CN116483087A - Walking control method and device of tractor and electronic equipment - Google Patents

Walking control method and device of tractor and electronic equipment Download PDF

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Publication number
CN116483087A
CN116483087A CN202310461913.2A CN202310461913A CN116483087A CN 116483087 A CN116483087 A CN 116483087A CN 202310461913 A CN202310461913 A CN 202310461913A CN 116483087 A CN116483087 A CN 116483087A
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China
Prior art keywords
tractor
track
boundary
road
information
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Chinese (zh)
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请求不公布姓名
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Jiuyao Intelligent Technology Zhejiang Co ltd
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Jiuyao Intelligent Technology Zhejiang Co ltd
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Priority to CN202310461913.2A priority Critical patent/CN116483087A/en
Publication of CN116483087A publication Critical patent/CN116483087A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

In an embodiment of the present application, a walking control method of a tractor is provided, where the walking control method includes: acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information; determining a sensing area based on road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary; adjusting the boundary of the sensing area based on the planned track attribute of the tractor; controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; controlling the tractor to walk based on the detection result and the planned track attribute of the tractor; on the one hand, the technical problem that the vehicle stops by mistake caused by the fact that the obstacle outside the road is detected by mistake when the vehicle turns is avoided, and on the other hand, the technical problem that the possibly-occurring vehicle head can normally pass through, but the vehicle and the obstacle collide due to omission is solved.

Description

Walking control method and device of tractor and electronic equipment
Technical Field
The invention relates to the field of automatic driving, in particular to a walking control method and device of a tractor and electronic equipment.
Background
Tractor refers to a vehicle for towing a trailer for carrying cargo and is commonly used for medium and long distance cargo transportation. At present, the demand of long-distance transportation is increasing day by day, and the traction vehicle driven by an automatic driver is used for transportation, so that the driving safety of a driver can be obviously improved, and the logistics cost can be greatly reduced.
The existing walking control method of the tractor adopting automatic driving is to navigate through a walking path after planning the walking path of the tractor, and adopt a vehicle-mounted recognition device to sense road information in the walking process; the vehicle-mounted recognition device is particularly used for sensing obstacles possibly randomly distributed in a road in front of a vehicle head; after the road information is determined, the road condition information is obtained after analysis and processing by the vehicle-mounted computing unit so as to ensure the safety in the automatic driving process.
However, in the walking control method of the tractor, on one hand, when the vehicle turns, the technical problem that the vehicle is stopped by mistake due to the fact that the obstacle outside the road is detected by mistake can occur; on the one hand, when the tractor band plate advances and the band plate turns, the scooter and the locomotive do not run along the same track, and the locomotive can normally pass, but the technical problem of collision is caused by missed detection of the scooter and the obstacle; the method is characterized in that the existing walking control method of the tractor has a perception blind area due to different position relations and track relations between the scooter and the vehicle, so that detection omission is caused.
Therefore, it is needed to provide a method for controlling the walking of a tractor, so as to at least solve the technical problems of false detection and/or missing detection in the method for controlling the walking of the tractor in the prior art.
Disclosure of Invention
The application provides a walking control method and device of a tractor and electronic equipment, and aims to at least solve the technical problems in the related art.
According to an aspect of the embodiments of the present application, there is provided a walking control method of a tractor, the walking control method including: acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information; determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary; adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor; controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; and controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
Optionally, the planned trajectory attribute of the tractor includes at least a historical trajectory fitted by a plurality of trajectory points or a plurality of segments of trajectory lines, and the adjusting the boundary of the perceived area based on the planned trajectory attribute of the tractor includes: determining the direction relation and the position relation of each previous track point and/or track line and the subsequent track point and/or track line based on the planned track attribute; and if the direction relation is inconsistent with the direction of the central line of the road, correcting the boundary of the sensing area of the previous track point and/or the track line based on the direction relation and the position relation of the previous track point and/or the track line and the subsequent track point and/or the track line.
Optionally, the sensing area includes a first boundary and a second boundary distributed on two sides of the center line of the roadway, and the correcting the boundary of the sensing area of the previous track point and/or the track line includes: and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the first boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or the track line and the previous track point and/or the track line and the central line of the road and the first boundary and the second boundary.
