CN-121995913-A - Scenic spot unmanned sightseeing vehicle capable of automatically planning curve path

CN121995913ACN 121995913 ACN121995913 ACN 121995913ACN-121995913-A

Abstract

The invention provides an unmanned sightseeing vehicle capable of automatically planning a curve path, which comprises a vehicle body, a data acquisition module, a data analysis module and an execution module, wherein the data acquisition module is used for acquiring vehicle state parameters, obstacle state parameters and map data, the data analysis module generates result data for the vehicle state parameters and the obstacle state parameters, the execution module controls the vehicle to move according to the result data, a virtual boundary line is defined based on a satellite map, a belt-shaped initial path is generated by combining the width of the vehicle body and a safety distance, the obstacle state is distinguished, a time axis is added for predicting collision points for moving obstacles, tire pressure data and a battery allowance factor correction path are introduced, the over-curve efficiency is improved, the tire burst risk is reduced, and the endurance is prolonged.

Inventors

CHENG RUI
CHENG YICHUN

Assignees

零度睿舟智航技术(深圳)有限公司

Dates

Publication Date: 20260508
Application Date: 20260123

Claims (9)

1. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curve path is characterized by comprising a vehicle body, a data acquisition module, a data analysis module, a data storage module and an execution module; The data acquisition module is used for acquiring curve map data, obstacle data and vehicle data; The data analysis module is used for processing curve map data to generate an initial path, and re-planning the initial path according to the obstacle data and the initial path to generate a target path; The data storage module is used for storing a target path, processing historical data of the target path, correcting the target path and generating an optimized path; The execution module controls the vehicle action according to the optimized path.
2. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curve path according to claim 1, wherein the data acquisition module acquires curve map data comprising the steps of: s11, acquiring satellite map data, generating curve data, and defining virtual boundary lines on two sides of the curve data; and S12, generating an initial path according to the virtual boundary lines on two sides, the width of the vehicle body, the safety distance and the minimum turning radius of the vehicle, wherein the initial path is in a strip shape with a preset width, and the width of the strip shape is equal to the sum of the width of the vehicle body and the safety distance.
3. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curved path according to claim 1, wherein the data acquisition module acquires the obstacle data comprising the steps of: Step S21, the obstacle data comprise position coordinates, geometric dimensions, speed and direction; step S22, calculating the distance between the obstacle and the virtual boundary line on two sides.
4. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curved path according to claim 1, wherein the specific steps of the data analysis module analyzing the obstacle data and re-planning the path to generate a new path are as follows: Step S31, judging whether the obstacle is in a static state or a moving state according to the obstacle data, and re-planning avoidance paths on two sides of the obstacle if the obstacle is in the static state; step S32, if the obstacle is in a motion state, generating an obstacle motion track according to the position and the speed parameters of the obstacle; And S33, judging whether the movement track of the obstacle and the initial path are intersected, if so, adding a time parameter for comprehensive analysis, and when the distance between the vehicle body and the intersection point is greater than a threshold value when the obstacle is positioned at the intersection point, maintaining the initial path, and if so, re-planning a new path.
5. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curved path according to claim 1, wherein the specific steps of optimizing and correcting the new path by the data analysis module are as follows: Step S41, tire pressure monitoring data of each tire of the vehicle are obtained in real time; Step S42, judging whether a tire with a tire pressure value smaller than a preset threshold value exists or not; if there is a tire having an abnormal tire pressure, step S43 determines an obstacle avoidance path on the same side as the abnormal tire as a priority traffic path.
6. The unmanned sightseeing vehicle for scenic spot capable of automatically planning a curved path according to claim 5, wherein in step S43, after the priority traffic path selection is completed, the vehicle speed is adjusted according to the tire pressure.
7. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curved path according to claim 5, wherein in step S42, when the tire pressure values are all greater than the preset threshold value, the following steps are executed: Step S42a, obtaining residual data of a vehicle battery, and evaluating the driving mileage of the vehicle; Step S42b, the vehicle driving mileage is estimated according to the remaining data of the battery, and the shortest path inside the curve is the optimal path.
8. The unmanned sightseeing vehicle for a scenic spot capable of automatically planning a curved path according to claim 6, wherein the data storage module is configured to store the optimized path process data, analyze the position and probability of occurrence of the obstacle according to the history data, and generate an obstacle probability thermodynamic diagram, wherein the path avoiding the position of occurrence of the obstacle with high probability is the optimized path.
9. The scenic spot unmanned sightseeing vehicle capable of automatically planning a curve path according to claim 6, wherein the data storage module obtains the probability of occurrence of the obstacle according to the history data, and when the probability is more than 60%, reduces the vehicle speed to 30% of the original bending speed, compensates the vehicle speed to a flat road, and ensures that the vehicle reaches the destination on time.

