CN-122024478-A - Vehicle scheduling method, device, electronic equipment, readable storage medium and chip

CN122024478ACN 122024478 ACN122024478 ACN 122024478ACN-122024478-A

Abstract

The embodiment of the invention provides a vehicle dispatching method, a device, electronic equipment, a readable storage medium and a chip, wherein the vehicle dispatching method comprises the steps of obtaining road surface sensing data acquired by a first vehicle running on a first route, determining at least one pothole area and pothole detailed parameters corresponding to the pothole area according to the road surface sensing data, generating avoidance instructions for at least one second vehicle running on the first route according to the pothole detailed parameters so as to enable the second vehicle to run from the first route to the second route, avoiding the pothole area, controlling a third vehicle to go to the pothole area according to the pothole detailed parameters to repair the pothole area, determining flatness data corresponding to the pothole area, determining recovery instructions according to the flatness data, and controlling the second vehicle to switch from the second route to the first route according to the recovery instructions. According to the scheme provided by the invention, the operation efficiency of the automatic driving vehicle in a mine transportation scene is improved.

Inventors

FENG CHAO
GUO RUI
SHI WEI

Assignees

三一智矿科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260211

Claims (10)

1. A vehicle scheduling method, characterized by comprising: acquiring pavement perception data acquired by a first vehicle running on a first route; determining at least one pothole area and pothole detailed parameters corresponding to the pothole area according to the pavement perception data; Generating an avoidance command for at least one second vehicle running on the first route according to the detailed parameters of the pits, so that the second vehicle runs from the first route to a second route, and avoiding the pits; According to the detailed parameters of the pits, a third vehicle is controlled to go to the pits for repairing, and flatness data corresponding to the pits are determined; Determining a recovery instruction according to the flatness data; And controlling the second vehicle to switch from the second route to the first route for running according to the recovery instruction.
2. The vehicle scheduling method of claim 1, wherein the determining at least one pothole area and a pothole detail parameter corresponding to the pothole area from the road surface perception data comprises: Determining a plurality of initial pothole areas according to the pavement perception data; Acquiring a first pothole parameter corresponding to the initial pothole area; Acquiring at least one second pothole parameter obtained by secondarily sensing the initial pothole area by at least two fourth vehicles; and according to the first pothole parameters and the second pothole parameters, at least one pothole area is confirmed from a plurality of initial pothole areas, and the pothole detailed parameters corresponding to the pothole areas are confirmed.
3. The vehicle scheduling method according to claim 2, wherein the identifying at least one of the pothole areas from the plurality of initial pothole areas and determining the pothole detail parameter corresponding to the pothole area based on the first pothole parameter and the second pothole parameter includes: acquiring a preset position deviation threshold and a preset depth deviation threshold; Determining a position deviation value and a depth deviation value according to the first pothole parameter and the second pothole parameter corresponding to each initial pothole area; if the position deviation value is smaller than or equal to the position deviation threshold value and the depth deviation value is smaller than or equal to the depth deviation threshold value, confirming the initial pothole area as a pothole area; and determining the detailed parameters of the pits according to at least one second pit parameter corresponding to the pit area.
4. The vehicle dispatching method according to claim 1, wherein the controlling the third vehicle to go to the pothole area to repair according to the pothole detailed parameter, determining flatness data corresponding to the pothole area, comprises: Obtaining flatness standard data; determining the position of the pit according to the detailed parameters of the pit; determining a working instruction according to the flatness standard data and the hollow position; issuing the operation instruction to the third vehicle; controlling the third vehicle to navigate to the pothole position according to the operation instruction to carry out repair operation; And after the repair operation is finished, controlling the third vehicle to collect flatness data of the repaired hollow area.
5. The vehicle scheduling method according to claim 4, wherein the determining a restoration instruction from the flatness data includes: Controlling at least one fourth vehicle to perform secondary sensing on the repaired pothole area, and determining a third pothole parameter; Determining verification parameters according to the third pothole parameters and the flatness data; acquiring a preset flatness standard threshold value; If the verification parameter is less than or equal to the flatness standard threshold, generating the recovery instruction for controlling the second vehicle to switch back to the first route; And if the flatness data is larger than the flatness standard threshold value, generating a repair instruction for controlling the third vehicle to execute repair operation again on the hollow area.
6. The vehicle scheduling method according to any one of claims 1 to 5, characterized in that said generating an avoidance command for at least one second vehicle traveling on the first route according to the pothole detail parameter comprises: generating a pit risk thermodynamic diagram in a preset electronic map according to the pit position and the pit depth in the pit detailed parameters; acquiring state parameters of the second vehicle and route data of the first route; determining a second route according to the pothole risk thermodynamic diagram, the route data and the state parameters; and generating the avoidance instruction according to the second route.
7. A vehicle scheduling apparatus, characterized by comprising: the data acquisition module is used for acquiring pavement perception data acquired by a first vehicle running on a first route; the parameter determining module is used for determining at least one pothole area and pothole detailed parameters corresponding to the pothole area according to the pavement perception data; The route determining module is used for generating an avoidance command for at least one second vehicle running on the first route according to the detailed hollow parameters so as to enable the second vehicle to run from the first route to a second route and avoid the hollow area; the leveling scheduling module is used for controlling a third vehicle to go to the hollow area for repairing according to the hollow detailed parameters and determining flatness data corresponding to the hollow area; The instruction recovery module is used for determining a recovery instruction according to the flatness data; And the repair scheduling module is used for controlling the second vehicle to switch from the second route to the first route for running according to the recovery instruction.
8. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle scheduling method of any one of claims 1 to 6.
9. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the vehicle scheduling method of any one of claims 1 to 6.
10. A chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being configured to execute programs or instructions for implementing the steps of the vehicle scheduling method according to any one of claims 1 to 6.

