CN110182219B

CN110182219B - Resource scheduling method for unmanned vehicle and unmanned vehicle

Info

Publication number: CN110182219B
Application number: CN201910469336.5A
Authority: CN
Inventors: 林博韬; 张林亮
Original assignee: Jiangsu Shenghai Intelligent Technology Co ltd
Current assignee: Jiangsu Shenghai Intelligent Technology Co ltd
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-10-02
Anticipated expiration: 2039-05-31
Also published as: CN110182219A

Abstract

The invention discloses a resource scheduling method of an unmanned vehicle and the unmanned vehicle, which receives a calculation task to be sequenced, judges whether the calculation task to be sequenced is a data transmission remote control instruction, if so, judges whether the calculation task in execution is the data transmission remote control instruction, if so, continues to process the calculation task in execution, otherwise, processes the calculation task to be sequenced; the method comprises the steps of receiving a calculation task to be sequenced, judging whether the calculation task to be sequenced is a data transmission remote control command, if so, judging whether the calculation task in execution is the data transmission remote control command, if so, continuing to process the calculation task in execution, otherwise, processing the calculation task to be sequenced, namely, ensuring that the data transmission remote control command can be processed preferentially, so that the unmanned all-terrain vehicle can make a corresponding decision in time, thereby ensuring the driving safety of the unmanned all-terrain vehicle and ensuring the safety of surrounding pedestrians.

Description

Resource scheduling method for unmanned vehicle and unmanned vehicle

Technical Field

The invention relates to the field of unmanned vehicles, in particular to a resource scheduling method of an unmanned vehicle and the unmanned vehicle.

Background

With the development of artificial intelligence technology, unmanned vehicles are undoubtedly the development direction of future automobiles, and have the advantages of safety, reliability, high efficiency and convenience.

Meanwhile, in the running process of the unmanned all-terrain vehicle, the fault encountered by the vehicle is not easy to judge the specific position of the problem, so that the priority of resource use of the control system needs to be well planned and scheduled, in the prior art, the log data printed by the system needs to be checked in a background for the fault of the control system generated in the running process of the unmanned all-terrain vehicle, and a great amount of time is needed for finding the problem under the condition of large data volume.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the resource scheduling method of the unmanned vehicle and the unmanned vehicle are provided, and the data transmission remote control command can be preferentially processed, so that the driving safety of the unmanned all-terrain vehicle is ensured.

In order to solve the technical problems, the invention adopts the technical scheme that:

a resource scheduling method for an unmanned vehicle comprises the following steps:

s1, receiving a calculation task to be sequenced, judging whether the calculation task to be sequenced is a data transmission remote control command, and if so, executing a step S2;

and S2, judging whether the calculation task in execution is a data transmission remote control instruction, if so, continuing to process the calculation task in execution, otherwise, processing the calculation task to be sequenced.

In order to solve the technical problem, the invention adopts another technical scheme as follows:

an unmanned vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the method as described above.

The invention has the beneficial effects that: a resource scheduling method of an unmanned vehicle and the unmanned vehicle receive a calculation task to be sequenced, judge whether the calculation task to be sequenced is a data transmission remote control command, if so, judge whether the calculation task in execution is the data transmission remote control command, if so, continue to process the calculation task in execution, otherwise, process the calculation task to be sequenced, namely, ensure that the data transmission remote control command can be processed preferentially, so that the unmanned all-terrain vehicle can make corresponding decisions in time, thereby ensuring the driving safety of the unmanned all-terrain vehicle and ensuring the safety of pedestrians around the unmanned all-terrain vehicle.

Drawings

FIG. 1 is a schematic flow chart illustrating a resource scheduling method for an unmanned vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic flowchart illustrating a resource scheduling method for an unmanned vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present invention.

Description of reference numerals:

1. an unmanned vehicle; 2. a processor; 3. a memory.

Detailed Description

In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.

