CN112085959B

CN112085959B - Unmanned vehicle driving control method and device

Info

Publication number: CN112085959B
Application number: CN201910511435.5A
Authority: CN
Inventors: 杨凡; 朱帆; 吕雷兵; 马霖
Original assignee: Baidu Online Network Technology Beijing Co Ltd
Current assignee: Baidu Online Network Technology Beijing Co Ltd
Priority date: 2019-06-13
Filing date: 2019-06-13
Publication date: 2022-04-12
Anticipated expiration: 2039-06-13
Also published as: CN112085959A

Abstract

The embodiment of the invention provides a method and equipment for controlling the running of an unmanned vehicle, wherein the method comprises the following steps: receiving information of a path to be traveled sent by a vehicle-mounted terminal, and determining a corresponding routing point position on the path to be traveled; sending the position of the routing point to a vehicle-mounted terminal to determine an initial routing point; receiving a starting route point position and an unmanned vehicle driving direction sent by a vehicle-mounted terminal; setting the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a target routing point according to the routing point position and the initial routing point position; and determining a driving route according to the position of the initial routing point and the position of the target routing point, sending a vehicle driving control signal to the vehicle-mounted terminal, and correspondingly controlling the unmanned vehicle. The method provided by the embodiment can realize that the unmanned vehicle stably carries out continuous annular driving through the plurality of routing points arranged on the annular track in the continuous annular driving scene, and solves the problem that the existing unmanned vehicle cannot meet the driving requirement in the continuous annular scene in the driving process.

Description

Unmanned vehicle driving control method and device

Technical Field

The embodiment of the invention relates to the technical field of vehicle control, in particular to a method and equipment for controlling the running of an unmanned vehicle.

Background

With the continuous progress of the artificial intelligence technology, the unmanned vehicle technology has also been developed greatly, and the unmanned vehicle is favored by more and more users. An unmanned vehicle is also called as a robot vehicle internationally, belongs to one type of outdoor mobile robots, is a comprehensive intelligent system integrating multiple functions of environment perception, planning, decision making, control and the like, and covers multidisciplinary knowledge such as sensor technology, artificial intelligence, computer technology and the like.

In the prior art, unmanned vehicles automatically travel from one point to another point during the traveling process, for example, from a point A to a point B.

Then, for continuous loop scenes, such as racing sports and the like, the existing unmanned vehicle cannot meet the driving requirements.

Disclosure of Invention

The embodiment of the invention provides a method and equipment for controlling the running of an unmanned vehicle, which aim to solve the problem that the existing unmanned vehicle cannot meet the running requirement for a continuous annular scene in the running process.

In a first aspect, an embodiment of the present invention provides an unmanned vehicle driving control method, including:

receiving information of a path to be traveled sent by a vehicle-mounted terminal, and determining a corresponding routing point position on the path to be traveled;

sending the routing point position to the vehicle-mounted terminal so that the vehicle-mounted terminal determines an initial routing point according to the routing point position and the unmanned vehicle position;

receiving a starting route point position and an unmanned vehicle driving direction sent by the vehicle-mounted terminal;

setting the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a target routing point according to the routing point position and the initial routing point position;

and determining a driving route according to the starting routing point position and the target routing point position, and sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route so that the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle driving control signal.

In one possible design, the sending the vehicle driving control signal to the vehicle-mounted terminal according to the driving route includes:

sending a road surface information acquisition instruction to the vehicle-mounted terminal according to the driving route so that the vehicle-mounted terminal acquires the road surface information on the driving route according to the road surface information acquisition instruction;

receiving the road surface information sent by the vehicle-mounted terminal;

and sending a vehicle running control signal to the vehicle-mounted terminal according to the road surface information.

In one possible design, the sending the vehicle travel control signal to the vehicle-mounted terminal according to the road surface information includes:

judging whether an obstacle exists on the driving route according to the road surface information;

if the barrier exists on the driving route, sending a vehicle identification acquisition command to the vehicle-mounted terminal;

receiving an unmanned vehicle identification sent by the vehicle-mounted terminal according to the vehicle identification acquisition instruction;

determining the vehicle body structure information of the unmanned vehicle according to the unmanned vehicle identification, and judging whether the unmanned vehicle is suitable for passing on the traffic route according to the vehicle body structure information and the barrier information;

and if the unmanned vehicle is suitable for passing on the traffic route, sending a vehicle running control signal to the vehicle-mounted terminal.

In one possible design, before sending the route point position to the in-vehicle terminal, the method further includes:

sending a position request instruction to each routing point arranged on the path to be traveled;

receiving the position of a routing point returned by each routing point, and judging whether the position of the received routing point is the same as the position of the determined routing point;

and if the received routing point position is different from the determined routing point position, setting the received routing point position as a corresponding routing point position on the new path to be traveled.

In one possible design, the determining a corresponding routing point position on the path to be traveled includes:

inquiring a target routing table corresponding to the to-be-traveled path information in a corresponding relation between pre-stored path information and the routing table;

and if a target routing table corresponding to the to-be-traveled path information is inquired in the corresponding relation between the pre-stored path information and the routing table, acquiring a corresponding routing point position on the to-be-traveled path recorded in the target routing table.

