CN-121999599-A - Vehicle control method and system, electronic device and storage medium

CN121999599ACN 121999599 ACN121999599 ACN 121999599ACN-121999599-A

Abstract

The invention provides a vehicle control method and system, electronic equipment and a storage medium. The vehicle control method comprises the steps of obtaining basic states and expected traveling paths of a target vehicle and other vehicles, constructing a first vehicle combination according to a plurality of first vehicles and the target vehicle, constructing a second vehicle combination according to a plurality of second vehicles, determining a traffic time sequence coordination scheme of the target vehicle according to the basic states and the expected traveling paths of each vehicle in the first vehicle combination, determining a cross conflict avoidance strategy of the target vehicle according to an intersection point between the expected traveling path of the target vehicle and the expected traveling path of each second vehicle, and controlling the target vehicle to pass through a target area according to the traffic time sequence coordination scheme and the cross conflict avoidance strategy. According to the invention, the vehicles are not subjected to centralized dispatching by the cloud, and formation grouping is carried out by means of communication interaction between the vehicles, so that the passing efficiency of the vehicles is not affected when problems such as shielding of mine mountain bodies or dust interference occur.

Inventors

WANG HANG
LI MIN
LIU YU

Assignees

三一智矿科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (10)

1.A vehicle control method characterized by comprising: When a target vehicle enters a target area, acquiring basic states and predicted driving paths of the target vehicle and other vehicles, wherein the predicted driving paths comprise predicted driving-in paths and predicted driving-out paths, and the basic states comprise vehicle positions, vehicle loads and vehicle speeds; Constructing a first vehicle combination from a plurality of first vehicles and the target vehicle, wherein the first vehicles are vehicles of the other vehicles that are the same as the estimated outgoing path of the target vehicle; Constructing a second vehicle combination from a plurality of second vehicles, wherein the second vehicle is a vehicle of the other vehicles that is different from the estimated outgoing path of the target vehicle; determining a traffic timing coordination scheme for the target vehicle based on the base state and the projected travel path for each vehicle in the first vehicle combination; Determining a cross collision avoidance strategy for the target vehicle based on an intersection between the predicted travel path of the target vehicle and the predicted travel path of each of the second vehicles in the second vehicle combination; and controlling the target vehicle to pass through the target area according to the traffic time sequence cooperative scheme and the cross conflict avoidance strategy.
2. The vehicle control method according to claim 1, characterized in that the step of determining a traffic timing coordination scheme of the target vehicle from the base state and the estimated travel path of each vehicle in the first vehicle combination includes: calculating a time for each of the vehicles in the first vehicle combination to reach a target position according to the vehicle position and the vehicle speed of each of the vehicles in the first vehicle combination and the target position; Determining the passing time sequence of each vehicle in the first vehicle combination according to the time corresponding to each vehicle in the first vehicle combination; Based on the passing timing of the target vehicle being a first time, the passing timing coordination scheme of the target vehicle is to control the target vehicle to maintain the vehicle speed; Determining a third vehicle and the vehicle position of the third vehicle based on the traffic sequence of the target vehicle not being the first time, wherein the third vehicle is the first vehicle of the first vehicle combination in which the traffic sequence is the first; The traffic timing coordination scheme of the target vehicle is determined according to the vehicle position of the third vehicle and a social force model.
3. The vehicle control method according to claim 2, characterized in that the step of determining the traffic timing coordination scheme of the target vehicle from the vehicle position and social force model of the third vehicle includes: Judging whether the target vehicle collides with the third vehicle according to the vehicle position of the third vehicle, the basic state and the expected running path of the target vehicle, the social force model and a preset safety distance; Controlling the target vehicle to maintain the vehicle speed based on the collision not occurring; And controlling the target vehicle to reduce the vehicle speed based on the collision, so as to increase the distance between the target vehicle and the third vehicle.
4. The vehicle control method according to claim 1, characterized in that the step of determining a cross collision avoidance strategy of the target vehicle from an intersection between the estimated travel path of the target vehicle and the estimated travel path of each of the second vehicles in the second vehicle combination includes: determining whether there is an intersection between the predicted travel path of the target vehicle and the predicted travel path of each of the second vehicles in the second vehicle combination; based on the fact that the crossing point does not exist, the crossing conflict avoidance strategy of the target vehicle is used for controlling the target vehicle to run according to the vehicle speed; Determining a traffic priority of the target vehicle based on the presence of the intersection; and determining a cross conflict avoidance strategy of the target vehicle according to the traffic priority of the target vehicle.
5. The vehicle control method according to claim 4, characterized in that the step of determining the traffic priority of the target vehicle includes: Judging whether collision risk exists between a fourth vehicle and a fifth vehicle, wherein the fourth vehicle is the first vehicle with the first passing time sequence in the first vehicle combination, and the fifth vehicle is the second vehicle with the first passing time sequence in the second vehicle combination; determining a traffic priority between the first vehicle combination and the second vehicle combination according to a preset rule, the base state of the fourth vehicle and the base state of the fifth vehicle based on the risk of collision; And determining the traffic priority of the target vehicle according to the traffic priority of the first vehicle combination.
6. The vehicle control method according to claim 4, characterized in that the step of determining the cross collision avoidance strategy of the target vehicle according to the traffic priority of the target vehicle includes: when the traffic priority of the target vehicle is high, the cross conflict avoidance strategy of the target vehicle is used for controlling the target vehicle to run according to the current vehicle speed; Determining a traffic distance between each of the second vehicles in the second vehicle combination and the vehicle speed of each of the second vehicles based on when the traffic priority of the target vehicle is low priority; the method comprises the steps that when the traffic distance is larger than or equal to a first preset threshold value, the vehicle speed of the target vehicle is adjusted according to the vehicle speed of each second vehicle, so that traffic is inserted; and controlling the target vehicle to reduce the vehicle speed or stop based on the crossing conflict avoidance strategy of the target vehicle when the traffic distance is smaller than the first preset threshold value.
7. The vehicle control method according to claim 1, characterized by further comprising: determining a pitch compliance rate, a speed synchronization rate, and a command response rate of the first vehicle combination; calculating the health degree corresponding to the first vehicle combination according to the interval compliance rate, the speed synchronization rate and the instruction response rate; And removing the first vehicle which does not respond to the instruction in the first vehicle combination and redetermining a traffic timing coordination scheme of the target vehicle based on the health degree being smaller than a second preset threshold value.
8. A vehicle control system, characterized by comprising: The system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for acquiring basic states and expected driving paths of a target vehicle and other vehicles when the target vehicle enters a target area, wherein the expected driving paths comprise expected driving-in paths and expected driving-out paths, and the basic states comprise vehicle positions, vehicle loads and vehicle speeds; a second processing module for constructing a first vehicle combination from a plurality of first vehicles and the target vehicle, wherein the first vehicles are vehicles of the other vehicles that are the same as the estimated outgoing path of the target vehicle; A third processing module for constructing a second vehicle combination from a plurality of second vehicles, wherein the second vehicles are vehicles different from the estimated outgoing path of the target vehicle among the other vehicles; A fourth processing module for determining a traffic timing coordination scheme for the target vehicle based on the base state and the projected travel path for each vehicle in the first combination of vehicles; A fifth processing module for determining a cross collision avoidance strategy for the target vehicle based on an intersection between the predicted travel path of the target vehicle and the predicted travel path of each of the second vehicles in the second vehicle combination; And the sixth processing module is used for controlling the target vehicle to pass through the target area according to the traffic time sequence cooperative scheme and the cross conflict avoidance strategy.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the vehicle control method according to any one of claims 1 to 7 when the computer program is executed.
10. A storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 7.

