CN120503817A

CN120503817A - Vehicle control method, vehicle and storage medium

Info

Publication number: CN120503817A
Application number: CN202510694729.1A
Authority: CN
Inventors: 岑亚辉
Original assignee: Yikong Intelligent Driving Technology Co ltd
Current assignee: Yikong Intelligent Driving Technology Co ltd
Priority date: 2025-05-27
Filing date: 2025-05-27
Publication date: 2025-08-19

Abstract

The present disclosure provides a vehicle control method, a vehicle, and a storage medium, and relates to the field of computer vehicle control, intelligent auxiliary driving, and intelligent mining. The vehicle control method comprises the steps of controlling the vehicle to run according to a remote control driving track generated based on a remote control instruction in a remote control mode, determining that the current position of the vehicle is in a preset planned driving track, or enabling the vehicle to enter the planned driving track from the current position through an unmanned mode, and controlling the vehicle based on the unmanned mode.

Description

Vehicle control method, vehicle and storage medium

Technical Field

The present disclosure relates to the field of computer vehicle control, intelligent assisted driving, and intelligent mining, and more particularly, to a vehicle control method, a vehicle, and a storage medium.

Background

With the rapid development of technology, unmanned technology is widely applied to scenes such as mine operation and the like so as to improve the operation efficiency of vehicle operation in various scenes such as mineral resource exploitation, cargo transportation and the like.

In the process of realizing the disclosed concept, the inventor finds that at least the following problems exist in the related art, namely, in a mine scene, a mine car performing operation in an unmanned mode can be out of order, so that the mine operation efficiency is affected.

Disclosure of Invention

In view of this, the present disclosure provides a vehicle control method, a vehicle, and a storage medium.

One aspect of the present disclosure provides a vehicle control method including controlling a vehicle to travel according to a remote control driving trajectory generated based on a remote control instruction in a remote control mode, determining that a current position of the vehicle is in a preset planned driving trajectory, or that the vehicle can enter the planned driving trajectory from the current position through an unmanned mode, and controlling the vehicle based on the unmanned mode.

Another aspect of the present disclosure provides a vehicle including a communication unit configured to acquire a remote control instruction in a remote control mode, a sensing unit configured to sense traveling environment information of the vehicle, a decision unit configured to generate a remote control driving trajectory based on the remote control instruction in the remote control mode, and determine that a current position of the vehicle is in a preset planned traveling trajectory based on the traveling environment information, or that the vehicle can enter the planned traveling trajectory from the current position through an unmanned mode, and determine to enter the unmanned mode, a control unit configured to control traveling of the vehicle based on the remote control trajectory in the remote control mode, and control traveling of the vehicle based on the unmanned mode after the decision unit determines to enter the unmanned mode.

Another aspect of the present disclosure provides a vehicle including a processor and a memory, the processor configured to perform the above vehicle control method.

Another aspect of the present disclosure provides an electronic device, comprising:

one or more processors;

a memory for storing one or more programs,

Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method described above.

Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are configured to implement the vehicle control method described above.

Another aspect of the present disclosure provides a computer program product comprising computer executable instructions which, when executed, are for implementing the vehicle control method described above.

According to the embodiment of the disclosure, by generating the remote control driving track based on the remote control instruction in the remote control model to control the vehicle to run, the vehicle which is operated based on the unmanned mode in the operation scene such as a mine can be quickly released when the operation is interrupted, and the vehicle can continue to execute the operation task. And the vehicle can be controlled to run based on the remote control driving track, so that the vehicle can run smoothly according to a plurality of track points in the remote control driving track and execute the operation task, and the situation that the running state of the vehicle is abnormal and the like caused by overlarge change of the running state of the vehicle due to the fact that the vehicle directly responds to the remote control driving instruction to run is avoided. In addition, the current position of the vehicle is determined to be in a preset planned running track, or the vehicle is controlled based on the unmanned mode under the condition that the current position can enter the planned running track through the unmanned mode, so that the vehicle can be conveniently and quickly returned to the unmanned mode from the remote control mode to execute the operation based on the planned running track, the human resource and communication resource expenditure generated by the remote control driving instruction is reduced, and the operation efficiency of the vehicle in an operation scene is improved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments thereof with reference to the accompanying drawings in which:

