CN111309026A - Control method, device and equipment of unmanned vehicle and storage medium - Google Patents
Control method, device and equipment of unmanned vehicle and storage mediumDownload PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control method, a control device, control equipment and a storage medium for an unmanned vehicle.
Background
The unmanned automobile integrates a plurality of technologies such as automatic control, an architecture, artificial intelligence, visual calculation and the like, and is a product of high development of computer science, mode recognition and intelligent control technologies. The unmanned technology brings unprecedented changes to vehicles, and subversive improvement is brought to the unmanned technology in the aspects of enhancing the safety of highways, relieving traffic congestion, reducing air pollution and the like.
The existing unmanned technology senses the surroundings of a vehicle by using a vehicle-mounted sensor, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, so that the vehicle can automatically run on the road. However, when dealing with an emergency or a large vehicle flow, the vehicle-mounted sensor of the vehicle receives data and sends out a control command after being judged by the processor, so that the vehicle has a slow response speed and is easy to cause a safety problem.
Therefore, there is a need for an unmanned solution that is both safe and flexible.
Disclosure of Invention
In view of the above, it is necessary to provide a method and apparatus for controlling an unmanned vehicle, a computer device, and a storage medium.
The control method of the unmanned vehicle is based on a central server, and the central server is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted equipment respectively corresponding to the unmanned vehicles; the method comprises the following steps:
for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving scheme further comprises: determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
In one embodiment, a reader is disposed on the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and determining each unmanned vehicle according to the identification tag, and respectively acquiring the driving information corresponding to each unmanned vehicle.
In one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
In one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera and/or a vehicle-mounted computer connected to the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring monitoring information corresponding to the unmanned vehicle in real time through vehicle-mounted equipment; and determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving profile further comprises: receiving an emergency instruction, wherein the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle owner state and/or the vehicle state are monitored to meet a preset emergency condition; determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency scheme.
In one embodiment, after the step of determining the emergency scenario of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction, the method further includes: determining relevant vehicles in an emergency scheme; acquiring driving related information corresponding to the related vehicle; and controlling the relevant vehicle to run according to the emergency scheme and the running relevant information.
The control device of the unmanned vehicle is based on a central server, and the central server is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted equipment respectively corresponding to the unmanned vehicles; the device comprises:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring running information corresponding to each unmanned vehicle, and the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and the control module is used for determining an unmanned scheme of the unmanned vehicle according to the running information so as to enable the unmanned vehicle to control the unmanned vehicle to run according to the unmanned scheme.
In one embodiment, the control module further comprises: a control unit for determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
In one embodiment, a reader is disposed on the unmanned vehicle; the acquisition module further comprises: the identification unit is used for acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and the first determining unit is used for determining each unmanned vehicle according to the identification tag and respectively acquiring the running information corresponding to each unmanned vehicle.
In one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; the acquisition module further comprises: the input unit is used for acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and the second determining unit is used for determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
In one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera and/or a vehicle-mounted computer connected to the unmanned vehicle; the acquisition module further comprises: the monitoring unit is used for acquiring monitoring information corresponding to the unmanned vehicle in real time through the vehicle-mounted equipment; and the third determining unit is used for determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
In one embodiment, the control module further comprises: the emergency control device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an emergency instruction, and the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle-mounted equipment detects that a preset emergency condition is met in monitoring the state of a vehicle owner and/or the state of a vehicle; the generating unit is used for determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and the emergency control unit is used for determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency command according to the emergency scheme.
In one embodiment, the control module further comprises: the system comprises a related acquisition unit, a vehicle management unit and a vehicle management unit, wherein the related acquisition unit is used for determining related vehicles in an emergency scheme; acquiring driving related information corresponding to the related vehicle; and the related control unit is used for controlling the related vehicle to run according to the emergency scheme and the running related information.
