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US 12,117,837 B2Granted
Unmanned vehicle path control method, apparatus, and system
AssigneeBeijing Jingdong Zhenshi Information Technology Co., Ltd.
InventorSong Han
Life of this patent
Estimating the term…
Abstract
An unmanned vehicle path control method, apparatus, and system queries the current position and a target position of an unmanned vehicle. Path planning according to the current position, the target position, and a heading direction indicated by landmarks arranged on two sides of a road is performed, so as to obtain a planned path having the minimum path cost. The unmanned vehicle travels forward on a predetermined side of the road and sends the planned path to the unmanned vehicle, so that the unmanned vehicle reaches the target position according to the planned path.
Claims15
A method for controlling a path of an unmanned vehicle, comprising:
- querying a current position and a target position of the unmanned vehicle;
- performing path planning according to the current position, the target position and advancing directions indicated by landmarks disposed on two sides of roads to obtain a planned path with a minimum path cost, wherein the unmanned vehicle moves forward on a predetermined side of a road;
- and
- transmitting the planned path to the unmanned vehicle, thereby the unmanned vehicle reaching the target position according to the planned path,
- wherein the performing path planning according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the roads comprises:
- determining whether the current position and the target position are both located in a first lane in the roads;
- determining whether the unmanned vehicle can reach the target position by moving straight forward without turning around according to an advancing direction indicated by a landmark corresponding to the current position under a condition that the current position and the target position are both located in the first lane;
- detecting a type of the landmark corresponding to the current position under a condition that the unmanned vehicle reaches the target position by turning around;
- determining a turning-around position according to the current position, the target position and the advancing direction of the landmark corresponding to the current position under a condition that the type of the landmark corresponding to the current position is a second-type of the landmark, thereby the unmanned vehicle directly reaching the target position, or moving straight forward to reach the target position, after turning around from the turning-around position to an other side of the lane, wherein the second-type of the landmark comprises a second advancing direction for moving straight forward and a third advancing direction for turning around;
- determining whether the turning-around position coincides with the current position;
- planning a third path according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position coincides with the current position, thereby the unmanned vehicle turning around at the current position to reach the target position according to the third path;
- and
- planning a fourth path according to the current position, the turning-around position, the target position, and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position does not coincide with the current position, thereby the unmanned vehicle moving straight forward from the current position to the turning-around position and turning around at the turning-around position to reach the target position according to the fourth path.
10 more elements
An apparatus for controlling a path of an unmanned vehicle, comprising:
- a memory configured to store instructions;
- a processor coupled to the memory, wherein based on the instructions stored in the memory, the processor is configured to:
- query a current position and a target position of the unmanned vehicle;
- perform path planning according to the current position, the target position and advancing directions indicated by landmarks disposed on two sides of roads to obtain a planned path with a minimum path cost, wherein the unmanned vehicle moves forward on a predetermined side of a road;
- and
- transmit the planned path to the unmanned vehicle, thereby the unmanned vehicle reaching the target position according to the planned path,
- wherein the perform path planning according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the roads comprises:
- determine whether the current position and the target position are both located in a first lane in the roads;
- determine whether the unmanned vehicle can reach the target position by moving straight forward without turning around according to an advancing direction indicated by a landmark corresponding to the current position under a condition that the current position and the target position are both located in the first lane;
- detect a type of the landmark corresponding to the current position under a condition that the unmanned vehicle reaches the target position by turning around;
- determine a turning-around position according to the current position, the target position and the advancing direction of the landmark corresponding to the current position under a condition that the type of the landmark corresponding to the current position is a second-type of the landmark, thereby the unmanned vehicle directly reaching the target position, or moving straight forward to reach the target position, after turning around from the turning-around position to an other side of the lane, wherein the second-type of the landmark comprises a second advancing direction for moving straight forward and a third advancing direction for turning around;
- determine whether the turning-around position coincides with the current position;
- plan a third path according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position coincides with the current position, thereby the unmanned vehicle turning around at the current position to reach the target position according to the third path;
- and
- plan a fourth path according to the current position, the turning-around position, the target position, and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position does not coincide with the current position, thereby the unmanned vehicle moving straight forward from the current position to the turning-around position and turning around at the turning-around position to reach the target position according to the fourth path.
12 more elements
A non-transitory computer readable storage medium, wherein the computer readable storage medium stores computer instructions which, when executed by a processor, cause the processor to:
- query a current position and a target position of an unmanned vehicle;
- perform path planning according to the current position, the target position and advancing directions indicated by landmarks disposed on two sides of roads to obtain a planned path with a minimum path cost, wherein the unmanned vehicle moves forward on a predetermined side of a road;
- and
- transmit the planned path to the unmanned vehicle, thereby the unmanned vehicle reaching the target position according to the planned path,
- wherein the perform path planning according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the roads comprises:
- determine whether the current position and the target position are both located in a first lane in the roads;
- determine whether the unmanned vehicle can reach the target position by moving straight forward without turning around according to an advancing direction indicated by a landmark corresponding to the current position under a condition that the current position and the target position are both located in the first lane;
- detect a type of the landmark corresponding to the current position under a condition that the unmanned vehicle reaches the target position by turning around;
- determine a turning-around position according to the current position, the target position and the advancing direction of the landmark corresponding to the current position under a condition that the type of the landmark corresponding to the current position is a second-type of the landmark, thereby the unmanned vehicle directly reaching the target position, or moving straight forward to reach the target position, after turning around from the turning-around position to an other side of the lane, wherein the second-type of the landmark comprises a second advancing direction for moving straight forward and a third advancing direction for turning around;
- determine whether the turning-around position coincides with the current position;
- plan a third path according to the current position, the target position and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position coincides with the current position, thereby the unmanned vehicle turning around at the current position to reach the target position according to the third path;
- and
- plan a fourth path according to the current position, the turning-around position, the target position, and the advancing directions indicated by the landmarks disposed on the two sides of the first lane under a condition that the turning-around position does not coincide with the current position, thereby the unmanned vehicle moving straight forward from the current position to the turning-around position and turning around at the turning-around position to reach the target position according to the fourth path.
10 more elements
Dependencies are inferred from the claim text.