CN-122015894-A - Method, device and equipment for obtaining turning reference path of road mobile equipment

CN122015894ACN 122015894 ACN122015894 ACN 122015894ACN-122015894-A

Abstract

The application discloses a method, a device and equipment for obtaining a turning reference path of road mobile equipment. The method comprises the steps of generating a first reference moving path for the road moving device to move from a turning start reference point to a turning moving direction switching reference point according to turning start reference point data and turning moving direction switching reference point data, generating a second reference moving path for the road moving device to move from the turning moving direction switching reference point to a turning ending reference point according to turning moving direction switching reference point data and turning ending reference point data, and generating a turning reference path for the road moving device according to the first reference moving path and the second reference moving path, wherein the gesture of the road moving device body is the same as the gesture of the road moving device body when the road moving device moves in the second reference moving path when the road moving device moves in the first reference moving path. The application reduces the space required by the turning operation of the road mobile equipment and improves the operation safety.

Inventors

YANG TAO
HE ZHIGUO
ZENG LUYAO
LIU HEMING
NIE XINYONG

Assignees

坤浪科技(上海)有限公司

Dates

Publication Date: 20260512
Application Date: 20260408

Claims (10)

1. A method for obtaining a u-turn reference path of a road mobile device, the method comprising: Acquiring turning start reference point data, turning moving direction switching reference point data and turning end reference point data of a road mobile device, wherein the road mobile device comprises a road mobile device body and a moving direction switching device, the moving direction switching device is used for guiding the moving direction of the road mobile device body, the turning start reference point data is data for positioning a turning start reference point of the road mobile device, the turning end reference point data is data for positioning a turning end reference point of the road mobile device, and the turning end reference point data is data for positioning a turning end reference point of the road mobile device; Generating a reference moving path of the road mobile equipment from the turning start reference point to the turning moving direction switching reference point as a first reference moving path according to the turning start reference point data and the turning moving direction switching reference point data; Generating a reference moving path of the road moving device moving from the turning direction switching reference point to the turning ending reference point as a second reference moving path according to the turning direction switching reference point data and the turning ending reference point data; And generating a turning reference path of the road mobile device according to the first reference moving path and the second reference moving path, wherein the gesture of the road mobile device body when the road mobile device moves in the first reference moving path is the same as the gesture of the road mobile device body when the road mobile device moves in the second reference moving path.
2. The u-turn reference path obtaining method according to claim 1, further comprising: Obtaining the self-vehicle point data of the road mobile equipment, wherein the self-vehicle point data are used for positioning the current position point of the road mobile equipment, and the current position point of the road mobile equipment is used as the self-vehicle point; Obtaining target task point data of the road mobile equipment, wherein the target task point data is data for the road mobile equipment to locate a position point which is needed to be reached by the road mobile equipment to execute a target task, and the position point which is needed to be reached by the road mobile equipment to execute the target task is taken as a target task point; obtaining current moving direction data of the road mobile equipment body at the self-driving point, wherein the current moving direction data is used for representing the current moving direction of the road mobile equipment at the self-driving point; Judging whether the road mobile equipment needs to turn around from the vehicle point to the target task point or not according to the vehicle point data, the target task point data and the current moving direction data; the obtaining the turning start reference point data, the turning moving direction switching reference point data and the turning end reference point data of the road mobile equipment includes: If it is determined that the road mobile device needs to turn around from the vehicle-mounted point to the target task point, and at least one position point, which is located in a preset turning around area, of a lane designated road section of the vehicle-mounted point, where a distance from the vehicle-mounted point to the vehicle-mounted point meets a preset distance condition, acquiring preset turning around starting reference point data, turning around moving direction switching reference point data and turning around ending reference point data, which are bound with preset turning around area data, as turning around starting reference point data, turning around moving direction switching reference point data and turning around ending reference point data, of the road mobile device in the preset turning around area, where the road mobile device needs to pass through from the vehicle-mounted point to the target task point, where the lane designated road section of the vehicle-mounted point is a road section of a map where the vehicle-mounted point is located, from the vehicle-mounted point along the current moving direction to the end point of the map where the vehicle-mounted point is located, and the map is located, where the map of the vehicle-mounted point is located, and the map is located; Or if it is determined that the road mobile device needs to turn around from the self-vehicle point to the target task point, and all the position points, in the designated road section of the self-vehicle point lane, of which the distances with the self-vehicle point meet the preset distance conditions are not located in any preset turning around area, obtaining turning around start reference point data, turning around movement direction switching reference point data and turning around end reference point data of the road mobile device according to the self-vehicle point data and the target task point data.
3. The method according to claim 2, wherein the determining whether the road mobile device needs to turn around from the own vehicle point to the target task point according to the own vehicle point data, the target task point data, and the current moving direction data includes: judging whether a map lane where the self-vehicle point is located and a map lane where the target task point is located are the same map lane or not; if the map lane where the self-vehicle point is located and the map lane where the target task point is located are not the same map lane, projecting the target task point onto the map lane where the self-vehicle point is located according to the target task point data, and obtaining a projection point where the target task point is projected onto the map lane where the self-vehicle point is located; if the projection point of the target task point projected to the map lane where the self-vehicle point is located is a position point which is located on the map lane where the self-vehicle point is located and is opposite to the current moving direction of the self-vehicle point, determining that the road mobile equipment needs to turn around from the self-vehicle point to the target task point; If the projection point of the target task point projected to the map lane where the self-vehicle point is located is a position point which is located in the current moving direction of the self-vehicle point on the map lane where the self-vehicle point is located, obtaining moving direction data required by the road mobile equipment to reach the target task point as target moving direction data; Judging whether an included angle between a moving direction required by the road mobile equipment to reach the target task point and the current moving direction exceeds 90 degrees according to the target moving direction data and the current moving direction data, if so, determining that the road mobile equipment needs to turn around from the self-propelled point to the target task point, otherwise, determining that the road mobile equipment does not need to turn around from the self-propelled point to the target task point.
