Method for controlling movement of moving body and related device

Patent metadata

Field	Value
Publication number	US-12596372-B2
Application number	US-202318464562-A
Country	US
Kind code	B2
Filing date	Sep 11, 2023
Priority date	Mar 12, 2021
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

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.

First claim

What is claimed is:

1 . 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.

2 . The method according to claim 1 , wherein the mapping relationship between a voxel and a moving path is obtained by inverting each voxel that each moving path in a moving path set passes through in the space in which the moving body is located.

3 . The method according to claim 1 , wherein before the obtaining a first voxel set of an obstacle, the method further comprises:
separately obtaining a second voxel set that each moving path in a moving path set of the moving body passes through, wherein the second voxel set comprises at least one second voxel; and obtaining the mapping relationship between a voxel and a moving path based on the second voxel set that each moving path passes through, wherein the mapping relationship between a voxel and a moving path indicates a correspondence between each second voxel in the at least one second voxel and each moving path.

4 . The method according to claim 1 , wherein the determining a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set comprises:
searching the mapping relationship between a voxel and a moving path for a third voxel set, wherein the third voxel set comprises at least one third voxel that is different from the first voxel in the first voxel set; and determining the valid moving path based on the third voxel set.

5 . The method according to claim 1 , wherein the determining a valid moving path based on a mapping relationship between a voxel and a moving path and the first voxel set comprises:
searching the mapping relationship between a voxel and a moving path for a fourth voxel set, wherein the fourth voxel set comprises at least one fourth voxel that is same as the first voxel in the first voxel set; determining an invalid moving path based on the fourth voxel set; and removing the invalid moving path from the moving path set to obtain the valid moving path.

6 . The method according to claim 1 , wherein the obtaining a first voxel set of an obstacle comprises:
obtaining the first voxel set of the obstacle by using a depth camera or a laser radar.

7 . The method according to claim 1 , wherein the moving body is a movable object.

8 . The method according to claim 1 , wherein the method is performed by at least one processor of the system, and the at least one processor comprises at least one of a central processing unit (CPU), a field programmable gate array (FPGA), or an application-specific integrated circuit (ASIC).

9 . The method according to claim 8 , wherein the mapping relationship between a voxel and a moving path is stored in at least one memory accessible to the at least one processor, and is continuously arranged based on an identifier of the voxel.

10 . 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.

11 . The control system according to claim 10 , wherein the mapping relationship between a voxel and a moving path is obtained by inverting each voxel that each moving path in a moving path set passes through in the space in which the moving body is located.

12 . The control system according to claim 10 , wherein the computer-executable instructions, when executed by the at least one processor, cause the control system to:
separately obtain a second voxel set that each moving path in a moving path set of the moving body passes through, wherein the second voxel set comprises at least one second voxel; and obtain the mapping relationship between a voxel and a moving path based on the second voxel set that each moving path passes through, wherein the mapping relationship between a voxel and a moving path indicates a correspondence between each second voxel in the at least one second voxel and each moving path.

13 . The control system according to claim 10 , wherein the computer-executable instructions, when executed by the at least one processor, cause the control system to:
search the mapping relationship between a voxel and a moving path for a third voxel set, wherein the third voxel set comprises at least one third voxel that is different from the first voxel in the first voxel set; and determine the valid moving path based on the third voxel set.

14 . The control system according to claim 10 , wherein the computer-executable instructions, when executed by the at least one processor, cause the control system to:
search the mapping relationship between a voxel and a moving path for a fourth voxel set, wherein the fourth voxel set comprises at least one fourth voxel that is same as the first voxel in the first voxel set; determine an invalid moving path based on the fourth voxel set; and remove the invalid moving path from the moving path set to obtain the valid moving path.

15 . The control system according to claim 10 , wherein the computer-executable instructions, when executed by the at least one processor, cause the cont

Assignees

• Huawei Tech Co Ltd

Inventors

• Yan Hua
• Wu Yumin
• Wang Guangguan

Classifications

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/39091

  Avoid collision with moving obstacles · CPC title

• G05B2219/40442

  Voxel map, 3-D grid map · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title