Before this, in order to facilitate understanding of the technical solution of the present invention, the english abbreviations, devices and the like referred to in the present invention are described as follows:

(1) and a Linux operating system: the system is a Unix-like operating system which is free to use and propagate, and is a multi-user, multi-task, multi-thread and multi-CPU supporting operating system based on POSIX and UNIX. It can run major UNIX tools, applications and network protocols. It supports 32-bit and 64-bit hardware. Linux inherits the design idea of Unix with network as core, and is a multi-user network operating system with stable performance.

(2) And CAN: in the present invention, the term "Controller Area Network" is used for short in English, and the term is explained as a Controller Area Network, which is one of the most widely used field buses in the world. In north america and western europe, the CAN bus protocol has become the standard bus for automotive computer control systems and embedded industrial control area networks, and possesses the J1939 protocol designed for large trucks and heavy work machinery vehicles with CAN as the underlying protocol. In recent years, the high reliability and good error detection capability of the sensor are emphasized, and the sensor is widely applied to an automobile computer control system and an industrial environment with severe environmental temperature, strong electromagnetic radiation and large vibration.

(3) And GPS: the invention is English abbreviation of Global Positioning System, wherein the text is explained as Global Positioning System, is called timing ranging navigation satellite Global Positioning System, is a satellite navigation System with all-round, all-weather, all-time and high precision, can provide navigation information such as low-cost, high-precision three-dimensional position, speed and precise timing for Global users, is an application model of satellite communication technology in the navigation field, greatly improves the informatization level of the Global society, and powerfully promotes the development of digital economy.

Referring to fig. 1 to 2, a resource scheduling method for an unmanned vehicle includes the steps of:

From the above description, the beneficial effects of the present invention are: and receiving the calculation tasks to be sequenced, judging whether the calculation tasks to be sequenced are data transmission remote control instructions, if so, judging whether the calculation tasks to be sequenced are the data transmission remote control instructions, if so, continuing to process the calculation tasks to be sequenced, otherwise, processing the calculation tasks to be sequenced, namely, ensuring that the data transmission remote control instructions can be processed preferentially, so that the unmanned all-terrain vehicle can make corresponding decisions in time, thereby ensuring the driving safety of the unmanned all-terrain vehicle and ensuring the safety of surrounding pedestrians.

Further, the step S1 is specifically:

receiving a calculation task to be sequenced, judging the instruction type of the calculation task to be sequenced, if the instruction type of the calculation task to be sequenced is a data transmission remote control instruction, executing a step S2, if the instruction type of the calculation task to be sequenced is a CAN data transmission instruction, executing a step S3, if the instruction type of the calculation task to be sequenced is a GPS data acquisition instruction, executing a step S4, and if the instruction type of the calculation task to be sequenced is not the data transmission remote control instruction, the CAN data transmission instruction and the GPS data acquisition instruction, executing a step S5;

the step S2 specifically includes:

judging whether the calculation task in execution is a data transmission remote control instruction, if so, continuing to process the calculation task in execution, adding the calculation task to be sorted into the sorted calculation task of which the last instruction type is the data transmission remote control instruction in the calculation queue to be executed, and otherwise, processing the calculation task to be sorted;

the step S2 is followed by the step of:

s3, judging whether the calculation task in execution is a data transmission remote control instruction or a CAN data transmission instruction, if so, continuing to process the calculation task in execution, adding the calculation task to be sequenced into the sequenced calculation task of which the last instruction type is the CAN data transmission instruction in the calculation queue to be executed, and otherwise, processing the calculation task to be sequenced;

s4, judging whether the calculation task in execution is a data transmission remote control instruction, a CAN data transmission instruction or a GPS data acquisition instruction, if so, continuing to process the calculation task in execution, adding the calculation task to be sorted into the sorted calculation task with the last instruction type being the GPS data acquisition instruction in the calculation queue to be executed, and otherwise, processing the calculation task to be sorted;

and S5, judging whether the calculation tasks exist in execution or not, if so, continuing to process the calculation tasks in execution, and adding the calculation tasks to be sequenced to the tail end of the calculation queue to be executed.