Optionally, the correcting the boundary of the sensing area of the previous track point and/or track line further includes: and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the second boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the second boundary based on the included angle between the subsequent track point and/or the track line and the central line of the road and the previous track point and/or the track line and the first boundary and the second boundary.
Optionally, the tractor state includes a belt plate state in which the scooter is mounted and a non-belt plate state in which the scooter is not mounted; the method further comprises the steps of: if the state of the tractor is the band plate state, acquiring the track information of the scooter of the tractor; and correcting the boundary of the sensing area based on the direction relation and the position relation of the scooter track information and the tractor track information.
Optionally, the acquiring the scooter track information of the tractor includes: acquiring at least one group of wheel wheelbases of a scooter; and determining the scooter track information based on the wheel base.
Optionally, the acquiring the scooter track information of the tractor includes: acquiring the relative position relation between the tractor and the scooter; and determining the scooter track information based on the relative position relation.
Optionally, the acquiring the scooter track information of the tractor includes: acquiring the connection relation between the tractor and the scooter; and determining the scooter track information based on the connection relation.
According to another aspect of the present application, there is provided a travel control device of a tractor, the travel control device of the tractor including: the attribute acquisition module is used for acquiring the planned track attribute and the road attribute information of the tractor, wherein the road attribute information comprises high-precision map information of calibrated road information; the area determining module is used for determining a sensing area based on the road attribute information, wherein the sensing area is an area from a tractor to sense whether an obstacle exists in a range from a vehicle body to a road boundary; the area adjusting module is used for adjusting the boundary of the sensing area based on the planned track attribute of the tractor; the detection module is used for controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; and the walking control module is used for controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
According to another aspect of the present application, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of controlling walking of a tractor as claimed in any one of the preceding claims.
In an embodiment of the present application, a walking control method of a tractor is provided, where the walking control method includes: acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information; determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary; adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor; controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; controlling the tractor to walk based on the detection result and the planned track attribute of the tractor; on the one hand, the technical problem that the vehicle stops by mistake caused by the fact that the obstacle outside the road is detected by mistake when the vehicle turns is avoided, and on the other hand, the technical problem that the possibly-occurring vehicle head can normally pass through, but the vehicle and the obstacle collide due to omission is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a hardware environment of an alternative tractor walk control method in accordance with an embodiment of the invention;
FIG. 2 is a flow chart of an alternative method of controlling the travel of a tractor in accordance with an embodiment of the present application;
FIG. 3 is a schematic illustration of a traction control device according to an embodiment of the present application;
fig. 4 is a block diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of the embodiments of the present application, there is provided a walking control method of a tractor, the walking control method including: acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information; determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary; adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor; controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; and controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
In the present embodiment, the above-described walking control method of the tractor may be applied to a hardware environment constituted by the terminal 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the server 104 is connected to the terminal 102 through a network, which may be used to provide services to the terminal or a client installed on the terminal, may set a database on the server or independent of the server, may be used to provide data storage services to the server 104, and may also be used to process cloud services, where the network includes, but is not limited to: the terminal 102 is not limited to a PC, a mobile phone, a tablet computer, etc., but is a wide area network, a metropolitan area network, or a local area network. The walking control method of the tractor in the embodiment of the present application may be executed by the server 104, may be executed by the terminal 102, or may be executed by both the server 104 and the terminal 102. The terminal 102 may execute the walking control method of the tractor according to the embodiment of the present application by a client installed thereon.
Taking the example that the terminal 102 and/or the server 104 execute the walking control method of the tractor in this embodiment as an example, fig. 2 is a schematic flow chart of an alternative walking control method of the tractor according to an embodiment of the application, as shown in fig. 2, the flow of the method may include the following steps:
s202, acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information;
as described in the background art of the present application, in the present method for controlling walking of a tractor using automatic driving, after a walking path of the tractor is planned, navigation is performed through the walking path, and a vehicle-mounted recognition device is used to sense road information during the walking process; in order to realize automatic driving of the tractor, the planned track attribute and the road attribute information of the tractor are obtained, wherein the road attribute information comprises high-precision map information of calibrated road information; on the one hand, the planned track attribute may be a historical path based on the tractor driving under the current fixed road section, or may be a predicted path determined based on the high-precision map information of the calibrated road information, which is not limited herein; it may be appreciated that, as an alternative embodiment, the planning attribute information may be determined according to the historical path, the planning attribute information may be determined according to the predicted path, or the planning attribute information may be determined comprehensively according to the historical path and the predicted path; on the other hand, it is possible to determine, from the road attribute information, other road attribute information determined via a high-precision map by the tractor based on the planning attribute information including, but not limited to, a road width, a road center line, a road turning curvature, and the like.