In one possible design, the method further includes:

if the target routing table corresponding to the to-be-traveled path information is not inquired in the corresponding relation between the prestored path information and the routing table, sending a routing point setting instruction to a preset terminal to inform preset personnel of setting routing points on the to-be-traveled path;

and receiving the position of a routing point set on the path to be traveled returned by the preset terminal, wherein the routing point setting instruction carries the information of the path to be traveled.

In a second aspect, an embodiment of the present invention provides another unmanned vehicle driving control method, including:

sending information of a path to be traveled to a cloud server so that the cloud server determines a corresponding routing point position on the path to be traveled;

receiving the routing point position sent by the cloud server;

determining an initial routing point according to the routing point position and the unmanned vehicle position, sending the initial routing point position and the unmanned vehicle driving direction to the cloud server, enabling the cloud server to set the next routing point of the initial routing point in the unmanned vehicle driving direction as a destination routing point according to the routing point position and the initial routing point position, determining a driving route according to the initial routing point position and the destination routing point position, and sending a vehicle driving control signal according to the driving route;

receiving the vehicle running control signal sent by the cloud server;

and correspondingly controlling the unmanned vehicle according to the vehicle running control signal.

In one possible design, the method further includes:

receiving a road surface information acquisition instruction sent by the cloud server according to the driving route;

acquiring road surface information on the driving route according to the road surface information acquisition instruction, and sending the road surface information to the cloud server;

and receiving a vehicle running control signal sent by the cloud server according to the road surface information.

In a third aspect, an embodiment of the present invention provides an unmanned vehicle travel control apparatus, including:

the routing information determining module is used for receiving the information of the path to be traveled sent by the vehicle-mounted terminal and determining the position of a corresponding routing point on the path to be traveled;

the routing information sending module is used for sending the routing point position to the vehicle-mounted terminal so that the vehicle-mounted terminal determines an initial routing point according to the routing point position and the unmanned vehicle position;

the vehicle information receiving module is used for receiving the starting route point position and the driving direction of the unmanned vehicle sent by the vehicle-mounted terminal;

the routing point setting module is used for setting the next routing point of the starting routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the starting routing point position;

and the first vehicle running control module is used for determining a running route according to the starting routing point position and the target routing point position, and sending a vehicle running control signal to the vehicle-mounted terminal according to the running route so that the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle running control signal.

In one possible design, the first vehicle travel control module sends a vehicle travel control signal to the vehicle-mounted terminal according to the travel route, and the method includes:

receiving the road surface information sent by the vehicle-mounted terminal;

In one possible design of the system, the system may be,

the first vehicle running control module sends a vehicle running control signal to the vehicle-mounted terminal according to the road surface information, and the first vehicle running control module comprises:

In one possible design, the above apparatus further includes:

the position request instruction sending module is used for sending a position request instruction to each routing point arranged on the path to be traveled before the routing information sending module sends the position of the routing point to the vehicle-mounted terminal;

the first routing information receiving module is used for receiving the routing point position returned by each routing point and judging whether the received routing point position is the same as the determined routing point position;

and the routing information updating module is used for setting the received routing point position as a new corresponding routing point position on the path to be traveled if the received routing point position is different from the determined routing point position.

In one possible design, the determining the corresponding position of the routing point on the path to be traveled by the routing information module includes:

In one possible design, the above apparatus further includes:

In a fourth aspect, an embodiment of the present invention provides another unmanned vehicle travel control apparatus, including:

the route information sending module is used for sending route information to be traveled to a cloud server so that the cloud server can determine the position of a corresponding routing point on the route to be traveled;

the second routing information receiving module is used for receiving the routing point position sent by the cloud server;

the routing point determining module is used for determining an initial routing point according to the routing point position and the unmanned vehicle position, and sending the initial routing point position and the unmanned vehicle driving direction to the cloud server, so that the cloud server sets the next routing point of the initial routing point in the unmanned vehicle driving direction as a target routing point according to the routing point position and the initial routing point position, determines a driving route according to the initial routing point position and the target routing point position, and sends a vehicle driving control signal according to the driving route;

the driving control signal receiving module is used for receiving the vehicle driving control signal sent by the cloud server;

and the second vehicle running control module is used for correspondingly controlling the unmanned vehicle according to the vehicle running control signal.

In one possible design, the driving control signal receiving module is further configured to receive a road information obtaining instruction sent by the cloud server according to the driving route; acquiring road surface information on the driving route according to the road surface information acquisition instruction, and sending the road surface information to the cloud server; and receiving a vehicle running control signal sent by the cloud server according to the road surface information.

In a fifth aspect, an embodiment of the present invention provides an unmanned vehicle travel control apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory such that the at least one processor performs the method of drone vehicle travel control as set forth in the first aspect and various possible designs of the first aspect above.

In a sixth aspect, an embodiment of the present invention provides another unmanned vehicle travel control apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes the computer-executable instructions stored by the memory such that the at least one processor performs the method of drone vehicle travel control as set forth in the second aspect above and in various possible designs of the second aspect.

In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method for controlling the driving of an unmanned vehicle according to the first aspect and various possible designs of the first aspect is implemented.

In an eighth aspect, an embodiment of the present invention provides another computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method for controlling the driving of an unmanned vehicle according to the second aspect and various possible designs of the second aspect is implemented.