FIG. 1 schematically illustrates an exemplary system architecture to which vehicle control methods, apparatus may be applied, in accordance with embodiments of the present disclosure;

FIG. 2 schematically illustrates a flow chart of a vehicle control method according to an embodiment of the disclosure;

FIG. 3 schematically illustrates an application scenario diagram of a vehicle control method according to an embodiment of the present disclosure;

FIG. 4 schematically illustrates an application scenario diagram of a vehicle control method according to another embodiment of the present disclosure;

FIG. 5 schematically illustrates a flow chart of a vehicle control method according to another embodiment of the present disclosure;

FIG. 6 schematically illustrates an architecture diagram of a vehicle control system in accordance with an embodiment of the present disclosure, and

Fig. 7 schematically illustrates a block diagram of an electronic device adapted to implement the vehicle control method described above, according to an embodiment of the disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a convention should be interpreted in accordance with the meaning of one of skill in the art having generally understood the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

In embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc., of the data involved (including, but not limited to, user personal information) all comply with relevant legal regulations, are used for legal purposes, and do not violate well-known. In particular, necessary measures are taken for personal information of the user, illegal access to personal information data of the user is prevented, and personal information security, network security and national security of the user are maintained.

In embodiments of the present disclosure, the user's authorization or consent is obtained before the user's personal information is obtained or collected.

The inventors have found that in a mine operation scenario, an operation vehicle such as a mine car that performs an operation based on an unmanned technique may experience an operation interruption during the operation due to factors such as hardware failure, software failure, and operation environment limitation. Abnormal conditions include various faults, including but not limited to various hardware faults, software faults in which the unmanned system cannot continue unmanned operation, and thus the operation efficiency of the mine operation scene is reduced.

Embodiments of the present disclosure provide a vehicle control method, a vehicle, and a storage medium. The vehicle control method comprises the steps of controlling the vehicle to run according to a remote control driving track generated based on a remote control instruction in a remote control mode, determining that the current position of the vehicle is in a preset planned driving track, or enabling the vehicle to enter the planned driving track from the current position through an unmanned mode, and controlling the vehicle based on the unmanned mode.

In one embodiment of the present invention, there is also provided a vehicle control apparatus for executing the vehicle control method provided by the embodiment of the present disclosure.

Fig. 1 schematically illustrates an exemplary system architecture to which vehicle control methods, apparatuses may be applied according to embodiments of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which embodiments of the present disclosure may be applied to assist those skilled in the art in understanding the technical content of the present disclosure, but does not mean that embodiments of the present disclosure may not be used in other devices, systems, environments, or scenarios.

As shown in fig. 1, an application scenario 100 according to this embodiment may include a first vehicle 101, a second vehicle 102, a third vehicle 103, a network 104, a server 105, and a terminal device 106. The network 104 is a medium used to provide a communication link between the first vehicle 101, the second vehicle 102, the third vehicle 103, the server 105, and the terminal device 106. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The first vehicle 101, the second vehicle 102, the third vehicle 103 may each interact with the server 105 and the terminal device 106 through the network 104 to receive or send messages or the like. Interaction between the first vehicle 101, the second vehicle 102, and the third vehicle 103 may also be performed based on the network 104 to receive or transmit messages. The first vehicle 101, the second vehicle 102, and the third vehicle 103 may be unmanned vehicles, or may further include vehicles driven by users of drivers. The first vehicle 101, the second vehicle 102, and the third vehicle 103 may have an autopilot function, for example, may travel based on a planned autopilot path.

The first vehicle 101, the second vehicle 102, the third vehicle 103 may be any type of vehicle, such as a mine car, a truck, a car, etc.

The server 105 may be a server that provides various services, such as a server that provides background management for a user using the movement states, job states, of the first vehicle 101, the second vehicle 102, and the third vehicle 103 (for example only). The background management server may analyze and process the received data such as the broadcast message sent by the vehicle, and feed back the processing result to any vehicle.