As CAN be seen from the above description, the data transmission remote control instruction has the highest priority, the CAN data transmission instruction has the second priority, the GPS data acquisition instruction has the third priority, and the remaining instructions have the same priority as the fourth priority, the data transmission remote control instruction is used to control the driving of the unmanned all-terrain vehicle, and the data transmission remote control instruction has the highest priority to ensure the driving safety of the unmanned all-terrain vehicle; the CAN data transmission instruction is used for receiving feedback data so as to judge whether the vehicle has a fault or not and make emergency measures in time; the GPS data is used for determining the position information of the unmanned all-terrain vehicle, so that the unmanned all-terrain vehicle CAN walk according to a preset track, namely the data transmission remote control instruction, the CAN data transmission instruction, the GPS data acquisition instruction and other instructions are sequentially decreased according to the priority, and the driving safety of the unmanned all-terrain vehicle CAN be ensured to the maximum extent.

Further, the step S1 is specifically:

receiving a to-be-sorted computing task, obtaining a task priority value of the to-be-sorted computing task, performing an or operation on an initial weight value and the task priority value to obtain a sorting weight value, if the sorting weight value is a first priority, the to-be-sorted computing task is a data transmission remote control instruction, executing step S2, if the sorting weight value is a second priority, executing step S3, if the sorting weight value is a third priority, executing step S4, and if the sorting weight value is a fourth priority, executing step S5.

From the above description, it can be seen that the weighted values are used for priority ranking, and under the condition that each task carries a corresponding weighted value, the master control system only needs to process the tasks in sequence according to the magnitude of the ranking weighted value, so that a simple, convenient and practical ranking method is provided.

Further, the initial weight value is 0, the first priority ranking weight value is 1, the second priority ranking weight value is 2, the third priority ranking weight value is 4, and the fourth priority ranking weight value is 8.

As can be seen from the above description, a weight variable w is initially assigned, and the task priority value is assumed to be x, then the ranking weight value w is equal to w | x, and when the initial weight value is 0, w is equal to 0| x, that is, the ranking weight value is equal to the task priority value. In the binary system, 1 is 0001, 2 is 0010, 4 is 0100, and 8 is 1000, so that the priority of the task CAN be known only by confirming the numerical value of one digit, which is equivalent to that in the prior art, the priority of the task CAN be known without confirming the numerical values of a plurality of digits one by adopting the sequence of 1, 2, 3 and 4, so that the calculation time is reduced, and the calculation efficiency is improved, so that more time is reserved for the execution of the data transmission remote control instruction, the CAN data transmission instruction, the GPS data acquisition instruction and other instructions, more instructions CAN be processed in the same time, and the driving safety of the unmanned all-terrain vehicle is ensured to a certain extent.

Further, the step "otherwise process the calculation task to be sorted" in any one of the steps S2 to S5 is specifically:

and interrupting the executed calculation tasks, preferentially processing the calculation tasks to be sorted, carrying out non-operation on the sorting weight values and then carrying out AND operation on the sorting weight values and the task priority values after the processing of the calculation tasks to be sorted is finished, obtaining finished weight values, and sequentially executing the calculation tasks according to a calculation queue to be executed.

As can be seen from the above description, the sorting weight value w is 0| x ═ x, and the sorting weight value is not calculated and then is and-calculated with the task priority value, that is, the completion weight value w is 0| - & x ═ x, that is, whichever task is. After the execution is finished, the finishing weight value is 0, the master control system can know that the task is finished according to the finishing weight value, and the priority of the task does not need to be distinguished, so that the calculation efficiency is improved.

Further, the step S2 of "processing the to-be-sorted computing task" specifically includes:

sending an operation control instruction corresponding to the data transmission remote control instruction to an operation subsystem in a line control mode or a tracking mode, wherein the operation control instruction comprises operation requirement data;

the step S3 of "processing the calculation task to be sorted" specifically includes:

acquiring operation feedback data of the operation subsystem after the operation control instruction is executed through a CAN bus;

the step S3 further includes the steps of:

and judging whether the operation requirement data and the operation feedback data are within a threshold range, if so, generating and sending a network transmission task comprising an operation normal instruction, otherwise, generating and sending a network transmission task comprising an operation fault warning instruction, and sending an emergency control instruction.

From the above description, the execution of each operation instruction is monitored and the operation requirement data and the operation feedback data are analyzed, so that when a fault occurs, the specific position of the fault can be known through data comparison.