S204, determining a sensing area based on the road attribute information, wherein the sensing area is an area where a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary;
the sensing region may be a maximum sensing region of a current sensing device of the tractor; illustratively, the sensing device includes at least one of a lidar, a millimeter wave radar, a video recognition device.
S206, adjusting the boundary of the sensing area based on the planned track attribute of the tractor;
as described in the background art of the present application, in the prior art, for example, S202 to S204 determine a walking control method of a tractor that controls the tractor to walk in a sensing area, on one hand, when a vehicle turns, a technical problem that an obstacle outside a road is erroneously detected, resulting in erroneous parking of the vehicle may occur; on the one hand, when the belt plate of the tractor advances and the belt plate turns, the scooter and the locomotive do not run along the same track, and the locomotive can normally pass, but the technical problem of collision due to omission of detection of the scooter and the obstacle can occur; in addition, in the existing walking control method of the tractor, a perception blind area exists between the scooter and the vehicle due to the position relation and the track relation, so that detection omission is caused.
In order to avoid the technical problem of missed detection caused by the fact that a perception dead zone exists between a scooter and a vehicle due to the position relation and the track relation, in the application, the boundary of the perception zone is adjusted based on the planned track attribute of the tractor; specifically, on one hand, in order to avoid the technical problem that the vehicle is stopped by mistake due to the fact that the road external obstacle is detected by mistake when the vehicle turns, the method can determine when the vehicle turns according to the planned track attribute and the road attribute information of the vehicle, so that the boundary of the sensing area is adjusted when the vehicle turns, and the technical problem that the vehicle is stopped by mistake due to the fact that the road external obstacle is detected by mistake when the vehicle turns is avoided; on the other hand, in order to avoid that when the tractor band plate advances and the band plate turns, the scooter and the scooter are not in same track operation, the technical problem that the scooter and the obstacle can normally pass through possibly, but the collision is missed can be solved, and the technical problem that the scooter and the obstacle can normally pass through possibly according to the scooter track information, the planning track attribute and the road attribute information can be solved.
Illustratively, the adjusting the boundary of the sensing region may be an implementation manner of rejecting sensing information not belonging to the adjusted sensing region.
Illustratively, the adjusting the boundary of the sensing area may also be an implementation of adding an area that is not detected when the band is applied.
S208, controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle;
wherein as an exemplary embodiment, the tractor may be controlled to detect the obstacle in a detection manner of rejecting the perception information not belonging to the adjusted perception area.
As another exemplary embodiment, upon recognition of the vehicle band plate, the tractor may be controlled to detect the obstacle in a detection manner that increases the perception information not belonging to the adjusted perception area.
And S210, controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
Through the technical scheme, the planned track attribute and the road attribute information of the tractor are obtained, wherein the road attribute information comprises high-precision map information of calibrated road information; determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary; adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor; controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle; controlling the tractor to walk based on the detection result and the planned track attribute of the tractor; on the one hand, the technical problem that the vehicle stops by mistake caused by the fact that the obstacle outside the road is detected by mistake when the vehicle turns is avoided, and on the other hand, the technical problem that the possibly-occurring vehicle head can normally pass through, but the vehicle and the obstacle collide due to omission is solved.
As an exemplary embodiment, the planned trajectory attribute of the tractor includes at least a historical trajectory fitted by a plurality of trajectory points or a plurality of trajectory lines, and the adjusting the boundary of the perceived area based on the planned trajectory attribute of the tractor includes: determining the direction relation and the position relation of each previous track point and/or track line and the subsequent track point and/or track line based on the planned track attribute; and if the direction relation is inconsistent with the direction of the central line of the road, correcting the boundary of the sensing area of the previous track point and/or the track line based on the direction relation and the position relation of the previous track point and/or the track line and the subsequent track point and/or the track line.
And if the direction relation is inconsistent with the direction of the central line of the road, the vehicle is represented to turn, and the boundary of the sensing area of the previous track point and/or the track line is corrected based on the direction relation and the position relation of the previous track point and/or the track line and the subsequent track point and/or the track line.