The method and the device for controlling the driving of the unmanned vehicle provided by the embodiment determine the position of a routing point set on a path to be driven by receiving the information of the path to be driven sent by the vehicle-mounted terminal, send the position of the routing point to the vehicle-mounted terminal to determine an initial routing point, then setting the next routing point of the starting routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the starting routing point position, determining a driving route according to the position of the initial routing point and the position of the target routing point, sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route to correspondingly control the unmanned vehicle, the unmanned vehicle can stably and continuously travel in a ring shape through the plurality of routing points arranged on the ring-shaped track under the scene of continuous ring-shaped travel, and the problem that the existing unmanned vehicle cannot meet the travel requirement for the continuous ring-shaped scene in the travel process is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an unmanned vehicle driving control system according to an embodiment of the present invention;

fig. 2 is a first schematic flow chart of an unmanned vehicle driving control method according to an embodiment of the present invention;

fig. 3 is a second schematic flow chart of the method for controlling the driving of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 4 is a third schematic flow chart of the unmanned vehicle driving control method according to the embodiment of the present invention;

fig. 5 is a schematic view of an application example of the unmanned vehicle driving control method according to the embodiment of the present invention;

fig. 6 is a first schematic structural diagram of the unmanned vehicle driving control device according to the embodiment of the present invention;

fig. 7 is a schematic structural diagram ii of the unmanned vehicle driving control apparatus according to the embodiment of the present invention;

fig. 8 is a third schematic structural diagram of the unmanned vehicle driving control apparatus according to the embodiment of the present invention;

fig. 9 is a schematic hardware configuration diagram of the unmanned vehicle driving control apparatus according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic structural diagram of an unmanned vehicle driving control system according to an embodiment of the present invention. As shown in fig. 1, the system provided by the present embodiment includes a vehicle-mounted terminal 101. The vehicle-mounted terminal 101 is installed on an unmanned vehicle, is a front-end device of a vehicle monitoring and management system, and may also be called a vehicle scheduling and monitoring terminal. The present embodiment does not particularly limit the implementation manner of the in-vehicle terminal 101 as long as the in-vehicle terminal 101 can implement the unmanned vehicle travel control.

The unmanned automobile is an intelligent automobile which senses road environment through a vehicle-mounted terminal, automatically plans a driving route and controls the automobile to reach a preset target. The vehicle-mounted terminal is used for sensing the surrounding environment of the vehicle and controlling the steering and the speed of the vehicle according to the information obtained by sensing, so that the vehicle can safely and reliably run on the road.

However, in the prior art, the unmanned vehicle can only automatically travel from one point to another point, for example, from point a to point B, through the vehicle-mounted terminal 101 during the traveling process, and the existing unmanned vehicle cannot meet the traveling requirements for a continuous annular scene, such as racing sports and the like. In order to solve the technical problem, the present embodiment provides a method for controlling driving of an unmanned vehicle, where the method uses a plurality of routing points arranged on an annular track, so that the unmanned vehicle can stably and continuously drive in an annular driving scene, and the problem that the existing unmanned vehicle cannot meet driving requirements for the annular driving scene in the driving process is solved. The following examples are given for illustrative purposes.

Fig. 2 is a schematic flow chart of a method for controlling driving of an unmanned aerial vehicle according to an embodiment of the present invention, where an execution main body of the embodiment may be a cloud server. As shown in fig. 2, the method may include:

s201, receiving information of a path to be traveled sent by a vehicle-mounted terminal, and determining a corresponding routing point position on the path to be traveled.

Here, the vehicle-mounted terminal may send path information to be traveled, such as a path name, a path number, and the like, to the cloud server, and the cloud server determines, according to the path information to be traveled, routing point information set on a path corresponding to the path information to be traveled, where the routing point information may include a routing point position, a routing point name, and the like, and specifically, in an actual application, content included in the routing point information may be set according to an actual requirement. The routing point may also be called a routing node, and may be a computer or other device having a function of transmitting and receiving data.

Or the vehicle-mounted terminal can also send the current position and the destination position to be traveled to the cloud server, and the cloud server determines the routing point information set on the path to be traveled by the unmanned vehicle according to the current position and the destination position.

Optionally, the determining a position of a corresponding routing point on the path to be traveled includes:

Here, the cloud server prestores a correspondence between the path information and the routing tables, and each routing table records routing point information set on a path corresponding to the corresponding path information, for example, the routing point information set on a path corresponding to the path information 1 is recorded in the routing table 1. The cloud server firstly inquires a target routing table corresponding to the information of the path to be traveled in the pre-stored corresponding relation, and if the information is inquired, the cloud server acquires the routing point information set on the path corresponding to the information of the path to be traveled recorded in the inquired target routing table.

In addition, if the target routing table corresponding to the to-be-traveled path information is not inquired in the corresponding relation between the prestored path information and the routing table, sending a routing point setting instruction to a preset terminal to inform preset personnel of setting routing points on the to-be-traveled path;

Specifically, if the target routing table corresponding to the to-be-traveled path information is not queried in the pre-stored corresponding relationship, the cloud server indicates that no routing point is set on the path corresponding to the to-be-traveled path information, and at this time, a routing point needs to be set on the path corresponding to the to-be-traveled path information. The cloud server can send a routing point setting instruction to the preset terminal to inform preset personnel to set routing points on the path corresponding to the information of the path to be traveled, and the principle of specifically setting the routing points, such as the distance between adjacent routing points, can be set according to actual conditions. The route point setting instruction can carry information of a path to be traveled and is used for informing relevant personnel of the relevant path information, the preset terminal can be set according to actual needs, for example, a mobile phone of a worker, and the preset personnel can also be set according to actual needs, for example, a first personnel and a second personnel and the like. After the setting is completed, related personnel can send the set routing point information to the cloud server through the preset terminal.