4. The method according to claim 2, wherein the obtaining the turning start reference point data, the turning movement direction switching reference point data, and the turning end reference point data of the road mobile device according to the self point data and the target task point data includes: Positioning a position point with a distance between the position point and the target task point being a preset first distance along the current moving direction on a map lane where the target task point is located by taking the target task point as a starting point, and taking the position point as the turning ending reference point; Determining a lane between a map lane where the self-vehicle point is located and a map lane where the target task point is located as a turning direction switching lane, positioning a position point which is located in the current moving direction and has a preset second distance from the turning ending reference point on the map lane where the target task point is located, taking the turning ending reference point as a starting point, taking the position point as a temporary position point, projecting the temporary position point on the turning direction switching lane, obtaining a projection point of the temporary position point, taking the projection point as the turning direction switching reference point, and obtaining turning direction switching reference point data according to the turning direction switching reference point; Projecting the turning ending reference point onto a map lane where the vehicle-mounted point is located, obtaining a projection point of the turning ending reference point as the turning starting reference point, and obtaining turning starting reference point data according to the turning starting reference point.
5. The u-turn reference path obtaining method according to claim 2, further comprising: Generating a reference moving path of the road mobile equipment moving from the self-vehicle point to the turning start reference point as a preparation reference moving path according to the self-vehicle point data and the turning start reference point data; generating a reference moving path of the road mobile equipment moving from the turning ending reference point to the target task point as a calibration reference moving path according to the turning ending reference point data and the target task point data; The method for generating the turning reference path of the road mobile device according to the first reference moving path and the second reference moving path comprises the step of generating the turning reference path of the road mobile device according to the preparation reference moving path, the first reference moving path, the second reference moving path and the calibration reference moving path.
6. The u-turn reference path obtaining method according to claim 2, further comprising: If the road mobile device cannot move to the turning-around moving direction switching reference point along the first reference moving path and the time period that the road mobile device cannot move in a map lane where the turning-around starting reference point is located exceeds a preset time period, positioning a position point with a distance of a preset third distance between the specified driving direction of the map lane where the turning-around starting reference point is located and the turning-around starting reference point as an updating turning-around starting reference point, acquiring updating turning-around starting reference point data, acquiring updating turning-around moving direction switching reference point data and updating turning-around ending reference point data according to the updating turning-around starting reference point data, wherein the updating turning-around starting reference point data is data for the road mobile device to position the updating turning-around starting reference point, the updating turning-around moving direction switching reference point data is data for the road mobile device to position the updating turning-around moving direction switching reference point, and the turning-around ending reference point data is data for the road mobile device to position the updating turning-around ending reference point; Generating a reference moving path of the road mobile equipment from the updated turning start reference point to the updated turning moving direction switching reference point as a third reference moving path according to the updated turning start reference point data and the updated turning moving direction switching reference point data; generating a reference moving path of the road mobile equipment from the updated turning-around moving direction switching reference point to the updated turning-around ending reference point as a fourth reference moving path according to the updated turning-around moving direction switching reference point data and the updated turning-around ending reference point data; and generating an updated turning reference path of the road mobile equipment according to the third reference moving path and the fourth reference moving path.
7. The u-turn reference path obtaining method according to claim 2, further comprising: If the road mobile equipment cannot move to the turning-around moving direction switching reference point along the first reference moving path and the time that the road mobile equipment cannot move in a map lane where the turning-around starting reference point is located does not exceed a preset time, generating a fifth reference moving path for the road mobile equipment to move from the turning-around point to the target task point according to the self-turning point data of the road mobile equipment and the target task point data of the road mobile equipment, and generating an updated turning-around reference path of the road mobile equipment according to the fifth reference moving path.
8. The device for obtaining the turning reference path of the road mobile equipment is characterized by comprising a data obtaining module and a path generating module; The data acquisition module is used for acquiring turning start reference point data, turning movement direction switching reference point data and turning end reference point data of the road mobile equipment, the road mobile equipment comprises a road mobile equipment body and a movement direction switching device, the movement direction switching device is used for guiding the movement direction of the road mobile equipment body, the turning start reference point data is data for positioning turning start reference points of the road mobile equipment, the turning movement direction switching reference point data is data for positioning turning movement direction switching reference points of the road mobile equipment, and the turning end reference point data is data for positioning turning end reference points of the road mobile equipment; The path generation module is used for generating a reference moving path of the road mobile equipment from the turning start reference point to the turning end reference point according to the turning start reference point data and the turning movement direction switching reference point data as a first reference moving path, generating a reference moving path of the road mobile equipment from the turning end reference point to the turning end reference point according to the turning movement direction switching reference point data and the turning end reference point data as a second reference moving path, and generating a turning reference path of the road mobile equipment according to the first reference moving path and the second reference moving path.
9. An electronic device comprising a processor and a memory for storing computer-executable instructions that, when executed by the processor, are configured to implement the method of any one of claims 1-7.
10. A storage device storing computer-executable instructions which, when executed by a processor, perform the method of any of claims 1-7.