A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
By adopting the control method, the control device, the control equipment and the storage medium of the unmanned vehicle, the driving information corresponding to each unmanned vehicle is acquired, wherein the driving information comprises at least one of vehicle using time, a positioning place, a target place, a current driving state, a vehicle state and/or a road state; and determining an unmanned driving scheme of the unmanned vehicle according to the driving information so that the unmanned vehicle controls the unmanned vehicle to drive according to the unmanned driving scheme. The invention obtains the driving information of the unmanned vehicle, determines the unmanned scheme according to the driving information, and controls the unmanned vehicle to drive according to the unmanned scheme, so that the unmanned vehicle can adapt to various conditions such as different driving states, vehicle states and/or road states, the safety and flexibility of unmanned driving are improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow chart of a control method for an unmanned vehicle in one embodiment;
FIG. 2 is a block diagram showing a control apparatus of the unmanned vehicle according to the embodiment;
FIG. 3 is a block diagram of an acquisition module in one embodiment;
FIG. 4 is a block diagram of a control module in one embodiment;
fig. 5 is a block diagram showing a configuration of a computer device that executes the aforementioned control method of the unmanned vehicle in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In one embodiment, a control method of an unmanned vehicle is provided, which can analyze and process travel data of the unmanned vehicle to control the unmanned vehicle to travel. The method can be applied to an unmanned control system and the like.
The control method of the unmanned vehicle is implemented based on a central server which is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted equipment respectively corresponding to the unmanned vehicles; the communication connection can be through 4G or 5G network, also can be through WIFI to connect, and unmanned vehicle still installs GPS positioning system, can fix a position unmanned vehicle's position.
Specifically, as shown in fig. 1, in an embodiment, the method for controlling the unmanned vehicle specifically includes the following steps S102 to S104:
step S102, aiming at each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state.
Specifically, the unmanned vehicle is a vehicle that automatically travels using unmanned technology. The travel information is travel data of the unmanned vehicle during unmanned driving.
The driving information includes at least a vehicle-using time, a location, a target location, a current driving state, a vehicle state, and/or a road state.
The vehicle using time is the time when the unmanned vehicle is unmanned, and the vehicle using time can be automatically generated by calculation according to a driving distance, namely the distance from the positioning place to the target place, or can be preset according to the rest time of the user. The time of use may be a specific time period, for example, the time of use is nine am to pm, or the time of use may be a length of time, for example, the time of use is two hours.
The positioning place is the starting position of the unmanned vehicle for unmanned driving, and the positioning place can be the current position of the vehicle obtained by positioning the unmanned vehicle through a positioning system, can be a place selected by the unmanned vehicle through a map system, and can also be a place input by a user. The location may be represented by latitude and longitude, or may be represented by a specific road name or building name.
The target location is the final position of the unmanned vehicle for unmanned driving, and the target location can be a location selected by a map system or a location input by a user. The target location may be represented by latitude and longitude, or may be represented by a specific road name or building name, etc.
The current driving state is current driving data of the unmanned vehicle for unmanned driving, and the current driving state may include driving data such as a driving speed, a location, or a vehicle direction angle of the current unmanned vehicle.
The vehicle state is a state of the unmanned vehicle, and includes a gasoline storage amount of the vehicle and/or a tire of the vehicle, and the like.
The road state is a road condition on which the unmanned vehicle travels, and may be a road condition that is likely to pass through immediately before or a road condition that must pass through. The road state may be the condition of other vehicles on the road, such as whether the road is traffic jam or traffic accident, or the condition of the road itself, such as whether the road is damaged.
Before acquiring the running information of the unmanned vehicle, different unmanned vehicles need to be determined so as to determine the corresponding running information.
In one embodiment, a reader is disposed on the unmanned vehicle; acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and determining each unmanned vehicle according to the identification tag, and respectively acquiring the driving information corresponding to each unmanned vehicle.
The identification tag is used for identifying the unmanned vehicle, the identification tag can be an electronic tag or a radio frequency card, the reader-writer reads and writes the identification tag in a wireless radio frequency mode, and the reader-writer transmits read-write data of the identification tag to the central server to realize non-contact bidirectional data communication. The identification tag comprises basic information of the unmanned vehicle, the basic information is in one-to-one correspondence with the unmanned vehicle, the central server comprises the correspondence between the identification tag and the unmanned vehicle, and if the unmanned vehicle does not correspond to the identification tag, the unmanned vehicle is controlled to be disabled or give an alarm. Thus, the unmanned vehicles are identified by acquiring the identification tags, and the travel information of each unmanned vehicle can be determined separately.
