The invention relates to the field of automatic control, and provides an automatic guided vehicle control method and device and an automatic guided vehicle, and the method comprises the steps: determining the measurement position information of an obstacle at a current moment based on a data frame at the current moment, which is collected by an obstacle detection device for a target track region of the automatic guided vehicle; the target trajectory region is a region of interest determined based on a pre-driving trajectory of the automated guided vehicle; if it is determined that the measured position information at the current moment is consistent with the predicted position information, it is determined that an obstacle exists, and the automated guided vehicle is controlled to park; the predicted position information is predicted based on the measured position information of the previous moment of the predicted moment. Thus, the problems that parking is controlled only after the collision occurs, and safety is not high are solved, active detection of the obstacles is achieved, existence of the obstacles can be sensed more accurately before the collision occurs, parking control is triggered, parking is not needed after the collision occurs, and therefore safety is improved.

    本发明涉及自动控制领域,提供一种自动引导车控制方法、设备及自动引导车,其中方法包括:基于障碍物检测设备针对自动引导车的目标轨迹区域采集的当前时刻的数据帧,确定当前时刻的障碍物的测量位置信息;目标轨迹区域是基于自动引导车的预行驶轨迹确定的感兴趣区域;若确定当前时刻的测量位置信息与预测位置信息一致,确定障碍物存在,并控制自动引导车停车;预测位置信息是基于被预测时刻的上一时刻的测量位置信息预测得到的。如此,解决了在碰撞发生后才控制停车,安全性不高的问题,实现了对障碍物的主动检测,可在碰撞发生前更准确地感知障碍物的存在并触发控制停车,而非在碰撞之后才停车,从而提高了安全性。


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    Titel :

    Automatic guided vehicle control method and device and automatic guided vehicle


    Weitere Titelangaben:

    自动引导车控制方法、设备及自动引导车


    Beteiligte:
    LI FANG (Autor:in) / LU XIANGQIAN (Autor:in) / ZHOU QINGLIANG (Autor:in)

    Erscheinungsdatum :

    2022-07-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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