As an exemplary embodiment, the sensing area includes a first boundary and a second boundary distributed on both sides of a center line of the roadway, and the correcting the boundary of the sensing area of the previous track point and/or the track line includes:
and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the first boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or the track line and the previous track point and/or the track line and the central line of the road and the first boundary and the second boundary.
If the direction relation and the position relation between the latter track point and/or the track line and the former track point and/or the track line are the first boundary side facing the central line of the road, representing that the vehicle is about to turn towards the first boundary, detecting obstacles outside the first boundary side and outside the second boundary side which do not belong to the road if the first boundary side and the second boundary side keep the original sensing area during turning, and thus, stopping the vehicle by mistake; since the probability of detecting an obstacle outside the side near the first boundary is much larger than that outside the second boundary, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or track line and the previous track point and/or track line and the central line of the road, and the first boundary and the second boundary, so as to avoid the problems.
As an alternative embodiment, a coordinate system can be established by taking the central line of the road as the y axis and the vehicle body as the origin of the coordinate axis; the adjustment mode at this time is as follows:
left boundary point, x= -i.xg-sin (i.header) ×head_left_;
left boundary point y=i.yg+cos (i.header) ×road_left_;
right boundary point, x= -i.xg+sin (i.header) ×row_right_;
right boundary point y=i.yg-cos (i.header) ×road_right_;
and the head is an included angle between a later track point or track line and a former track point or track line and the x-axis direction, wherein the head_left and the head are set left and right detection width values, and the igx and the iyg are xy coordinates of the later track point or track line based on the determination of the sensing equipment.
As an exemplary embodiment, the sensing area includes a first boundary and a second boundary distributed on both sides of a center line of the roadway, and the correcting the boundary of the sensing area of the previous track point and/or the track line includes: and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the first boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or the track line and the previous track point and/or the track line and the central line of the road and the first boundary and the second boundary.
If the direction relation and the position relation between the latter track point and/or the track line and the former track point and/or the track line are the first boundary side facing the central line of the road, representing that the vehicle is about to turn towards the first boundary, detecting obstacles outside the first boundary side and outside the second boundary side which do not belong to the road if the first boundary side and the second boundary side keep the original sensing area during turning, and thus, stopping the vehicle by mistake; since the probability of detecting an obstacle outside the side near the second boundary is much larger than that outside the first boundary, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or track line and the previous track point and/or track line and the central line of the road, and the first boundary and the second boundary, so as to avoid the problems.
As an alternative embodiment, a coordinate system can be established by taking the central line of the road as the y axis and the vehicle body as the origin of the coordinate axis; the adjustment mode at this time is as follows:
left boundary point, x= -i.xg+sin (i.header) ×row_right_;
left boundary point y=i.yg-cos (i.header) ×head_right u
Right boundary point, x= -i.xg-sin (i.header) ×head_left_;
right boundary point y=i.yg+cos (i.header) ×row_left_;
and the head is an included angle between a later track point or track line and a former track point or track line and the x-axis direction, wherein the head_left and the head are set left and right detection width values, and the igx and the iyg are xy coordinates of the later track point or track line based on the determination of the sensing equipment.
As an exemplary embodiment, the tractor state includes a band plate state in which the scooter is mounted and a non-band plate state in which the scooter is not mounted; the method further comprises the steps of: if the state of the tractor is the band plate state, acquiring the track information of the scooter of the tractor; and correcting the boundary of the sensing area based on the direction relation and the position relation of the scooter track information and the tractor track information.
When the tractor band plate advances and the band plate turns, the scooter and the locomotive do not run along the same track, and the locomotive can normally pass through, but the technical problem of collision due to omission of detection occurs between the scooter and the obstacle; in addition, in the existing walking control method of the tractor, a perception blind area exists between the scooter and the vehicle due to the position relation and the track relation, so that detection omission is caused.
In order to solve the problems, if the state of the tractor is a band plate state, acquiring the track information of the tractor; it can be understood that after the planned track attribute information of the tractor is determined, if the connection relationship between the tractor and the scooter is fixed, the planned track attribute of the fixed tractor corresponds to the fixed scooter track information; and correcting the boundary of the sensing area based on the direction relation and the position relation of the scooter track information and the tractor track information.