Description

Vehicle control method and system, electronic device and storage medium Technical Field The present invention relates to the field of vehicle driving technologies, and in particular, to a vehicle control method and system, an electronic device, and a storage medium. Background Along with intelligent transformation and propulsion of mines, intersections serve as core nodes for traffic flow crossing, collision risks are high, and formation driving is a key means for improving the traffic efficiency and safety of the intersections. However, the existing formation scheme relies on cloud centralized scheduling, and when problems such as shielding of mine mountain bodies or dust interference occur, the vehicle passing efficiency is reduced. Disclosure of Invention The present invention aims to solve the technical problems existing in the prior art or related technologies. To this end, a first aspect of the invention proposes a vehicle control method. A second aspect of the invention proposes a vehicle control system. A third aspect of the invention proposes an electronic device. A fourth aspect of the present invention proposes a storage medium. In view of this, according to a first aspect of the present invention, there is provided a vehicle control method, wherein the vehicle control method includes acquiring a base state and an estimated travel path of a target vehicle and other vehicles when the target vehicle enters a target area, wherein the estimated travel path includes an estimated travel path and an estimated travel path, the base state includes a vehicle position, a vehicle load, and a vehicle speed, constructing a first vehicle combination from a plurality of first vehicles and the target vehicle, wherein the first vehicles are vehicles of the other vehicles that are the same as the estimated travel path of the target vehicle, constructing a second vehicle combination from a plurality of second vehicles, wherein the second vehicles are vehicles of the other vehicles that are different from the estimated travel path of the target vehicle, determining a traffic timing cooperative scheme of the target vehicle from the base state and the estimated travel path of each of the first vehicle combination, determining a cross collision strategy of the target vehicle from intersections between the estimated travel path of the target vehicle and the estimated travel path of each of the second vehicle, and controlling the target vehicle to pass through the target area according to the traffic timing cooperative scheme and the cross collision strategy. The vehicle control method comprises the steps of obtaining basic states and expected running tracks of a target vehicle and other vehicles when the target vehicle enters a target area, wherein the basic states comprise a vehicle position, a vehicle load and a vehicle speed, the expected running path comprises an expected running path and an expected running path, the expected running path refers to a path of the vehicle expected to enter the target position, the expected running path refers to a path of the vehicle expected to exit the target position, and the expected running path consists of a plurality of track points and corresponding time of each track point, namely, the position of the vehicle at a certain time can be directly checked through the expected running path. The other vehicles are then divided into first vehicles and second vehicles based on the same reference as the estimated outgoing path of the target vehicle, wherein the first vehicles are vehicles of the other vehicles which are the same as the estimated outgoing path of the target vehicle, and the second vehicles are vehicles of the other vehicles which are different from the estimated outgoing path of the target vehicle, and then a first vehicle combination is constructed from a plurality of the first vehicles and the target vehicle, and a second vehicle combination is constructed from a plurality of the second vehicles. After the first vehicle combination is obtained, determining a traffic timing coordination scheme of the target vehicle according to the basic state and the expected driving path of each vehicle in the first vehicle combination, namely determining timing information of the target vehicle passing through the target position in all vehicles according to the basic state and the expected driving path of all vehicles in the first vehicle combination, wherein the timing information refers to time of the target vehicle passing through the target position and the number of vehicles passing through the target position in the first vehicle combination, and then determining the traffic timing coordination scheme according to the timing information, namely determining whether the target vehicle is to accelerate, decelerate or keep the original speed to pass through the target position. After the second vehicle combination is obtained, a path intersection point recognition algorithm is ut