Description

Method, device and equipment for obtaining turning reference path of road mobile equipment Technical Field The application relates to the technical field of automatic driving, in particular to a method and a device for obtaining a turning reference path of road mobile equipment. The application also relates to an electronic device and a storage device. Background Sea-iron intermodal transportation is a transportation form of multi-type intermodal transportation, and refers to a coherent transportation mode in which two different transportation modes of sea transportation and railway transportation are organically combined together by taking a container as a transportation unit to jointly complete whole-course transportation. The current sea-iron intermodal transportation scene is generally mixed running of various vehicles and equipment such as a manned collecting card, an unmanned collecting card, a front crane, a stacker, a tire crane, a track crane and the like, and the traffic condition is complex. In the complex scenario of sea-iron intermodal, the path planning capability of intelligent guided vehicles (INTELLIGENT GUIDED VEHICLE, IGV) or intelligent transport robots (ARTIFICIAL INTELLIGENCE Robot of Transportation, ART) has become a core bottleneck limiting intermodal efficiency and cost, and the flexibility and optimization level directly determine throughput and operational smoothness of the whole transport hub. In a complex practical work environment, IGV or ART often needs to make a turn around operation to switch traveling directions or perform a new task. However, the existing path planning method for in-lane planning faces serious challenges in a u-turn scene. The primary U-turn solution now relies primarily on a "U-bend" U-turn mode of U-turn that requires the IGV or ART to complete the turn over a wide, approximately semicircular arc path. The kinematic characteristic of the turning mode causes that the headstock and the tailstock need to swing transversely to a large extent, which not only causes the turning operation to occupy huge transverse physical space and greatly limits the application of the turning operation in space-limited scenes such as narrow channels, warehouse head-end and the like, but also obviously increases the risk of scratch and collision between an IGV or ART vehicle body and the edges of the channels or peripheral equipment, and forms a potential threat to operation safety. Disclosure of Invention The application provides a method for obtaining a turning reference path of road mobile equipment, which can reduce the space required by the road mobile equipment for turning operation so as to overcome the inherent defects of the prior art. The specific scheme is as follows: The application provides a method for obtaining a turning reference path of a road mobile device, which comprises the steps of obtaining turning start reference point data, turning movement direction switching reference point data and turning end reference point data of the road mobile device, wherein the road mobile device comprises a road mobile device body and a movement direction switching device, the movement direction switching device is used for guiding the movement direction of the road mobile device body, the turning start reference point data is data for the road mobile device to position the turning start reference point, the turning movement direction switching reference point data is data for the road mobile device to position the turning movement direction switching reference point, the turning end reference point data is data for the road mobile device to position the turning end reference point, the reference path is generated by the road mobile device from the turning start reference point data and the turning end reference point data, the first reference path is used as a first reference path, the turning end reference point is generated by the road mobile device from the turning start reference point data and the turning end reference point data, the second reference path is generated by the road mobile device from the turning end reference point data, the gesture of the road mobile device body when the first reference moving path moves is the same as the gesture of the road mobile device body when the road mobile device moves in the second reference moving path. The application further provides a turning reference path obtaining device of the road mobile equipment, which comprises a data obtaining module and a path generating module, wherein the data obtaining module is used for obtaining turning start reference point data, turning movement direction switching reference point data and turning end reference point data of the road mobile equipment, the road mobile equipment comprises a road mobile equipment body and a movement direction switching device, the movement direction switching device is used for guiding the movement direction of the road mobile equipment body, the turning st