S202, sending the position of the routing point to the vehicle-mounted terminal so that the vehicle-mounted terminal determines an initial routing point according to the position of the routing point and the position of the unmanned vehicle.

And S203, receiving the starting route point position and the driving direction of the unmanned vehicle sent by the vehicle-mounted terminal.

In the embodiment of the invention, after the cloud server determines the position of the corresponding routing point on the path to be traveled, the corresponding routing point information is sent to the vehicle-mounted terminal, the vehicle-mounted terminal can determine the initial routing point according to the routing point information and the position of the unmanned vehicle, and then the initial routing point information and the traveling direction of the unmanned vehicle are sent to the cloud server.

Specifically, the vehicle-mounted terminal may determine, according to the routing point information and the unmanned vehicle position, a routing point closest to the unmanned vehicle as an initial routing point, and if there are a plurality of routing points closest to the unmanned vehicle, any one of the routing points may be used as the initial routing point, and a manner of specifically determining the initial routing point may be set according to an actual situation.

S204, setting the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the initial routing point position.

S205, determining a driving route according to the starting routing point position and the target routing point position, and sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route so that the vehicle-mounted terminal can correspondingly control the unmanned vehicle according to the vehicle driving control signal.

Here, the selection of the destination route point may also be set according to actual circumstances, for example, the next route point of the start route point in the direction of travel of the unmanned vehicle is set as the destination route point, or the next two route points of the start route point in the direction of travel of the unmanned vehicle are set as the destination route point, and the like.

The cloud server can determine a driving route according to the initial routing point information and the target routing point information, for example, determine a shortest driving route according to the initial routing point position and the target routing point position, use the shortest driving route as the driving route, and then send a vehicle driving control signal to the vehicle-mounted terminal according to the determined driving route, for example, the vehicle-mounted terminal performs corresponding control on the unmanned vehicle according to the vehicle driving control signal.

The unmanned vehicle driving control method provided by this embodiment determines the position of a routing point set on a path to be driven by receiving information of the path to be driven sent by a vehicle-mounted terminal, sends the position of the routing point to the vehicle-mounted terminal to determine an initial routing point, then setting the next routing point of the starting routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the starting routing point position, determining a driving route according to the position of the initial routing point and the position of the target routing point, sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route to correspondingly control the unmanned vehicle, the unmanned vehicle can stably and continuously travel in a ring shape through the plurality of routing points arranged on the ring-shaped track under the scene of continuous ring-shaped travel, and the problem that the existing unmanned vehicle cannot meet the travel requirement for the continuous ring-shaped scene in the travel process is solved.

Fig. 3 is a second schematic flow chart of the method for controlling the driving of the unmanned aerial vehicle according to the embodiment of the present invention, and the embodiment explains details of a specific implementation process of the embodiment based on the embodiment of fig. 2.

As shown in fig. 3, the method may include:

s301, receiving information of a path to be traveled sent by the vehicle-mounted terminal, and determining a corresponding routing point position on the path to be traveled.

Here, the information of the path to be traveled sent by the vehicle-mounted terminal may be received in real time, or the information of the path to be traveled sent by the vehicle-mounted terminal may be received within a preset time period, and the specific receiving mode may be set according to an actual situation.

S302, sending a position request instruction to each routing point arranged on the path to be traveled.

Specifically, the cloud server prestores the corresponding relation between the path information and the routing table, so that the stored information does not accord with the actual information due to the fact that the information storage time is too long, before the cloud server sends the position of the routing point to the vehicle-mounted terminal, the cloud server sends a position request instruction to each routing point arranged on the path to be traveled, and each routing point is required to return current position information.

S303, receiving the position of the routing point returned by each routing point, and judging whether the position of the received routing point is the same as the position of the determined routing point.

And after receiving the routing point information returned by each routing point, the cloud server compares the received routing point information with the determined routing point information and judges whether the received routing point information and the determined routing point information are the same.

S304, if the received routing point position is different from the determined routing point position, setting the received routing point position as a corresponding routing point position on the new path to be traveled.

If the received routing point information is the same as the determined routing point information, the stored information is consistent with the actual information, the stored information does not need to be updated, otherwise, the stored information is inconsistent with the actual information, the stored information needs to be updated, and the received routing point information is set as the routing point information set on the new path to be traveled.

S305, the routing point position is sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal determines a starting routing point according to the routing point position and the unmanned vehicle position.

And S306, receiving the starting route point position and the driving direction of the unmanned vehicle sent by the vehicle-mounted terminal.

And sending the updated routing point information to a vehicle-mounted terminal, determining a starting routing point by the vehicle-mounted terminal according to the updated routing point information and the position of the unmanned vehicle, and sending the starting routing point information and the driving direction of the unmanned vehicle to a cloud server to ensure that the subsequent processing is accurately carried out.

And S307, setting the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the initial routing point position.