Terminal device 106 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like. Or the terminal device 106 may also be a device with simulated driving functions, such as a remote control cockpit, a remote control driving system, etc. It is understood that the terminal device 106 may be a remote control terminal in the embodiments of the present disclosure.

It should be noted that the vehicle control method provided by the embodiment of the present disclosure may be generally performed by any one of the first vehicle 101, the second vehicle 102, the third vehicle 103, and the terminal device 106. The vehicle control device provided in the embodiment of the present disclosure may be provided in any one of the first vehicle 101, the second vehicle 102, the third vehicle 103, and the terminal device 106.

Or the vehicle control method provided by the embodiments of the present disclosure may be generally performed by the server 105. Accordingly, the vehicle control apparatus provided by the embodiments of the present disclosure may be generally provided in the server 105. The vehicle control method provided by the embodiment of the present disclosure may also be performed by a server or a server cluster that is different from the server 105 and is capable of communicating with the first vehicle 101, the second vehicle 102, the third vehicle 103, the terminal device 106, and/or the server 105. Accordingly, the vehicle control apparatus provided by the embodiments of the present disclosure may also be provided in a server or a server cluster that is different from the server 105 and is capable of communicating with the first vehicle 101, the second vehicle 102, the third vehicle 103, the terminal device 106, and/or the server 105.

It should be understood that the number of vehicles, networks, and servers in fig. 1 are merely illustrative. There may be any number of vehicles, networks, servers, and terminal devices, as desired for implementation.

Fig. 2 schematically illustrates a flow chart of a vehicle control method according to an embodiment of the present disclosure.

As shown in FIG. 2, the vehicle control method includes operations S210-S220.

In operation S210, the vehicle travel is controlled in the remote control mode according to the remote control driving trajectory generated based on the remote control instruction.

In operation S220, it is determined that the current position of the vehicle is in a preset planned travel track, or the vehicle can enter the planned travel track from the current position through the unmanned mode, and the vehicle is controlled based on the unmanned mode.

According to embodiments of the present disclosure, the vehicle may be any type of vehicle having an unmanned function, such as a mine car, a truck, or the like. The unmanned function can be understood as being capable of making an automatic driving decision according to the traffic environment of the vehicle, for example, unmanned route planning can be performed on the vehicle based on arbitrary information such as traffic maps and sensor signals, and the vehicle execution operation can be actually controlled according to the planned driving track obtained by planning.

It should be noted that, for convenience in describing the method provided in the embodiments of the present disclosure, the method provided in the embodiments of the present disclosure is described using a mine car with an unmanned function, and it is not meant that the vehicle of the method provided in the embodiments of the present disclosure is limited to only the mine car.

According to the embodiment of the present disclosure, the remote control mode may be a mode in which the vehicle having the unmanned function travels based on the remote control instruction, and the vehicle may control the vehicle to travel based on the remote control mode in a case where the vehicle cannot travel according to the planned travel track according to the specified condition.

For example, in a case where a vehicle is parked for a long time due to a change in road condition or a lot of vehicles on a road, or in a case where a vehicle is parked due to a malfunction of an unmanned related software application, for example, the vehicle cannot travel along a planned travel track in an unmanned mode. The vehicle can be controlled to run based on the remote control driving locus by the remote control mode, so that the reduction of the working efficiency caused by the fault is avoided.

According to an embodiment of the present disclosure, the remote control instruction may be a message or a message sent from the remote control end, and the remote control instruction may include any type of control information such as a driving direction, a driving speed, and the like. The remote control instruction may be determined based on a remote control instruction message transmitted by the driver through manipulation of the remote control terminal. The remote control driving track generated according to the remote control instruction may include a plurality of track points generated by path planning based on control information of the remote control execution identification.