Further, the operation control instruction comprises an operation gear instruction, an operation steering instruction, an operation accelerator instruction and an operation brake instruction, and the operation feedback data comprises gear subsystem feedback data, steering subsystem feedback data, accelerator subsystem feedback data and brake subsystem feedback data;

if the "operation control instruction" in the step S2 is an operation shift instruction, the "emergency control instruction" in the step S3 is an exit-by-wire instruction; if the "operation control command" in the step S2 is an operation steering command, the "emergency control command" in the step S3 is a braking, decelerating, stopping, or emergency braking command; if the "operation control command" in the step S2 is an accelerator operation command, the "emergency control command" in the step S3 is a neutral-engaged and generator-off command; if the "operation control command" in the step S2 is an operation brake command, the "emergency control command" in the step S3 is an on-neutral and generator off command.

From the above description, for the driving of the unmanned all-terrain vehicle, the main operations include steering, accelerator, brake and gear, and the driving safety of the unmanned all-terrain vehicle can be ensured as long as the priority of the operations is ensured to be the highest level and emergency measures are taken in time when the corresponding subsystems are in failure.

Further, the step S1 further includes:

judging whether the current control mode is a manual mode, if so, waiting for manual ignition, entering a line control mode after receiving ignition completion information, and executing step S21;

if the mode is the line control mode or the tracking mode, receiving an operation ignition instruction, and executing step S32 after receiving the ignition completion information;

the step S2 further includes:

s21, sending an N gear engaging command to the gear engaging subsystem, and executing the step S31;

the step S3 further includes:

s31, acquiring first operation feedback data of the gear engaging subsystem after the gear engaging subsystem executes the N-gear engaging instruction through a CAN bus, judging whether the first operation feedback data is within a threshold range, if so, generating and sending a network transmission task including a first gear normal instruction, otherwise, generating and sending a network transmission task of a first gear fault warning instruction, and sending an exit line control instruction;

s32, second operation feedback data and current gear information of the gear engaging subsystem are obtained through the CAN bus, whether the second operation feedback data are within a threshold range of the current gear information is judged, if yes, a network transmission task including a second gear normal instruction is generated and sent, and if not, a network transmission task including a second gear fault warning instruction is generated and sent, and an exit line control instruction is sent.

From the above description, in the manual mode, the manual ignition, the drive-by-wire mode or the tracking mode, the main control system automatically completes the operations of ignition, gear shifting and the like, so that the manual mode and the automatic driving mode can be considered.

Further, the step S32 further includes:

and if the current gear information is D gear information or R gear information, sending an operation braking instruction, acquiring third operation feedback data of the braking subsystem through a CAN bus, judging whether the third operation feedback data is in a threshold range for stopping the vehicle, and if so, sending an exit-by-wire control instruction.

As can be seen from the above description, in the drive-by-wire mode or the tracking mode, if the gear information is D gear information or R gear information, the brake operation should be performed first, and the drive-by-wire command should be exited after the unmanned all-terrain vehicle stops, so as to ensure the driving safety of the unmanned all-terrain vehicle.

Referring to fig. 3 to 4, an unmanned vehicle includes a memory, a processor and a computer program stored in the memory and running on the processor, and the processor implements the method when executing the computer program.

From the above description, the beneficial effects of the present invention are: the unmanned all-terrain vehicle applies the resource scheduling method, so the corresponding beneficial effects can refer to the corresponding method.

Referring to fig. 1 to fig. 2, a first embodiment of the present invention is:

s1, receiving the calculation tasks to be sequenced, judging whether the calculation tasks to be sequenced are data transmission remote control commands, and if yes, executing a step S2;