The driving information of the unmanned vehicle can be acquired through the intelligent robot and/or the mobile terminal. Before or in the process of starting unmanned driving, the vehicle using time, the positioning place and/or the target place of the unmanned vehicle are obtained through the intelligent robot and/or the mobile terminal.
The intelligent robot and/or the mobile terminal can acquire the text information or the options input by the user as the driving information of the unmanned vehicle, and can also acquire the voice information of the user for recognition, and the recognized corresponding text information or options are used as the driving information of the unmanned vehicle. For example, the text message may be a text of "car using time is 2 hours" input by the user, and the option may be to select the car using time to be 2 hours or 4 hours.
In one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
The input information is information input by a user and acquired by the intelligent robot and/or the mobile terminal, and the input information can be text information, voice information and/or options. The input information is analyzed to determine a time of use, a position fix, and/or a target location of the unmanned vehicle, wherein the analysis may be semantic analysis, syntactic analysis, and/or option analysis. The using time, the positioning place and/or the target place of the unmanned vehicle are determined by inputting the information, so that the accuracy and the flexibility of the driving information are improved, and the user experience is enhanced.
The running information of the unmanned vehicle may be acquired by an in-vehicle device. The current running state, the vehicle state and/or the road state of the unmanned vehicle can be obtained by monitoring the unmanned vehicle by the vehicle-mounted equipment in the running process of the unmanned vehicle.
In one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera and/or a vehicle-mounted computer connected to the unmanned vehicle; acquiring monitoring information corresponding to the unmanned vehicle in real time through vehicle-mounted equipment; and determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
The vehicle-mounted equipment is used for acquiring information of the unmanned vehicle, and comprises a laser range finder, a radar, a camera and/or a vehicle-mounted computer. The laser range finder can be used for obtaining the distance between the vehicle and the obstacle, the radar can be used for obtaining the direction angle, the speed and other parameters of the unmanned vehicle, the camera can be used for observing the distance between the unmanned vehicle and other vehicles or the obstacle, the vehicle-mounted computer can be used for displaying the running information of the vehicle or controlling running according to the running information, the running information can also be uploaded to the central server for information processing, the central server gives a control instruction, and the vehicle-mounted computer is used for controlling the unmanned vehicle to run.
The monitoring information is information of the unmanned vehicle itself and the situation around the vehicle, which is acquired by the in-vehicle device. The current driving state, the vehicle state and/or the road state of the unmanned vehicle can be determined through information processing of the monitoring information. For example, the unmanned vehicle is monitored by the radar, information such as the speed or the vehicle direction angle of the unmanned vehicle can be acquired, and the current driving state of the unmanned vehicle can be determined according to the information such as the speed or the vehicle direction angle. The current running state, the vehicle state and/or the road state of the unmanned vehicle can be obtained in real time or at regular time through monitoring the unmanned vehicle by the vehicle-mounted equipment, so that the timeliness of running information is improved, and the running safety of the unmanned vehicle is ensured.
And step S104, determining an unmanned driving scheme of the unmanned vehicle according to the driving information so that the unmanned vehicle controls the unmanned vehicle to drive according to the unmanned driving scheme.
Specifically, the unmanned driving scheme is a scheme for controlling the unmanned vehicle to run. The unmanned vehicle can be controlled to run according to the unmanned driving scheme.
During the driving process of the unmanned vehicle, the unmanned vehicle controls the unmanned vehicle to drive according to the unmanned scheme, and the unmanned vehicle can be controlled without personnel or can be controlled by personnel for controlling certain functions of the vehicle, such as an emergency braking function. The unmanned vehicle obtains information such as a current driving state, a vehicle state and/or a road state by the vehicle-mounted equipment in the driving process, and the unmanned scheme is also adjusted according to different driving information. For example, if there are fewer vehicles on the road, the driverless scheme may allow the driverless vehicle to increase the speed of travel, and if there are more vehicles on the road, the driverless scheme may allow the driverless vehicle to remain at the appropriate speed. If the unmanned vehicle encounters an emergency, such as a vehicle occupant having an emergency, the unmanned plan may adjust the speed or destination location.
After the unmanned driving scheme is determined, the unmanned vehicle can autonomously run according to the unmanned driving scheme. In one embodiment, the driving route and/or the driving speed of the unmanned vehicle is determined according to the unmanned driving scheme.