Description

Vehicle scheduling method, device, electronic equipment, readable storage medium and chip Technical Field The invention relates to the technical field of automatic driving vehicles, in particular to a vehicle dispatching method, a vehicle dispatching device, electronic equipment, a readable storage medium and a chip. Background In large-scale construction areas such as mines, construction sites and the like, continuous and efficient transportation of heavy automatic driving vehicles is a key for guaranteeing the operation efficiency. When a pothole appears on a preset driving route, the related vehicle dispatching scheme has obvious defects. Firstly, the pothole identification is mostly dependent on the instantaneous perception data of a single vehicle, and lacks an effective multi-source cross-validation mechanism, so that erroneous judgment is easily generated due to instantaneous interference such as tire pressure sundries, light shadow changes and the like, and unnecessary dispatching instructions are caused. And secondly, even if a pit is identified, links such as subsequent vehicle avoidance scheduling, repair operation and repair effect verification are usually independent of each other and rely on manual engagement, so that an efficient and automatic closed-loop management flow cannot be formed. The method often causes unreasonable planning of the vehicle avoidance path, possibly causes new traffic conflict or detours far, lacks instant and objective effect evaluation in repair operation, possibly causes secondary rework, and also needs to wait for manual confirmation for route recovery, thereby seriously affecting the continuity and the overall operation efficiency of transportation. Disclosure of Invention The embodiment of the invention aims to provide a vehicle dispatching method, a device, electronic equipment, a readable storage medium and a chip, which can solve the problems that when an automatic driving vehicle avoids a hole, the dispatching is unreasonable and the operation efficiency is affected. In view of this, embodiments of the first aspect of the present invention provide a vehicle scheduling method. An embodiment of a second aspect of the present invention provides a vehicle dispatching apparatus. An embodiment of a third aspect of the present invention provides an electronic device. Embodiments of the fourth aspect of the present invention provide a readable storage medium. Embodiments of the fifth aspect of the present invention provide a chip. In order to achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle dispatching method, which includes obtaining road surface sensing data collected by a first vehicle traveling on a first route, determining at least one pothole area and a pothole detail parameter corresponding to the pothole area according to the road surface sensing data, generating an avoidance command for at least one second vehicle traveling on the first route according to the pothole detail parameter so as to enable the second vehicle to travel from the first route to the second route, avoiding the pothole area, controlling a third vehicle to travel to the pothole area according to the pothole detail parameter to repair, determining flatness data corresponding to the pothole area, determining a restoration command according to the flatness data, and controlling the second vehicle to switch from the second route to the first route according to the restoration command. In some technical schemes, optionally, determining at least one pothole area and pothole detailed parameters corresponding to the pothole area according to pavement perception data comprises determining a plurality of initial pothole areas according to pavement perception data, acquiring first pothole parameters corresponding to the initial pothole areas, acquiring at least one second pothole parameters obtained by secondarily perceiving the initial pothole areas by at least two fourth vehicles, confirming at least one pothole area from the plurality of initial pothole areas according to the first pothole parameters and the second pothole parameters, and determining the pothole detailed parameters corresponding to the pothole areas. In some technical schemes, optionally, according to the first pothole parameters and the second pothole parameters, at least one pothole area is confirmed from a plurality of initial pothole areas, and pothole detailed parameters corresponding to the pothole areas are confirmed, wherein the method comprises the steps of obtaining a preset position deviation threshold value and a preset depth deviation threshold value; determining a position deviation value and a depth deviation value according to a first pothole parameter and a second pothole parameter corresponding to each initial pothole area, determining the initial pothole area as a pothole area if the position deviation value is smaller than or equal to a position deviation th