S308, determining a driving route according to the starting routing point position and the target routing point position, and sending a road information acquisition instruction to the vehicle-mounted terminal according to the driving route so that the vehicle-mounted terminal acquires the road information on the driving route according to the road information acquisition instruction.

S309, receiving the road surface information sent by the vehicle-mounted terminal.

Specifically, the cloud server determines a driving route according to the starting routing point information and the target routing point information, then sends the driving route to send a road surface information acquisition instruction to the vehicle-mounted terminal, the vehicle-mounted terminal acquires road surface information on the driving route according to the road surface information acquisition instruction, wherein the vehicle-mounted terminal can acquire the road surface information on the driving route through a plurality of sensors arranged on the unmanned vehicle body, for example, the road surface information on the driving route is acquired through a plurality of sensors arranged around the unmanned vehicle body, wherein the plurality of sensors can include one or more cameras, one or more laser radars, one or more millimeter wave radars and the like, and then sends the acquired road surface information to the cloud server.

And S310, judging whether the running route has an obstacle or not according to the road surface information.

The cloud server determines whether an obstacle is present on the driving route after receiving the road surface information, for example, the road surface information is a road surface image, and the cloud server determines whether an obstacle is present on the driving route according to the road surface image.

And S311, if the barrier exists on the driving route, sending a vehicle identification acquisition command to the vehicle-mounted terminal.

And S312, receiving the unmanned vehicle identification sent by the vehicle-mounted terminal according to the vehicle identification acquisition instruction.

And if the obstacle exists, the cloud server sends a vehicle identification acquisition instruction to the vehicle-mounted terminal to acquire the unmanned vehicle identification. The cloud server can also send alarm information to the vehicle-mounted terminal, and collision between the unmanned vehicle and the barrier is avoided. If no barrier exists, the cloud server can directly send a corresponding vehicle running control signal to the vehicle-mounted terminal to correspondingly control the unmanned vehicle.

S313, determining the body structure information of the unmanned vehicle according to the unmanned vehicle identification, and judging whether the unmanned vehicle is suitable for passing on the traffic route according to the body structure information and the barrier information.

The cloud server can prestore the corresponding relation between the vehicle identification and the vehicle body structure information, after the unmanned vehicle identification is received, the vehicle body structure information of the unmanned vehicle corresponding to the unmanned vehicle identification is determined according to the corresponding relation, and then whether the unmanned vehicle can successfully pass on the driving route or not is judged according to the vehicle body structure information and the obstacle information, wherein the vehicle body structure information can comprise the vehicle body length, the width, the height and the like, and the obstacle information can comprise the position of the obstacle and the size and the like of the obstacle.

And S314, if the unmanned vehicle is suitable for passing on the traffic route, sending a vehicle running control signal to the vehicle-mounted terminal so that the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle running control signal.

And if the unmanned vehicle can successfully pass on the driving route, the cloud server sends a corresponding vehicle driving control signal to the vehicle-mounted terminal to correspondingly control the unmanned vehicle. If the unmanned vehicle cannot pass through the driving route successfully, the cloud server can send a driving stopping instruction to the vehicle-mounted terminal to control the unmanned vehicle to stop driving.

In addition, if the unmanned vehicle cannot pass through the driving route successfully, the cloud server can also send a destination acquisition instruction to the vehicle-mounted terminal to acquire the driving destination of the unmanned vehicle, then re-plan a driving route for the unmanned vehicle according to the current position of the unmanned vehicle and the acquired driving destination of the unmanned vehicle, send a road information acquisition instruction to the vehicle-mounted terminal according to the re-planned driving route, and re-execute the operation until the unmanned vehicle reaches the driving destination.

The unmanned vehicle running control method provided by the embodiment can realize that the unmanned vehicle stably runs in a continuous annular mode through the plurality of routing points arranged on the annular track in the continuous annular running scene, and solves the problem that the existing unmanned vehicle cannot meet the running requirement in the continuous annular scene in the running process.

Fig. 4 is a third schematic flow chart of the method for controlling the driving of the unmanned vehicle according to the present invention, as shown in fig. 4, the main execution body of the method of this embodiment may be a vehicle-mounted terminal, and the method may include:

s401, sending information of a path to be traveled to a cloud server so that the cloud server can determine a position of a corresponding routing point on the path to be traveled.

S402, receiving the position of the routing point sent by the cloud server.

Here, the vehicle-mounted terminal first sends path information to be traveled to the cloud server, and the cloud server determines routing point information set on the path to be traveled according to the path information to be traveled and sends the routing point information to the vehicle-mounted terminal, wherein the vehicle-mounted terminal can determine the path information to be traveled according to the current position of the unmanned vehicle and the traveling destination of the unmanned vehicle, the path information to be traveled can include one or more path information, and if there are a plurality of path information, the plurality of path information can be sequentially ordered according to the sequence before and after the unmanned vehicle travels.

S403, determining a starting routing point according to the routing point position and the unmanned vehicle position, sending the starting routing point position and the unmanned vehicle running direction to the cloud server, enabling the cloud server to set a next routing point of the starting routing point in the unmanned vehicle running direction as a destination routing point according to the routing point position and the starting routing point position, determining a running route according to the starting routing point position and the destination routing point position, and sending a vehicle running control signal according to the running route.

S404, receiving the vehicle running control signal sent by the cloud server.

And S405, correspondingly controlling the unmanned vehicle according to the vehicle running control signal.