As an optional implementation manner, the modification of the boundary of the sensing area based on the direction relationship and the position relationship of the scooter track information and the planned track attribute information of the tractor may be to determine an adjusted sensing area based on the scooter track and an adjusted sensing area based on the planned track attribute of the tractor, respectively, and then, the two sensing areas are combined to form a final sensing area.
As another alternative implementation manner, the correction of the boundary of the sensing area based on the direction relationship and the position relationship of the scooter track information and the tractor track information may be a sensing area which is determined according to the relative position relationship of the tractor and the scooter and is focused on in the travelling process; the key sensing area may be a sensing area when an obstacle exists in a certain area in front of the area is detected, and the vehicle can pass through the sensing area, and the collision condition when the vehicle passes through the area is determined in advance based on the vehicle track information of the vehicle in a period of time immediately before entering the area.
As an exemplary embodiment, the obtaining the scooter track information of the tractor includes: acquiring at least one group of wheel wheelbases of a scooter; and determining the scooter track information based on the wheel base.
In an optional implementation manner, after the planned track attribute information is determined, the track information of the scooters with different wheel wheelbases on the scooters based on the planned track attribute information is determined and stored in the memory, and when the scooters with the wheelbases are identified as the scooters with the wheelbases next time, the stored track information of the scooters is directly read from the memory.
Because the relative position relationship between the scooter and the tractor is different, the scooter track information of the scooter is different, and based on this, as an exemplary embodiment, the obtaining the scooter track information of the tractor includes: acquiring the relative position relation between the tractor and the scooter; and determining the scooter track information based on the relative position relation.
Wherein the relative positional relationship includes, but is not limited to, distance information of the tractor and the scooter, and angle information of the tractor and the scooter.
Because the connection relationship between the scooter and the tractor is different, the scooter track information of the scooter is different, and as an exemplary embodiment, the obtaining the scooter track information of the tractor includes: acquiring the connection relation between the tractor and the scooter; and determining the scooter track information based on the connection relation.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory ), magnetic disk, optical disc), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided a traction vehicle travel control apparatus for implementing the traction vehicle travel control method described above. Fig. 3 is a schematic view of a traction control device according to an embodiment of the present application, as shown in fig. 3, the device may include:
the attribute acquisition module 302 is configured to acquire planned track attribute and road attribute information of the tractor, where the road attribute information includes high-precision map information of calibrated road information;
the area determining module 304 is configured to determine a sensing area based on the road attribute information, where the sensing area is an area where the tractor senses whether an obstacle exists in a range from the vehicle body to the road boundary;
a region adjustment module 306 for adjusting the boundary of the perceived region based on the planned trajectory attribute of the tractor;
a detection module 308, configured to control the tractor to detect an obstacle based on the adjusted sensing area, so as to determine a detection result of the obstacle;
the walking control module 310 is configured to control the tractor to walk based on the detection result and the planned track attribute of the tractor.
It should be noted that, the attribute obtaining module 302 in this embodiment may be configured to perform the above step S202, the area determining module 304 may be configured to perform the above step S204, the area adjusting module 306 may be configured to perform the above step S206, the detecting module 308 may be configured to perform the above step S208, and the walking control module 310 may be configured to perform the above step S210.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
Fig. 4 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 402, a communication interface 404, a memory 406, and a communication bus 408, as shown in fig. 4, wherein the processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408, wherein,
a memory 406 for storing a computer program;
processor 402, when executing a computer program stored on memory 406, performs the following steps:
acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information;
determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary;
adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor;
controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle;
and controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the walking control method of the tractor described above, which may be a server, a terminal, or a combination thereof.
