present disclosure, the map of the area where the vehicle travels may be stored in the storage unit of the safe zone calculation control module 30 in advance, and may be updated in real time based on the static obstacle information and/or the traffic information of the area sensed by the sensing unit 21.
In an exemplary embodiment, the sensing unit 21 further includes a sensor disposed on the vehicle 20 for sensing vehicle speed related information of the vehicle 20, and the safety interval calculation control module 30 receives the vehicle speed related information sensed by the sensor through the communication module 10, determines a minimum safety interval of the current vehicle 20 based on the vehicle speed related information, and transmits a safety command for deceleration or parking to the vehicle 20 when the determined safety interval is less than the minimum safety interval.
In an exemplary embodiment, the system for managing and controlling the unmanned vehicle in the intersection area may further include a network monitoring and abnormality recognition module (not shown) configured to monitor a communication network of the entire system, and when an abnormality is found in the communication network of the management and control system, control the vehicle to travel to a top of a safety zone to stop to ensure safety of the vehicle. Thus, when the communication abnormality occurs, the vehicle can travel to the forefront of the safety zone. Therefore, the safety of the vehicle is ensured, and the form continuity of the unmanned vehicle is guaranteed to the maximum extent.
According to the safety guarantee system for the unmanned vehicle, operation running of vehicles in the area can be always in a safe state, the problem of collision among the vehicles is avoided, unnecessary speed reduction and parking behaviors on a running route are avoided, and therefore actual transportation efficiency is improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (23)

1. A method for securing an unmanned vehicle, comprising:
acquiring a map of an area where the vehicle is running;
acquiring position information of the vehicle;
acquiring environmental information within a given range around the vehicle based on the map and the position information of the vehicle;
determining a safety zone of the vehicle based on the environmental information within the given range around the vehicle; and
and determining a coordinate set of path points of a lane line on which the vehicle can travel based on the safety interval of the vehicle, and sending the coordinate set of the path points of the lane line on which the vehicle can travel to the vehicle.
2. The unmanned vehicle safety-assurance method of claim 1, wherein determining the safety zone of the vehicle based on the environmental information within the given range around the vehicle comprises:
determining a lane line where the vehicle is located based on the map and the position information of the vehicle;
determining environmental information in front of the vehicle in a given range based on a lane line where the vehicle is located and the environmental information in the given range around the vehicle; and
determining a safety zone of the vehicle based on environmental information in front of the vehicle within the given range.
3. The unmanned vehicle safeguard method according to claim 2, wherein the environmental information in front of the vehicle within the given range includes obstacle information and parkable position information in front of the vehicle within the given range.
4. The unmanned vehicle safety and security method of claim 3, wherein determining the safe zone for the vehicle based on the environmental information ahead of the vehicle within the given range comprises:
acquiring position information of an obstacle located ahead of the vehicle and closest to the vehicle within the given range, and acquiring whether or not a parkable position exists between the vehicle and the closest obstacle, and if so, acquiring a parkable position farthest from the vehicle between the vehicle and the closest obstacle and taking the parkable position as a vertex of a safety section, and if not, taking the closest obstacle position as a vertex of the safety section.
5. The unmanned vehicle safety assurance method of claim 4, wherein the obstacle comprises a traveling vehicle.
6. The unmanned vehicle safety assurance method of claim 5, further comprising:
acquiring a coordinate set of path points of a lane line on a current front driving path of the vehicle based on the given range;
determining a coordinate set of path points of a lane line where other driving vehicles are located in the area; and
and performing data matching on the coordinate set of the path point of the lane line on the current front driving path of the vehicle and the coordinate set of the path point of the lane line where other driving vehicles are located in the area to determine whether a driving vehicle exists in front of the vehicle in the given range, and if so, regarding the driving vehicle as an obstacle in front of the vehicle in the given range, and acquiring the position information of the driving vehicle.
7. The unmanned vehicle safety assurance method of claim 4, wherein the obstacle comprises a static obstacle, wherein the unmanned vehicle safety assurance method further comprises: determining static obstacle information located in front of the vehicle within the given range based on the map.
8. The unmanned vehicle safety assurance method of claim 4, further comprising: determining, based on the map, parkable position information located in front of the vehicle within the given range.
9. The unmanned vehicle safety assurance method of any one of claims 1-8, wherein the given range is a circular range centered around a current location of the vehicle.