Optionally, receiving a road information acquisition instruction sent by the cloud server according to the driving route;

Optionally, a vehicle identifier acquisition instruction sent by the cloud server is received, and an unmanned vehicle identifier is sent to the cloud server according to the vehicle identifier acquisition instruction, so that the cloud server determines vehicle body structure information of the unmanned vehicle according to the unmanned vehicle identifier, and judges whether the unmanned vehicle is suitable for passing on the driving route according to the vehicle body structure information and the obstacle information; and if the unmanned vehicle is suitable for passing on the driving route, sending a vehicle driving control signal to the vehicle-mounted terminal, wherein a vehicle identification acquisition instruction is sent by the cloud server when judging that the driving route has an obstacle according to the road surface information.

The unmanned vehicle driving control method provided by this embodiment is implemented by sending information of a path to be driven to a cloud server, so that the cloud server determines information of routing points set on the path to be driven, then determines an initial routing point according to the information of the routing points and the position of the unmanned vehicle, and sends the initial routing point information and the driving direction of the unmanned vehicle to the cloud server, so that the cloud server sets a subsequent routing point of the initial routing point in the driving direction of the unmanned vehicle as a destination routing point, determines a driving route according to the information of the initial routing point and the destination routing point, sends a vehicle driving control signal to a vehicle-mounted terminal according to the driving route, and correspondingly controls the unmanned vehicle, so that the unmanned vehicle can stably and continuously and circularly drive through a plurality of routing points set on a circular track in a scene of continuous and circular driving, and solves the problem that the existing unmanned vehicle drives in a continuous and circular scene, the running requirement can not be met.

In order to better understand the above method, an application example of the unmanned vehicle running control method of the present invention is explained in detail below.

With reference to the foregoing embodiments, in this embodiment, an interaction process between the cloud server, the vehicle-mounted terminal, and the routing point is taken as an example for description, and this description is not intended to limit the scheme of the present invention.

As shown in fig. 5, the present application example may include:

s501, the vehicle-mounted terminal sends information of the path to be traveled to a cloud server.

S502, the cloud server inquires a target routing table corresponding to the to-be-traveled path information in a corresponding relation between pre-stored path information and the routing table, and if the target routing table corresponding to the to-be-traveled path information is inquired in the corresponding relation between the pre-stored path information and the routing table, a corresponding routing point position on the to-be-traveled path recorded in the target routing table is obtained.

Optionally, if the target routing table corresponding to the to-be-traveled path information is not queried in the correspondence between the pre-stored path information and the routing table, the cloud server sends a routing point setting instruction to a preset terminal to notify a preset person to set routing points on the to-be-traveled path, and receives routing point positions set on the to-be-traveled path returned by the preset terminal, wherein the routing point setting instruction carries the to-be-traveled path information.

S503, the cloud server sends a position request instruction to each routing point arranged on the path to be traveled.

And S504, each routing point returns the position of the routing point to the cloud server.

And S505, the cloud server judges whether the received routing point position is the same as the acquired routing point position, if not, the received routing point position is set as a new routing point position corresponding to the path to be traveled, and the new routing point position is sent to the vehicle-mounted terminal.

S506, the vehicle-mounted terminal determines an initial routing point according to the routing point position and the unmanned vehicle position, and sends the initial routing point position and the driving direction of the unmanned vehicle to the cloud server.

And S507, the cloud server sets the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a target routing point according to the routing point position and the initial routing point position, determines a driving route according to the initial routing point position and the target routing point position, and sends a road information acquisition instruction to the vehicle-mounted terminal according to the driving route.

And S508, the vehicle-mounted terminal acquires the road information on the driving route according to the road information acquisition instruction and sends the road information to a cloud server.

And S509, the cloud server judges whether an obstacle exists on the driving route according to the road surface information, and if so, sends a vehicle identification acquisition instruction to the vehicle-mounted terminal.

And S510, the vehicle-mounted terminal sends an unmanned vehicle identification to the cloud server according to the vehicle identification acquisition instruction.

S511, the cloud server determines the vehicle body structure information of the unmanned vehicle according to the unmanned vehicle identification, and judges whether the unmanned vehicle is suitable for passing on the driving route or not according to the vehicle body structure information and the obstacle information; and if the vehicle-mounted terminal is suitable for passing, sending a vehicle running control signal to the vehicle-mounted terminal.

And S512, the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle running control signal.

As can be seen from the above description, the cloud server in this embodiment receives the information of the route to be traveled sent by the vehicle-mounted terminal, determines the position of the routing point set on the route to be traveled, sends the position of the routing point to the vehicle-mounted terminal to determine the initial routing point, then setting the next routing point of the initial routing point in the driving direction of the unmanned vehicle as a destination routing point according to the routing point position and the initial routing point position, determining a driving route according to the position of the initial routing point and the position of the target routing point, sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route to correspondingly control the unmanned vehicle, the unmanned vehicle can stably and continuously travel in a ring shape through the plurality of routing points arranged on the ring-shaped track under the scene of continuous ring-shaped travel, and the problem that the existing unmanned vehicle cannot meet the travel requirement for the continuous ring-shaped scene in the travel process is solved.

Fig. 6 is a first schematic structural diagram of the unmanned vehicle driving control device according to the embodiment of the present invention. As shown in fig. 6, the unmanned vehicle driving control device 60 is applied to a cloud server, and may include: a route information determination module 601, a route information transmission module 602, a vehicle information reception module 603, a route point setting module 604, and a first vehicle travel control module 605.