Referring to fig. 1 to fig. 2, a second embodiment of the present invention is:

on the basis of the first embodiment, step S1 is specifically as follows:

receiving the calculation tasks to be sequenced, judging the instruction types of the calculation tasks to be sequenced, if the instruction types of the calculation tasks to be sequenced are data transmission remote control instructions, executing a step S2, if the instruction types of the calculation tasks to be sequenced are CAN data transmission instructions, executing a step S3, if the instruction types of the calculation tasks to be sequenced are GPS data acquisition instructions, executing a step S4, and if the instruction types of the calculation tasks to be sequenced are not the data transmission remote control instructions, the CAN data transmission instructions and the GPS data acquisition instructions, executing a step S5;

step S2 specifically includes:

judging whether the calculation task in execution is a data transmission remote control instruction, if so, continuing to process the calculation task in execution, adding the calculation task to be sequenced into the sequenced calculation task of which the last instruction type is the data transmission remote control instruction in the calculation queue to be executed, and otherwise, processing the calculation task to be sequenced;

step S2 is followed by the step of:

and S5, judging whether the calculation tasks exist in execution or not, if so, continuing to process the calculation tasks in execution, and adding the calculation tasks to be sorted to the tail end of the calculation queue to be executed.

Referring to fig. 1 to fig. 2, a third embodiment of the present invention is:

on the basis of the second embodiment, step S1 is specifically that:

receiving the calculation tasks to be sorted, obtaining task priority values of the calculation tasks to be sorted, performing OR operation on the initial weight values and the task priority values to obtain sorting weight values, if the sorting weight values are the first priority, the calculation tasks to be sorted are data transmission remote control instructions, executing step S2, if the sorting weight values are the second priority, executing step S3, if the sorting weight values are the third priority, executing step S4, and if the sorting weight values are the fourth priority, executing step S5.

The initial weight value is 0, the first priority ranking weight value is 1, the second priority ranking weight value is 2, the third priority ranking weight value is 4, and the fourth priority ranking weight value is 8.

The step S2 to step S5 includes the following steps:

and interrupting the computing tasks in execution, preferentially processing the computing tasks to be sorted, carrying out non-operation on the sorting weight values and then carrying out AND operation on the sorting weight values and the task priority values after the processing of the computing tasks to be sorted is finished, obtaining finished weight values, and sequentially executing the computing tasks according to a computing queue to be executed.

In combination with the above, when a network transmission task is received, if the task priority value is 8, then 8 and 0 are subjected to or operation to obtain a sorting weight value 8, if there is no task with a higher priority at this time, and only the task with the same priority needs to be scheduled for use, as long as the task with the same priority is finished, the sorting weight value 8 is subjected to non-operation and then is 7, and 7 and 8 are subjected to and operation to obtain a finished weight value 0, which indicates that the task with the same priority is finished, and then the network transmission task is started to be executed.

During execution of the network transmission task, if a GPS data acquisition task exists at this time, the task priority value is 4, and OR operation is performed on 0 and 4 to obtain a sequencing weight value of 4, and at this time, it is judged that a task with higher authority needs to be executed, the network transmission task with the sequencing weight value of 8 is interrupted, and the GPS data acquisition task is executed preferentially. Only the GPS data acquisition task is completed, the ordering weighted value 4 is not operated to be 11, and the ordering weighted value 11 and the ordering weighted value 4 are subjected to AND operation to obtain a completed weighted value 0, which indicates that the GPS data acquisition task is completed, no other task with higher priority exists at the moment, and the network transmission task continues.

And when the GPS data acquisition task is executed, the CAN data acquisition task is received, the task priority value is 2, and the operations of 0 and 2 are carried out to obtain the sequencing weight value of 2, at the moment, the task with higher authority limit is judged to be executed, the GPS data acquisition task with the sequencing weight value of 4 is interrupted, and the CAN data acquisition task is executed preferentially. Only the CAN data acquisition task is completed, the ordering weight value 2 is set to 13 after non-operation, and the finishing weight value 0 is obtained after performing AND operation on 13 and 2, which indicates that the CAN data acquisition task is completed, no other task with higher priority exists at the moment, and the GPS data acquisition task continues.

In the process of executing CAN data acquisition, a data transmission remote control data acquisition operation task is received, the task priority value is 1, 0 and 1 are subjected to OR operation to obtain a sequencing weight value of 1, at the moment, it is judged that the task with higher authority needs to be executed, the CAN data acquisition task with the sequencing weight value of 2 is interrupted, and the data transmission remote control data acquisition operation task is executed preferentially. Only the data transmission remote control data acquisition operation task is completed, the ordering weighted value 1 is 15 after non-operation, and the finishing weighted value 0 is obtained after the 15 and 1 are subjected to AND operation, which indicates that the data transmission remote control data acquisition operation task is completed, and no other task with higher priority exists at the moment, and the CAN data acquisition task continues.