10. The unmanned vehicle safety assurance method of any one of claims 1-8, wherein obtaining the map comprises collecting map information for the area and generating the map based on the map information.
11. The unmanned vehicle safety assurance method of any one of claims 1-8, further comprising: updating the map based on static obstacle information perceived by perception units on at least some vehicles within the area.
12. The unmanned vehicle safety assurance method of any one of claims 1-8, further comprising: and acquiring traffic information of the area, and updating the map based on the traffic information.
13. The unmanned vehicle safety assurance method of any one of claims 1-8, wherein vehicle speed related information of the vehicle is acquired, and a minimum safety interval of the vehicle is currently determined based on the vehicle speed related information of the vehicle, and when the determined safety interval is less than the minimum safety interval, the vehicle is controlled to decelerate or stop.
14. The unmanned vehicle safety assurance method of any one of claims 1-8, wherein the safety interval is updated every preset time.
15. The unmanned vehicle safety assurance method of claim 14, wherein the preset time is 0.5 to 1.5 seconds.
16. An unmanned vehicle safety assurance system comprising:
a positioning unit configured to position a position of the vehicle;
a safety zone calculation control module that receives position information of the vehicle from the positioning unit via a communication module, and acquires environmental information within a given range around the vehicle based on a map of an area where the vehicle is traveling and the position information of the vehicle; and determining a safety section of the vehicle based on the environmental information within the given range around the vehicle, determining a set of coordinates of waypoints of a lane line on which the vehicle can travel based on the safety section of the vehicle, and transmitting the set of coordinates of the waypoints of the lane line on which the vehicle can travel to the vehicle via the communication module.
17. The unmanned vehicle safety and security system of claim 16, wherein the safety zone calculation control module is configured to:
determining a lane line where the vehicle is located based on the map and the position information of the vehicle;
determining environmental information in front of the vehicle in a given range based on a lane line where the vehicle is located and the environmental information in the given range around the vehicle; and
determining a safety zone of the vehicle based on environmental information in front of the vehicle within the given range.
18. The unmanned vehicle safety and security system of claim 17, wherein the safety zone calculation control module is configured to:
acquiring position information of an obstacle located ahead of the vehicle and closest to the vehicle within the given range, and acquiring whether or not a parkable position exists between the vehicle and the closest obstacle, if so, acquiring a parkable position farthest from the vehicle between the vehicle and the closest obstacle and taking the parkable position as a vertex of a safety section, and if not, taking the closest obstacle position as a vertex of the safety section.
19. The unmanned vehicle safety assurance system of claim 18, wherein the obstacle comprises a traveling vehicle, wherein the safety zone calculation control module is further configured to:
acquiring a coordinate set of path points of a lane line on a current front driving path of the vehicle based on the given range;
determining a coordinate set of path points of a lane line where other driving vehicles are located in the area; and
and performing data matching on the coordinate set of the path point of the lane line on the current front driving path of the vehicle and the coordinate set of the path point of the lane line where other driving vehicles are located in the area to determine whether a driving vehicle exists in front of the vehicle in the given range, and if so, regarding the driving vehicle as an obstacle in front of the vehicle in the given range, and acquiring the position information of the driving vehicle.
20. The unmanned vehicle safety and security system of claim 19, further comprising:
a map data collection vehicle configured to collect map data for the area; and
and the map generator is used for receiving the map data acquired by the map data acquisition vehicle, generating the map based on the map data and sending the map to the safety interval calculation control module.
21. The unmanned vehicle safety and security system of claim 20, further comprising:
a sensing unit disposed on a vehicle within the area and configured to sense static obstacle information within the area,
the map generator receives the static obstacle information sensed by the sensing unit via the communication module and updates the map based on the static obstacle information.
22. The unmanned vehicle safety assurance system of claim 21, wherein the map generator receives traffic information for the area via the communication module and updates the map based on the traffic information for the area.
23. The unmanned vehicle safeguard system according to claim 21 or 22, the sensing unit further comprising a sensor provided on the vehicle for sensing vehicle speed related information of the vehicle, the safety interval calculation control module receiving the vehicle speed related information sensed by the sensor through the communication module and determining a current minimum safety interval of the vehicle based on the vehicle speed related information, and transmitting an instruction of deceleration or stop to the vehicle when the determined safety interval is smaller than the minimum safety interval.
CN202210532797.4A 2022-05-11 2022-05-11 Unmanned vehicle safety guarantee method and system Pending CN115447586A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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