The routing information determining module 601 is configured to receive information of a path to be traveled sent by a vehicle-mounted terminal, and determine a corresponding routing point position on the path to be traveled.

A routing information sending module 602, configured to send the location of the routing point to the vehicle-mounted terminal, so that the vehicle-mounted terminal determines an initial routing point according to the location of the routing point and the location of the unmanned vehicle.

And a vehicle information receiving module 603, configured to receive the start route point position and the driving direction of the unmanned vehicle sent by the vehicle-mounted terminal.

A routing point setting module 604, configured to set, according to the routing point position and the starting routing point position, a next routing point of the starting routing point in the driving direction of the unmanned vehicle as a destination routing point.

The first vehicle driving control module 605 is configured to determine a driving route according to the starting routing point position and the destination routing point position, and send a vehicle driving control signal to the vehicle-mounted terminal according to the driving route, so that the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle driving control signal.

The device provided in this embodiment may be used to implement the technical solution of the above method embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

Fig. 7 is a schematic structural diagram of a second unmanned vehicle driving control device according to an embodiment of the present invention. As shown in fig. 7, this embodiment further includes, on the basis of the embodiment in fig. 6: a location request instruction sending module 606, a first routing information receiving module 607 and a routing information updating module 608.

In one possible design, the first vehicle driving control module 605 sends the vehicle driving control signal to the vehicle-mounted terminal according to the driving route, including:

receiving the road surface information sent by the vehicle-mounted terminal;

In one possible design, the first vehicle driving control module 605 sending the vehicle driving control signal to the vehicle-mounted terminal according to the road surface information includes:

In a possible design, the location request instruction sending module 606 is configured to send a location request instruction to each routing point set on the path to be traveled before the routing information sending module 602 sends the location of the routing point to the vehicle-mounted terminal;

a first routing information receiving module 607, configured to receive a routing point position returned by each routing point, and determine whether the received routing point position is the same as the determined routing point position;

a routing information updating module 608, configured to set the received routing point position as a corresponding routing point position on the new path to be traveled if the received routing point position is different from the determined routing point position.

In one possible design, the determining module 601 determines a corresponding position of a routing point on the path to be traveled, including:

In one possible design, if a target routing table corresponding to the to-be-traveled path information is not inquired in the corresponding relation between the pre-stored path information and the routing table, sending a routing point setting instruction to a preset terminal to inform preset personnel of setting routing points on the to-be-traveled path;

Fig. 8 is a schematic structural diagram three of the unmanned vehicle travel control apparatus according to the embodiment of the present invention. As shown in fig. 8, the unmanned vehicle travel control apparatus 80, applied to the in-vehicle terminal, may include a route information transmitting module 801, a second route information receiving module 802, a route point determining module 803, a travel control signal receiving module 804, and a second vehicle travel control module 805.

The route information sending module 801 is configured to send information of a route to be traveled to a cloud server, so that the cloud server determines a position of a corresponding routing point on the route to be traveled.

A second routing information receiving module 802, configured to receive the location of the routing point sent by the cloud server.

The routing point determining module 803 is configured to determine an initial routing point according to the routing point position and the unmanned vehicle position, and send the initial routing point position and the unmanned vehicle driving direction to the cloud server, so that the cloud server sets the next routing point of the initial routing point in the unmanned vehicle driving direction as a destination routing point according to the routing point position and the initial routing point position, determines a driving route according to the initial routing point position and the destination routing point position, and sends a vehicle driving control signal according to the driving route.

A driving control signal receiving module 804, configured to receive the vehicle driving control signal sent by the cloud server.

And a second vehicle running control module 805, configured to perform corresponding control on the unmanned vehicle according to the vehicle running control signal.

Optionally, the driving control signal receiving module 804 is further configured to receive a road information obtaining instruction sent by the cloud server according to the driving route; acquiring road surface information on the driving route according to the road surface information acquisition instruction, and sending the road surface information to the cloud server; and receiving a vehicle running control signal sent by the cloud server according to the road surface information.

Fig. 9 is a schematic hardware configuration diagram of the unmanned vehicle driving control apparatus according to the embodiment of the present invention. As shown in fig. 9, the unmanned vehicle travel control apparatus 90 of the present embodiment includes: a processor 901 and a memory 902; wherein

A memory 902 for storing computer-executable instructions;

a processor 901 for executing computer-executable instructions stored in the memory to implement the steps performed by the unmanned vehicle travel control apparatus in the above-described embodiments. Reference may be made in particular to the description relating to the method embodiments described above.

Alternatively, the memory 902 may be separate or integrated with the processor 901.

When the memory 902 is provided separately, the unmanned vehicle travel control apparatus further includes a bus 903 for connecting the memory 902 and the processor 901.