Referring to fig. 1 to fig. 2, a fourth embodiment of the present invention is:

on the basis of the third embodiment, as shown in fig. 2, the step S2 of "processing the calculation task to be sequenced" specifically includes: under the wire control mode or the tracking mode, an operation control instruction corresponding to the data transmission remote control instruction is sent to the operation subsystem, and the operation control instruction comprises operation requirement data;

the step S3 of "processing the calculation task to be sorted" is specifically: acquiring operation feedback data of the operation subsystem after the operation control instruction is executed through the CAN bus;

step S3 further includes the steps of: and judging whether the operation requirement data and the operation feedback data are within a threshold range, if so, generating and sending a network transmission task comprising an operation normal instruction, otherwise, generating and sending a network transmission task comprising an operation fault alarm instruction, and sending an emergency control instruction.

As shown in fig. 2, the operation control instruction includes an operation gear instruction, an operation steering instruction, an operation accelerator instruction and an operation brake instruction, and the operation feedback data includes gear subsystem feedback data, steering subsystem feedback data, accelerator subsystem feedback data and brake subsystem feedback data;

if the "operation control instruction" in step S2 is the operation shift position instruction, the "emergency control instruction" in step S3 is the exit-by-wire instruction; if the "operation control command" in the step S2 is an operation steering command, the "emergency control command" in the step S3 is a braking, decelerating, parking, processing command or an emergency braking processing command; if the "operation control command" in the step S2 is an operation accelerator command, the "emergency control command" in the step S3 is a neutral-in and generator stall command; if the "operation control command" in step S2 is an operation brake command, the "emergency control command" in step S3 is an on-neutral and generator stall command.

As shown in fig. 2, step S1 further includes:

step S2 further includes:

step S3 further includes:

s31, acquiring first operation feedback data of the gear engaging subsystem after the gear engaging subsystem executes the N-gear engaging instruction through the CAN bus, and judging whether the first operation feedback data is within a threshold range, if so, generating and sending a network transmission task including a first gear normal instruction, otherwise, generating and sending a network transmission task of a first gear fault warning instruction, and sending an exit line control instruction;

s32, second operation feedback data and current gear information of the gear engaging subsystem are obtained through the CAN bus, whether the second operation feedback data are within a threshold range of the current gear information is judged, if yes, a network transmission task including a second gear normal instruction is generated and sent, if not, whether the current gear information is an N gear is judged, if the current gear information is the N gear, a network transmission task of a second gear fault alarm instruction is generated and sent, and a wire exit control instruction is sent; and if the current gear information is D gear information or R gear information, sending an operation braking instruction, acquiring third operation feedback data of the braking subsystem through the CAN bus, judging whether the third operation feedback data is within a threshold range for stopping the vehicle, and if so, sending an exit wire control instruction.

With reference to fig. 2 and the above, it CAN be seen that, the main control system performs a control operation on the steering subsystem in the steer-by-wire mode or the tracking mode, after acquiring data information of the current steering through the CAN bus, according to the steer-by-wire control operation or when it is calculated that the tracking requires a steering operation, sends an operation steering instruction to the steering subsystem, then acquires feedback data of the steering subsystem, and acquires steering data information and feedback data of the steering subsystem required by the main control system at the time, if the steering data information and the feedback data information of the main control system are within a threshold range, the main control system sends a normal steering instruction to the command platform, the command platform displays that the steering alarm indicator is green, otherwise, it is determined that the steering fault occurs, and the steering alarm indicator of the command platform is red. After the main control judges the steering fault, the main control carries out braking deceleration parking processing or emergency braking processing according to the current speed and the range of the electronic fence where the main control is located.