Fig. 4 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 402, a communication interface 404, a memory 406, and a communication bus 408, as shown in fig. 4, wherein the processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408, wherein,
alternatively, in the present embodiment, the above-described communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The memory may include RAM or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, as shown in fig. 4, the above-mentioned memory 402 may include, but is not limited to, the attribute obtaining module 302, the area determining module 304, the area adjusting module 306, the detecting module 308, and the walking control module 310 in the walking control device of the tractor, and may also include, but is not limited to, other module units in the walking control device of the tractor, which are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be understood by those skilled in the art that the structure shown in fig. 4 is only schematic, and the device implementing the walking control method of the tractor may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an IOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 4 is not limited to the structure of the electronic device. For example, the terminal device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in fig. 4, or have a different configuration than shown in fig. 4.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more electronic devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims (10)

1. A walking control method of a tractor, characterized by comprising:
acquiring planning track attribute and road attribute information of a tractor, wherein the road attribute information comprises high-precision map information of calibrated road information;
determining a sensing area based on the road attribute information, wherein the sensing area is an area in which a tractor senses whether an obstacle exists in a range from a vehicle body to a road boundary;
adjusting boundaries of the perceived area based on planned trajectory attributes of the tractor;
controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle;
and controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
2. The method of claim 1, wherein the planned trajectory attribute of the tractor includes at least a historical trajectory fitted by a plurality of trajectory points or a plurality of trajectory lines, and wherein adjusting the boundary of the perceived area based on the planned trajectory attribute of the tractor includes:
determining the direction relation and the position relation of each previous track point and/or track line and the subsequent track point and/or track line based on the planned track attribute;
and if the direction relation is inconsistent with the direction of the central line of the road, correcting the boundary of the sensing area of the previous track point and/or the track line based on the direction relation and the position relation of the previous track point and/or the track line and the subsequent track point and/or the track line.
3. The method of claim 2, wherein the perceived area includes a first boundary and a second boundary distributed on both sides of a center line of the roadway, and wherein correcting the boundary of the perceived area of the previous track point and/or track line includes:
and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the first boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the first boundary based on the included angle between the subsequent track point and/or the track line and the previous track point and/or the track line and the central line of the road and the first boundary and the second boundary.
4. The method of controlling walking of a tractor as claimed in claim 3, wherein said correcting the boundary of the sensing area of the previous track point and/or track line further comprises:
and if the direction relation and the position relation of the subsequent track point and/or the track line and the previous track point and/or the track line are towards the second boundary side of the central line of the road, the first boundary and the second boundary are adjusted towards the second boundary based on the included angle between the subsequent track point and/or the track line and the central line of the road and the previous track point and/or the track line and the first boundary and the second boundary.
5. The walking control method of a tractor according to claim 4, wherein the tractor state includes a belt plate state in which a scooter is mounted and a non-belt plate state in which the scooter is not mounted; the method further comprises the steps of:
if the tractor state is a band plate state, then
Acquiring the track information of a scooter of the tractor;
and correcting the boundary of the sensing area based on the direction relation and the position relation of the scooter track information and the tractor track information.
6. The method for controlling walking of a tractor according to claim 5, wherein the acquiring the scooter trajectory information of the tractor includes:
acquiring at least one group of wheel wheelbases of a scooter;
and determining the scooter track information based on the wheel base.
7. The method for controlling walking of a tractor according to claim 5, wherein the acquiring the scooter trajectory information of the tractor includes:
acquiring the relative position relation between the tractor and the scooter;
and determining the scooter track information based on the relative position relation.
8. The method for controlling walking of a tractor according to claim 5, wherein the acquiring the scooter trajectory information of the tractor includes:
acquiring the connection relation between the tractor and the scooter;
and determining the scooter track information based on the connection relation.
9. A traction control device for a tractor, the traction control device comprising:
the attribute acquisition module is used for acquiring the planned track attribute and the road attribute information of the tractor, wherein the road attribute information comprises high-precision map information of calibrated road information;
the area determining module is used for determining a sensing area based on the road attribute information, wherein the sensing area is an area from a tractor to sense whether an obstacle exists in a range from a vehicle body to a road boundary;
the area adjusting module is used for adjusting the boundary of the sensing area based on the planned track attribute of the tractor;
the detection module is used for controlling the tractor to detect the obstacle based on the adjusted sensing area so as to determine the detection result of the obstacle;
and the walking control module is used for controlling the tractor to walk based on the detection result and the planned track attribute of the tractor.
10. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the traction control method of the tractor according to any one of claims 1 to 8.
CN202310461913.2A 2023-04-25 2023-04-25 Walking control method and device of tractor and electronic equipment Pending CN116483087A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310461913.2A CN116483087A (en) 2023-04-25 2023-04-25 Walking control method and device of tractor and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310461913.2A CN116483087A (en) 2023-04-25 2023-04-25 Walking control method and device of tractor and electronic equipment

Publications (1)

Publication Number Publication Date
CN116483087A true CN116483087A (en) 2023-07-25

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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