The driving route refers to a route from the unmanned vehicle to a target location, wherein the driving route can be selected from multiple routes, an optimal route is selected, the rest routes are used as alternatives, and when the unmanned vehicle deviates from the original route, the driving route in the unmanned scheme needs to be re-planned. The driving speed is the speed of the unmanned vehicle, the driving speed can be a fixed speed, and the corresponding driving speed in the unmanned scheme can be adjusted in real time according to the driving information. The unmanned vehicle may be controlled to travel based on the determination of the travel route and/or the travel speed based on the unmanned driving profile.
In the process that the unmanned vehicle runs according to the unmanned scheme, an emergency or an emergency situation may be encountered, and at this time, the unmanned vehicle needs to perform priority processing on the emergency or the emergency situation.
In one embodiment, the unmanned vehicle receives an emergency instruction, wherein the emergency instruction is generated by the vehicle-mounted equipment under the condition that the vehicle owner state and/or the vehicle state are monitored to meet the preset emergency condition; determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency scheme.
The emergency instruction refers to an instruction generated by the unmanned vehicle when a preset emergency condition is met, and is used for instructing the unmanned vehicle to control the vehicle to run in an emergency condition or an emergency condition. The vehicle owner status may be a physical condition of the vehicle owner, and the preset emergency condition is a condition for generating an emergency instruction. The method comprises the steps of monitoring the state of an owner and/or the state of a vehicle, generating an emergency instruction when the state of the owner and/or the state of the vehicle meet a preset emergency condition, illustratively, when the owner breaks out a certain disease, monitoring the abnormality of the owner by vehicle-mounted equipment such as a sensor or a camera to generate the emergency instruction, and inputting rescue content or selecting a rescue option by the owner through voice or characters to generate the emergency instruction. The preset emergency condition can be various, and different emergency conditions correspond to different emergency instructions. For example, when the owner of the vehicle breaks out a certain disease, the emergency instruction may be to travel to a hospital nearest to the current location, and when the unmanned vehicle breaks out a fire, the emergency instruction may be to stop traveling and call a fire department nearest to the current location to seek help.
The contingency plan may be a plan generated according to the emergency instructions. Illustratively, when the unmanned vehicle corresponding to the emergency instruction is in fire, the fire condition is transmitted to the central server through the network, the central server commands a nearby fire center according to the fire condition, automatically generates a fire-fighting treatment plan, and dispatches the unmanned fire truck or the fire-fighting airplane and the like in real time. The contingency plan may also be a plan pre-stored in a database, the contingency plan corresponding to the emergency instructions. For example, when the unmanned vehicle corresponding to the emergency instruction is in a fire, a pre-stored scheme is started, and the scheme may include contacting a fire center or stopping to remind a vehicle owner of leaving the vehicle in the fire, and the like.
According to the emergency scheme, a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency command can be determined. The driving emergency route is a driving route of the unmanned vehicle in an emergency or an emergency, the target emergency place is a target place of the unmanned vehicle in the emergency or the emergency, and the rescue scheme is a rescue scheme made according to an emergency instruction, such as medical rescue or fire rescue.
Safety and flexibility of the unmanned vehicle are ensured through generation of emergency instructions and determination of emergency scenarios.
When an emergency or an emergency occurs, it is limited to only mobilize the unmanned vehicle corresponding to the emergency instruction, for example, the unmanned vehicle corresponding to the emergency instruction delays the rescue time when the vehicle in front does not yield. Therefore, it is necessary to control vehicles other than the unmanned vehicle corresponding to the emergency instruction.
In one embodiment, a relevant vehicle in an emergency scenario is determined; acquiring driving related information corresponding to the related vehicle; and controlling the relevant vehicle to run according to the emergency scheme and the running relevant information.
The related vehicles refer to vehicles related to the emergency scheme, and can be vehicles related to the emergency route, or vehicles within a preset distance range. For example, when the unmanned vehicle corresponding to the emergency instruction is on fire, the relevant vehicle within a preset distance range is evacuated or a route of the relevant vehicle to be driven to a fire scene is re-planned. The travel-related information refers to travel information of the relevant vehicle. The related vehicles are controlled according to the emergency scheme and the driving related information, and the speed, the direction angle or the driving route and other information of the related vehicles can be adjusted, so that the unmanned vehicles corresponding to the emergency instructions reduce the loss, and the feasibility and the high efficiency of the emergency scheme are ensured.