The master control system controls and operates the brake subsystem in a line control mode or a tracking mode, after data information of current brake is acquired through the CAN bus, a brake operation command is sent to the brake subsystem according to the brake control operation of the line control or when the tracking needs the brake operation is calculated, then feedback data of the brake subsystem is acquired, the brake data information and the feedback data of the brake subsystem required by the master control system at the moment are acquired, if the brake data information and the feedback data of the brake subsystem required by the master control system are within a threshold value range, the master control system sends a normal brake command to the finger control platform, the finger control platform displays that the brake alarm indicator lamp is green, otherwise, the finger control platform judges that the brake is in fault, and the brake alarm indicator lamp of the finger control platform is red. And after judging the brake fault, the master control system carries out neutral gear engaging and engine flameout treatment.

The method comprises the steps that a main control system controls and operates an accelerator subsystem in a drive-by-wire mode or a tracking mode, after data information of a current accelerator is obtained through a CAN bus, an accelerator operation instruction is sent to the accelerator subsystem according to the drive-by-wire accelerator control operation or when tracking needs accelerator operation is calculated, then accelerator subsystem feedback data is obtained, and accelerator data information and accelerator subsystem feedback data required by the main control system are obtained. And after the master control determines that the accelerator has a fault, neutral gear is engaged, and the engine is flamed out.

The master control system is ignited in a manual mode, then enters a drive-by-wire mode, engages N gears, acquires whether data information of the current gear is successfully engaged or not through a CAN bus, determines that the gear is in a fault if the data information is not successfully engaged, sends the information at the moment to a command control platform through a network to display, and sends a drive-by-wire exit instruction to the master control system, wherein a gear alarm indicator lamp of the command control platform is red.

The master control system is in a line control mode or a tracking mode, if the current mode is N gears, the system is not valid when being hung to other gears, the gear warning indicator lamp of the finger control platform is red, and the master control sends out a line control quitting instruction; if the gear is D gear or R gear, the gear is not valid when being engaged to N gear, the gear alarm indicator lamp of the finger control platform is red, the master control sends an operation brake instruction, and after the unmanned all-terrain vehicle stops, a wire-control exit instruction is sent.

The master control system sends the operation requirement data and the operation feedback data to the command control platform, and compares the operation requirement data with the operation feedback data to determine whether the operation requirement data and the operation feedback data are within a threshold range, namely, the operation requirement data and the operation feedback data are displayed on the command control platform, so that the faults can be conveniently and visually checked and positioned; meanwhile, within the threshold range, the alarm instruction is displayed on the finger control platform for alarm display, the alarm instruction is not sent to the finger control platform, the finger control platform does not alarm at the moment and displays a green light, otherwise, the master control sends the alarm instruction to the finger control platform, and the finger control platform performs a red light alarm.

Referring to fig. 3 to 4, a fifth embodiment of the present invention is:

an unmanned vehicle 1 comprises a memory 3, a processor 2 and a computer program stored on the memory 3 and executable on the processor 2, the processor 2 implementing the method of the first embodiment when executing the computer program.

As shown in fig. 4, the unmanned vehicle 1 in this embodiment is an unmanned all-terrain vehicle, which includes an unmanned all-terrain vehicle command platform for human-computer interaction, and the unmanned all-terrain vehicle command platform is provided with a plurality of application software for data acquisition, state monitoring, data storage and data forwarding; the application software is based on a Linux operating system and performs data transmission with a file system; the Linux operating system supports CAN communication, GPS positioning, 4G network and data transmission remote control.

The unmanned all-terrain vehicle corresponding to the application software also comprises a data acquisition module, a state monitoring module, a data storage module and a data forwarding module.

The data acquisition module comprises a CAN bus data analysis module and a GPS information acquisition module. The CAN bus data analysis module calls a corresponding bus communication module according to bus information in the protocol configuration file, reads bus data, and reads and analyzes an actual physical value of each sensor according to configuration information. The GPS information acquisition module acquires GPS position information data at regular time.

The real-time monitoring module collects real-time data of the vehicle through a CAN bus.

The data storage module is mainly used for storing the collected data and the vehicle position information, and the data is stored in a file system in a file according to a certain format so as to be analyzed afterwards.