Description

Scenic spot unmanned sightseeing vehicle capable of automatically planning curve path Technical Field The invention relates to the technical field of intelligent driving of unmanned sightseeing vehicles, in particular to a scenic spot unmanned sightseeing vehicle capable of automatically planning a curve path. Background Under the current vigorous development of the tourism industry, scenic spot unmanned sightseeing vehicles gradually enter the field of vision of people as an emerging traffic tool. The unmanned sightseeing vehicle is a sightseeing vehicle which can realize autonomous driving without the field operation of a driver and by means of a preset program, a sensor and an advanced navigation system. The intelligent sightseeing system integrates multiple front-edge technologies such as an automatic driving technology, an environment sensing technology and a communication technology, can automatically complete a series of tasks such as passenger carrying, driving and obstacle avoidance according to a preset route or according to real-time environment information, and provides convenient and efficient sightseeing experience for tourists. The riding experience of the scenic spot unmanned sightseeing vehicle is different from that of the traditional sightseeing vehicle. The tourists do not need to wait for the vehicle at the fixed site, only need to reserve through the mobile phone application program or the appointed equipment in the scenic spot, and the vehicle can automatically plan a driving route according to the position and the destination of the tourists and is sent and received before. After getting on, tourists can sit on the seats comfortably, enjoy scenery along the way, do not need to worry about driving problems, and can be put into sightseeing with more mind and body. However, the scenic spot unmanned sightseeing vehicle still has the following problems in the aspect of path planning of curve driving, namely in scenic spot environment, the shape, curvature and surrounding environment of the curve are complex and various, when the existing unmanned sightseeing vehicle faces the situations, the path planning algorithm generally prefers the vehicle to slow down, and then the obstacle is subjected to a strategy of detouring, and the vehicle and the curve situation are not considered, so that the efficiency of passing the curve is lower. Disclosure of Invention In view of the above, the invention provides an unmanned sightseeing vehicle capable of automatically planning a curve path, which is characterized in that a virtual boundary line is defined based on a satellite map, a strip-shaped initial path is generated by combining the width of a vehicle body and a safety distance, the state of an obstacle is distinguished, a time axis is added to the movement obstacle to predict collision points, tire pressure data and a battery allowance factor correction path are introduced, the over-curve efficiency is improved, the tire burst risk is reduced, and the endurance is prolonged. The technical scheme of the invention is realized as follows: An unmanned sightseeing vehicle capable of automatically planning a curve path in a scenic spot comprises a vehicle body, a data acquisition module, a data analysis module, a data storage module and an execution module; The data acquisition module is used for acquiring curve map data, obstacle data and vehicle data; The data analysis module is used for processing curve map data to generate an initial path, and re-planning the initial path according to the obstacle data and the initial path to generate a target path; The data storage module is used for storing a target path, processing historical data of the target path, correcting the target path and generating an optimized path; The execution module controls the vehicle action according to the optimized path. Preferably, the data acquisition module acquires curve map data, including the following specific steps: s11, acquiring satellite map data, generating curve data, and defining virtual boundary lines on two sides of the curve data; and S12, generating an initial path according to the virtual boundary lines on two sides, the width of the vehicle body, the safety distance and the minimum turning radius of the vehicle, wherein the initial path is in a strip shape with a preset width, and the width of the strip shape is equal to the sum of the width of the vehicle body and the safety distance. Preferably, the data acquisition module acquires the obstacle data, including the following specific steps: Step S21, the obstacle data comprise position coordinates, geometric dimensions, speed and direction; step S22, calculating the distance between the obstacle and the virtual boundary line on two sides. Preferably, the specific steps of the data analysis module analyzing the obstacle data and re-planning the path to generate a new path are as follows: Step S31, judging whether the obstacle is in a static state or a mov