As shown in fig. 2, in one embodiment, a control device of an unmanned vehicle is provided, which is based on a central server that is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted devices respectively corresponding to the unmanned vehicles; the device comprises:
the acquiringmodule 202 is configured to acquire, for each unmanned vehicle, driving information corresponding to the unmanned vehicle, where the driving information includes at least one of a vehicle using time, a positioning location, a target location, a current driving state, a vehicle state, and/or a road state;
and thecontrol module 204 is configured to determine an unmanned driving scheme of the unmanned vehicle according to the driving information, so that the unmanned vehicle controls the unmanned vehicle to drive according to the unmanned driving scheme.
As shown in fig. 3, in one embodiment, thecontrol module 204 further comprises: a control unit for determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
As shown in fig. 4, in one embodiment, a reader is provided on the unmanned vehicle; the obtainingmodule 202 further includes: the identification unit is used for acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and the first determining unit is used for determining each unmanned vehicle according to the identification tag and respectively acquiring the running information corresponding to each unmanned vehicle.
As shown in fig. 4, in one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; the obtainingmodule 202 further includes: the input unit is used for acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and the second determining unit is used for determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
As shown in fig. 4, in one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera, and/or a vehicle-mounted computer connected to the unmanned vehicle; the obtainingmodule 202 further includes: the monitoring unit is used for acquiring monitoring information corresponding to the unmanned vehicle in real time through the vehicle-mounted equipment; and the third determining unit is used for determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
As shown in fig. 3, in one embodiment, thecontrol module 204 further comprises: the emergency control device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an emergency instruction, and the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle-mounted equipment detects that a preset emergency condition is met in monitoring the state of a vehicle owner and/or the state of a vehicle; the generating unit is used for determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and the emergency control unit is used for determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency command according to the emergency scheme.
As shown in fig. 3, in one embodiment, thecontrol module 204 further comprises: the system comprises a related acquisition unit, a vehicle management unit and a vehicle management unit, wherein the related acquisition unit is used for determining related vehicles in an emergency scheme; acquiring driving related information corresponding to the related vehicle; and the related control unit is used for controlling the related vehicle to run according to the emergency scheme and the running related information.
FIG. 5 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a terminal, and may also be a server. As shown in fig. 5, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement a method of controlling an unmanned vehicle. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to execute a method of controlling the unmanned vehicle. Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of: for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state; and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving scheme further comprises: determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
In one embodiment, a reader is disposed on the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and determining each unmanned vehicle according to the identification tag, and respectively acquiring the driving information corresponding to each unmanned vehicle.
In one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
In one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera and/or a vehicle-mounted computer connected to the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring monitoring information corresponding to the unmanned vehicle in real time through vehicle-mounted equipment; and determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving profile further comprises: receiving an emergency instruction, wherein the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle owner state and/or the vehicle state are monitored to meet a preset emergency condition; determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency scheme.
In one embodiment, after the step of determining the emergency scenario of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction, the method further includes: determining relevant vehicles in an emergency scheme; acquiring driving related information corresponding to the related vehicle; and controlling the relevant vehicle to run according to the emergency scheme and the running relevant information.
In one embodiment, a computer-readable storage medium is proposed, in which a computer program is stored which, when executed by a processor, causes the processor to carry out the steps of: for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state; and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving scheme further comprises: determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
In one embodiment, a reader is disposed on the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle; and determining each unmanned vehicle according to the identification tag, and respectively acquiring the driving information corresponding to each unmanned vehicle.
In one embodiment, the central server is in communication connection with the intelligent robot and/or the mobile terminal; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal; and determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
In one embodiment, the vehicle-mounted device further comprises at least one of a laser range finder, a radar, a camera and/or a vehicle-mounted computer connected to the unmanned vehicle; the step of acquiring the travel information corresponding to the unmanned vehicle further includes: acquiring monitoring information corresponding to the unmanned vehicle in real time through vehicle-mounted equipment; and determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
In one embodiment, the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned driving profile further comprises: receiving an emergency instruction, wherein the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle owner state and/or the vehicle state are monitored to meet a preset emergency condition; determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction; and determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency scheme.