The track points in the remote control driving track can comprise control information such as speed, course angle and acceleration, the vehicle can be controlled to run in a remote control mode through the control information of a plurality of continuous track points in the remote control driving track, so that the vehicle can be controlled to stably run through the control information among the planned continuous track points, abnormal running stability of the vehicle caused by overlarge course angle difference and sudden rising or falling of acceleration is avoided, and the hidden trouble of running accidents is reduced.

According to the embodiments of the present disclosure, in controlling the vehicle to travel based on the remote control mode, when it is determined that the current position of the vehicle is in a planned travel track for the unmanned mode set in advance, or a path between the current position of the vehicle and any position in the planned travel track satisfies a vehicle unmanned condition, the vehicle may be controlled to travel based on the unmanned mode in a case where the vehicle can enter the planned travel track from the current position through the unmanned mode. Therefore, under the condition that the current position of the vehicle running in the remote control driving mode meets the unmanned condition, the vehicle can run conveniently and timely based on the unmanned mode, so that the expenditure of computing power resources for the remote control terminal is reduced, the occupation of human resources for a driver controlling the remote control terminal is reduced, the vehicle working efficiency in working environments such as mine working is improved, and the working safety and the running stability are improved.

In one embodiment, the vehicle control method may further include transmitting the remote control driving trajectory to the remote control terminal so that the target display interface of the remote control terminal shows the remote control driving trajectory. Wherein, the driver seat controls the target object of the remote control terminal, and can generate a remote control instruction by executing operation on the remote control terminal. The driver controlling the remote control terminal can timely adjust control information such as running direction, speed, acceleration and the like used for remote control instructions through the remote control driving track displayed by the target display interface, so that running efficiency of the vehicle in a remote control mode is improved, and the vehicle can run into a planned driving track more quickly or can run to a specified position in the planned driving track based on an unmanned driving mode.

In one embodiment, the vehicle control method may further include transmitting the remote control driving track and the planned driving track to the remote control terminal so that the target display interface shows a return direction of the remote control driving track toward the planned driving track. The driver can perform remote control driving operation according to the position relation between the remote control driving track and the planned driving track displayed by the target display interface, and control information such as the driving direction, the speed and the acceleration used for remote control instructions is timely adjusted, so that the vehicle can quickly return to a position close to the planned driving track by the remote control instructions determined by the remote control operation, and can be quickly switched to an unmanned mode, and the driving efficiency in a mine scene is improved.

According to an embodiment of the present disclosure, the vehicle control method may further include determining that a remote control mode condition is satisfied, entering a remote control mode, and notifying a remote control terminal.

For example, in the case where it is determined that the current running state of the vehicle such as the position, speed, etc. satisfies the remote control mode condition, the vehicle may be controlled to enter the remote control mode, and the driver of the remote control terminal may be notified to take over the vehicle by transmitting a remote control request message to the remote control terminal.

In some embodiments, the remote control mode condition includes at least one of the following conditions:

the method comprises the steps that a vehicle is in a specified fault state, the offset distance between the actual running track of the vehicle and the planned running track for the unmanned mode meets a preset offset condition, and the actual position of the vehicle is outside a specified area.

In one example, the specified fault condition may indicate that the current fault condition of the vehicle is difficult to travel in the unmanned mode according to the planned travel trajectory. The specified failure state may be, for example, a parking failure that satisfies a preset parking duration threshold, a resource failure state of a hardware resource or a software resource specified in the vehicle, or the like.

In one example, the offset distance between the actual travel track and the planned travel track satisfies the preset offset condition, which may indicate that the distance between the actual travel position of the vehicle and the planned travel track satisfies the preset distance condition, so that the vehicle cannot be controlled to travel back into the planned travel track through the automatic driving function of the vehicle.

In one example, the designated area may include a designated work area where the vehicle is capable of unmanned trajectory planning, and the vehicle is outside the designated area, for example, an area outside the designated map area boundary corresponding to the preset map may be driven for the vehicle.

Fig. 3 schematically illustrates an application scenario diagram of a vehicle control method according to an embodiment of the present disclosure.