And the data forwarding module sends the format protocol agreed by real-time data installation to the unmanned vehicle command platform through the 4G network, and the real-time data is displayed on the interface in real time.

Referring to fig. 3 to 4, a sixth embodiment of the present invention is:

an unmanned vehicle 1, on the basis of the fifth embodiment, when a processor 2 executes a computer program, implements the method of the second embodiment.

Referring to fig. 3 to 4, a seventh embodiment of the present invention is:

an unmanned vehicle 1, on the basis of the sixth embodiment, when a processor 2 executes a computer program, implements the method of the third embodiment.

Referring to fig. 3 to 4, an eighth embodiment of the present invention is:

an unmanned vehicle 1, on the basis of the seventh embodiment, when a processor 2 executes a computer program, implements the method of the fourth embodiment.

In summary, according to the resource scheduling method of the unmanned vehicle and the unmanned vehicle provided by the invention, the data transmission remote control instruction, the CAN data transmission instruction, the GPS data acquisition instruction and other instructions are sequentially decreased according to the priority, so as to ensure that the data transmission remote control instruction, the CAN data transmission instruction and the GPS data acquisition instruction CAN be preferentially processed, so that the unmanned all-terrain vehicle CAN make corresponding decisions in time, thereby ensuring the driving safety of the unmanned all-terrain vehicle and ensuring the safety of surrounding pedestrians; the priorities are sorted by adopting the weighted values, 1, 2, 4 and 8 are used for representing the priorities, and the weighted values obtained after the task is completed are all 0, so that the calculation time is reduced, the calculation efficiency is improved, more time is reserved for instruction execution, more instructions can be processed at the same time, and the driving safety of the unmanned all-terrain vehicle is ensured to a certain extent; the data transmission remote control instruction and the CAN data transmission instruction are limited to mainly comprise steering, an accelerator, a brake and a gear, and when the gear information is D-gear information or R-gear information, the brake operation is carried out first and then the wire control instruction is exited, so that the driving safety of the unmanned all-terrain vehicle CAN be further ensured; the method has the advantages that the execution of each operation instruction is monitored, the operation requirement data and the operation feedback data are analyzed, so that when a fault occurs, the specific position of the fault can be known through data comparison, the whole method is simple to realize, the problem is conveniently detected, the time for searching the problem is greatly shortened, and the problem solving efficiency is improved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

Claims

1. A resource scheduling method for an unmanned vehicle, comprising the steps of:

s2, judging whether the calculation task in execution is a data transmission remote control instruction, if so, continuing to process the calculation task in execution, otherwise, processing the calculation task to be sequenced;

the step S1 specifically includes:

the step S2 specifically includes:

the step S2 is followed by the step of:

2. The method for scheduling resource of an unmanned vehicle according to claim 1, wherein the step S1 specifically comprises:

3. The method as claimed in claim 2, wherein the initial weight value is 0, the first priority ranking weight value is 1, the second priority ranking weight value is 2, the third priority ranking weight value is 4, and the fourth priority ranking weight value is 8.

4. The method as claimed in claim 2, wherein the step of else processing the calculation tasks to be ranked in any one of the steps S2 to S5 is specifically:

5. The method according to claim 1, wherein the step S2 of processing the calculation tasks to be ranked specifically comprises:

the step S3 further includes the steps of:

6. The resource scheduling method of an unmanned vehicle of claim 5, wherein the operation control command comprises an operation gear command, an operation steering command, an operation throttle command and an operation brake command, and the operation feedback data comprises gear subsystem feedback data, steering subsystem feedback data, throttle subsystem feedback data and brake subsystem feedback data;

7. The resource scheduling method of an unmanned vehicle according to claim 5, wherein the step S1 further comprises:

the step S2 further includes:

the step S3 further includes:

8. The method for scheduling resource of an unmanned vehicle according to claim 7, wherein the step S32 further comprises:

and if the current gear information is D gear information or R gear information, sending an operation braking instruction, acquiring third operation feedback data of a braking subsystem through a CAN bus, judging whether the third operation feedback data is within a threshold range for stopping the vehicle, and if so, sending an exit-by-wire control instruction.

9. An unmanned vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the method of any of claims 1-8.