In one embodiment, after the step of determining the emergency scenario of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction, the method further includes: determining relevant vehicles in an emergency scheme; acquiring driving related information corresponding to the related vehicle; and controlling the relevant vehicle to run according to the emergency scheme and the running relevant information.
By adopting the control method, the control device, the control equipment and the storage medium of the unmanned vehicle, the driving information corresponding to each unmanned vehicle is acquired, wherein the driving information comprises at least one of vehicle using time, a positioning place, a target place, a current driving state, a vehicle state and/or a road state; and determining an unmanned driving scheme of the unmanned vehicle according to the driving information so that the unmanned vehicle controls the unmanned vehicle to drive according to the unmanned driving scheme. According to the invention, the driving information of the unmanned vehicle is firstly acquired, the unmanned scheme is determined according to the driving information, and the unmanned vehicle is controlled to drive according to the unmanned scheme, so that the unmanned vehicle can adapt to various conditions such as different driving states, vehicle states and/or road states, the safety and flexibility of unmanned driving are increased, and the user experience is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The control method of the unmanned vehicle is characterized in that based on a central server, the central server is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted equipment respectively corresponding to the unmanned vehicles;
the method comprises the following steps:
for each unmanned vehicle, acquiring running information corresponding to the unmanned vehicle, wherein the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and determining an unmanned scheme of the unmanned vehicle according to the running information so that the unmanned vehicle controls the unmanned vehicle to run according to the unmanned scheme.
2. The method of claim 1, wherein the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned plan further comprises:
determining a driving route and/or a driving speed of the unmanned vehicle according to the unmanned driving scheme.
3. The method of claim 1, wherein a reader is disposed on the unmanned vehicle;
the step of acquiring the travel information corresponding to the unmanned vehicle further includes:
acquiring an identification tag of the unmanned vehicle through a reader-writer, wherein the identification tag comprises at least one of a manufacturer, a model, a color and/or an engine code of the unmanned vehicle;
and determining each unmanned vehicle according to the identification tag, and respectively acquiring the driving information corresponding to each unmanned vehicle.
4. The method according to claim 1, characterized in that the central server is in communication connection with a smart robot and/or a mobile terminal;
the step of acquiring the travel information corresponding to the unmanned vehicle further includes:
acquiring input information corresponding to the unmanned vehicle through the intelligent robot and/or the mobile terminal;
and determining the using time, the positioning place and/or the target place of the unmanned vehicle according to the input information.
5. The method of claim 1, wherein the vehicle device further comprises at least one of a laser range finder, a radar, a camera, and/or a vehicle computer connected to the unmanned vehicle;
the step of acquiring the travel information corresponding to the unmanned vehicle further includes:
acquiring monitoring information corresponding to the unmanned vehicle in real time through vehicle-mounted equipment;
and determining the current running state, the vehicle state and/or the road state of the unmanned vehicle according to the monitoring information.
6. The method of claim 1, wherein the step of causing the unmanned vehicle to control the unmanned vehicle to travel according to the unmanned plan further comprises:
receiving an emergency instruction, wherein the emergency instruction is generated by vehicle-mounted equipment under the condition that the vehicle owner state and/or the vehicle state are monitored to meet a preset emergency condition;
determining an emergency scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency instruction;
and determining a driving emergency route, a target emergency place and/or a rescue scheme of the unmanned vehicle corresponding to the emergency instruction according to the emergency scheme.
7. The method of claim 6, wherein after the step of determining an emergency scenario for the unmanned vehicle corresponding to the emergency instruction based on the emergency instruction, further comprising:
determining relevant vehicles in an emergency scheme;
acquiring driving related information corresponding to the related vehicle;
and controlling the relevant vehicle to run according to the emergency scheme and the running relevant information.
8. The control device of the unmanned vehicle is characterized in that the central server is in communication connection with a plurality of unmanned vehicles and/or vehicle-mounted equipment respectively corresponding to the unmanned vehicles based on the central server;
the device comprises:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring running information corresponding to each unmanned vehicle, and the running information comprises at least one of vehicle using time, a positioning place, a target place, a current running state, a vehicle state and/or a road state;
and the control module is used for determining an unmanned scheme of the unmanned vehicle according to the running information so as to enable the unmanned vehicle to control the unmanned vehicle to run according to the unmanned scheme.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.
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