The embodiment of the invention also provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the unmanned vehicle running control method is realized.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned vehicle running control method is characterized by comprising the following steps:

sending the position of the routing point to the vehicle-mounted terminal so that the vehicle-mounted terminal determines a starting routing point closest to the unmanned vehicle according to the position of the routing point and the position of the unmanned vehicle;

determining a driving route according to the starting routing point position and the target routing point position, and sending a vehicle driving control signal to the vehicle-mounted terminal according to the driving route so that the vehicle-mounted terminal correspondingly controls the unmanned vehicle according to the vehicle driving control signal and the unmanned vehicle continuously and annularly drives;

before the sending the position of the routing point to the vehicle-mounted terminal, the method further comprises the following steps:

2. The method according to claim 1, wherein the sending of the vehicle driving control signal to the vehicle-mounted terminal according to the driving route comprises:

receiving the road surface information sent by the vehicle-mounted terminal;

3. The method according to claim 2, wherein the transmitting a vehicle travel control signal to the in-vehicle terminal according to the road surface information includes:

4. The method of claim 1, wherein the determining the corresponding routing point position on the path to be traveled comprises:

5. The method of claim 4, further comprising:

6. An unmanned vehicle running control method is characterized by comprising the following steps:

sending information of a path to be traveled to a cloud server so that the cloud server determines first routing point positions of routing points on the path to be traveled;

receiving the target routing point positions of all routing points on the path to be traveled, which are sent by the cloud server; if the position of a first routing point of the routing point is different from the position of a second routing point received from the routing point, the position of a target routing point of the routing point is the position of the second routing point, and if the position of the first routing point is the same as the position of the second routing point, the position of the target routing point of the routing point is the position of the first routing point;

determining an initial routing point which is closest to the unmanned vehicle according to the target routing point position and the unmanned vehicle position, sending the initial routing point position and the unmanned vehicle driving direction to the cloud server, enabling the cloud server to set a next routing point of the initial routing point in the unmanned vehicle driving direction as a target routing point according to the target routing point position and the initial routing point position, determining a driving route according to the initial routing point position and the target routing point position, and sending a vehicle driving control signal according to the driving route;

receiving the vehicle running control signal sent by the cloud server;

and correspondingly controlling the unmanned vehicle according to the vehicle running control signal to enable the unmanned vehicle to continuously and annularly run.

7. The method of claim 6, further comprising:

8. An unmanned vehicle running control apparatus, characterized by comprising:

the routing information sending module is used for sending the position of the routing point to the vehicle-mounted terminal so that the vehicle-mounted terminal determines a starting routing point closest to the unmanned vehicle according to the position of the routing point and the position of the unmanned vehicle;

the first vehicle running control module is used for determining a running route according to the starting routing point position and the target routing point position, and sending a vehicle running control signal to the vehicle-mounted terminal according to the running route so that the vehicle-mounted terminal can correspondingly control the unmanned vehicle according to the vehicle running control signal and the unmanned vehicle can continuously and annularly run;

9. The apparatus of claim 8, wherein the first vehicle driving control module sends a vehicle driving control signal to the vehicle-mounted terminal according to the driving route, and comprises:

receiving the road surface information sent by the vehicle-mounted terminal;

10. The apparatus of claim 9, wherein the first vehicle travel control module transmits a vehicle travel control signal to the in-vehicle terminal according to the road surface information, including:

11. The apparatus of claim 8, wherein the routing information determination module determines a corresponding routing point position on the path to be traveled, comprising:

12. The apparatus of claim 11, further comprising:

13. An unmanned vehicle running control apparatus, characterized by comprising:

the route information sending module is used for sending route information to be traveled to a cloud server so that the cloud server can determine first route point positions of all route points on the route to be traveled;

the second routing information receiving module is used for receiving the target routing point positions of all routing points on the path to be traveled, which are sent by the cloud server; if the position of a first routing point of the routing point is different from the position of a second routing point received from the routing point, the position of a target routing point of the routing point is the position of the second routing point, and if the position of the first routing point is the same as the position of the second routing point, the position of the target routing point of the routing point is the position of the first routing point;

the routing point determining module is used for determining an initial routing point which is closest to the unmanned vehicle according to the target routing point position and the unmanned vehicle position, sending the initial routing point position and the unmanned vehicle driving direction to the cloud server, enabling the cloud server to set a next routing point of the initial routing point in the unmanned vehicle driving direction as a target routing point according to the target routing point position and the initial routing point position, determining a driving route according to the initial routing point position and the target routing point position, and sending a vehicle driving control signal according to the driving route;

and the second vehicle running control module is used for correspondingly controlling the unmanned vehicle according to the vehicle running control signal so as to enable the unmanned vehicle to continuously and annularly run.

14. The device according to claim 13, wherein the driving control signal receiving module is further configured to receive a road information obtaining instruction sent by the cloud server according to the driving route; acquiring road surface information on the driving route according to the road surface information acquisition instruction, and sending the road surface information to the cloud server; and receiving a vehicle running control signal sent by the cloud server according to the road surface information.

15. An unmanned vehicle running control apparatus, characterized by comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of drone vehicle travel control according to any one of claims 1 to 5.

16. An unmanned vehicle running control apparatus, characterized by comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of drone vehicle travel control as claimed in claim 6 or 7.

17. A computer-readable storage medium, characterized in that a computer-executable instruction is stored in the computer-readable storage medium, and when a processor executes the computer-executable instruction, the unmanned vehicle travel control method according to any one of claims 1 to 5 is implemented.

18. A computer-readable storage medium, characterized in that a computer-executable instruction is stored in the computer-readable storage medium, and when a processor executes the computer-executable instruction, the unmanned vehicle travel control method according to claim 6 or 7 is implemented.