Method for controlling movement of moving body and related device
AssigneeHuawei Technologies Co., Ltd.
InventorsHua Yan, Yumin Wu, Guangguan Wang
Life of this patent
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Abstract
A method for controlling movement of a moving body includes: obtaining a first voxel set of an obstacle, where the first voxel set includes at least one first voxel that identifies the obstacle in space in which the moving body is located; determining a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set; and controlling the moving body to move along the valid moving path.
Claims20
A method for controlling movement of a moving body, wherein the method comprises:
- obtaining, by a system, a first voxel set of an obstacle, wherein the first voxel set comprises at least one first voxel that identifies the obstacle in a space in which the moving body is located, wherein the obstacle is a dynamic obstacle, and the obtaining the first voxel set of the obstacle comprises:
- obtaining a first point cloud of a current moment based on location information of the dynamic obstacle at the current moment;
- obtaining a second point cloud of a next moment based on the location information of the dynamic obstacle at the current moment, a movement speed of the dynamic obstacle, and a movement direction of the dynamic obstacle, and obtaining the first voxel set based on the first point cloud and the second point cloud, wherein each voxel in the first voxel set is obtained based on a resolution of the voxel and a corresponding point in the first point cloud or the second point cloud;
- determining, by the system, a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set, wherein the valid moving path indicates a moving path on which the moving body does not collide with the obstacle;
- and
- controlling, by the system, the moving body to move along the valid moving path.
A control system for a moving body, wherein the control system comprises at least one processor and at least one memory, the at least one memory stores computer-executable instructions, that when executed by the at least one processor, cause the control system to:
- obtain a first voxel set of an obstacle, wherein the first voxel set comprises at least one first voxel that identifies the obstacle in a space in which the moving body is located, wherein the obstacle is a dynamic obstacle, and the obtaining the first voxel set of the obstacle comprises:
- obtaining a first point cloud of a current moment based on location information of the dynamic obstacle at the current moment;
- obtaining a second point cloud of a next moment based on the location information of the dynamic obstacle at the current moment, a movement speed of the dynamic obstacle, and a movement direction of the dynamic obstacle, and obtaining the first voxel set based on the first point cloud and the second point cloud, wherein each voxel in the first voxel set is obtained based on a resolution of the voxel and a corresponding point in the first point cloud or the second point cloud;
- determine, a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set, wherein the valid moving path indicates a moving path on which the moving body does not collide with the obstacle;
- and
- control the moving body to move along the valid moving path.
A non-transitory computer-readable storage medium, comprising computer-readable instructions, wherein when the computer-readable instructions are run on a computer, the computer is enabled to:
- obtain a first voxel set of an obstacle, wherein the first voxel set comprises at least one first voxel that identifies the obstacle in space in which a moving body is located, wherein the obstacle is a dynamic obstacle, and the obtaining the first voxel set of the obstacle comprises:
- obtaining a first point cloud of a current moment based on location information of the dynamic obstacle at the current moment;
- obtaining a second point cloud of a next moment based on the location information of the dynamic obstacle at the current moment, a movement speed of the dynamic obstacle, and a movement direction of the dynamic obstacle, and obtaining the first voxel set based on the first point cloud and the second point cloud, wherein each voxel in the first voxel set is obtained based on a resolution of the voxel and a corresponding point in the first point cloud or the second point cloud;
- determine, a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set, wherein the valid moving path indicates a moving path on which the moving body does not collide with the obstacle;
- and
- control the moving body to move along the valid moving path.
Dependencies are inferred from the claim text.