As shown in fig. 3, in this application scenario, the 1 st vehicle C301 is outside the designated area. The distance between the track point N302 in the current actual running track of the vehicle C302 and any one track point in the planned running track satisfies the preset distance condition. The 3 rd vehicle C303 is in a parking state and the parking duration is greater than a preset parking duration threshold value, and simultaneously sends out a parking fault alarm signal. Therefore, the 1 st vehicle C301, the 2 nd vehicle C302, and the 3 rd vehicle C303 each satisfy the remote control mode condition.

In some embodiments, controlling vehicle travel in the remote control mode according to the remote control driving trajectory generated based on the remote control instructions may include controlling vehicle travel to a specified location based on the remote control driving trajectory.

The position relation between the designated position and the designated track point in the planned driving track meets a preset distance threshold. In the case where the vehicle is traveling to the specified position, the target vehicle travel is controlled based on the planned travel locus.

The specified track point may be any running track point in the planned running track, and the setting mode of the specified track point is not limited in the embodiment of the present disclosure. The position relationship between the specified position and the specified track point in the planned running track meets the preset distance threshold, and it can be understood that the vehicle running to the specified position can run according to the planned running track based on the unmanned mode. Or the vehicle can carry out unmanned track planning by sensing road environment information at a designated position and combining the acquired data related to unmanned functions such as vehicle positioning data, map data and the like, so as to obtain the unmanned track capable of running into the planned running track. Therefore, the remote control track planning can be carried out according to the remote control instruction to obtain a remote control running track capable of running to a designated position, so that the unmanned vehicle can run to the designated position capable of meeting the unmanned mode condition more conveniently and rapidly, the vehicle can return to the unmanned mode rapidly and timely, the communication resource and the computing resource cost of the remote control terminal are saved, and the human resource cost for controlling the remote control terminal is reduced.

In some embodiments, in the event that the unmanned condition is satisfied, it is determined that the vehicle is able to enter the planned travel track from the current location through the unmanned mode. The unmanned condition includes at least one of a first unmanned condition, a second unmanned condition, and a third unmanned condition.

The first unmanned condition characterizes that the distance between at least one track point in the planned driving track of the unmanned mode and the current position is smaller than or equal to a preset distance threshold.

In one example, the first unmanned condition may indicate that a distance between a vehicle traveling to a specified location and the planned travel track satisfies a preset distance condition, and the vehicle at the specified location may perform unmanned track planning by performing unmanned function-related data according to unmanned related data, to obtain an unmanned track capable of traveling into the planned travel track.

The second unmanned condition represents that an included angle between the running direction of the vehicle at the current position and the track point direction of at least one track point in the planned running track is smaller than or equal to a preset angle threshold. The second unmanned condition may represent a traveling direction of the current position of the vehicle with a small angular deviation from a trajectory overall direction of the planned traveling trajectory. Because the running state of the vehicle meeting the second unmanned condition can be running in the direction of the planned running track, the unmanned function module of the vehicle can plan the unmanned track for controlling the vehicle to run to the planned running track under the condition of consuming less calculation power resources. Therefore, the consumption level of the computational power resources of the vehicle in the working scenes such as mine working and the like can be reduced, the vehicle is intelligently controlled to quickly return to the unmanned mode and execute the corresponding working tasks, and the working efficiency of the vehicle in the working scenes is improved.

The third unmanned condition characterizes a travel space size around the vehicle being greater than or equal to a preset space size threshold. The preset spatial dimension threshold may be understood as a dimension approximating the width and height of the vehicle, or the preset spatial dimension threshold may also include a dimension greater than the width and height of the vehicle. Under the condition that the running space size of the vehicle meets the preset space size threshold, an unmanned track for controlling the vehicle to run to the planned running track is planned under the condition of consuming smaller computing force resources, the vehicle is intelligently controlled to quickly return to an unmanned mode and execute corresponding operation tasks, and the operation efficiency of the vehicle in an operation scene is improved.

It should be noted that, whether the vehicle meets the unmanned condition can be judged based on the current position of the vehicle in the remote control driving mode, the distance between the current position and the planned track of the unmanned mode, the running course angle, the running speed and other running state information, so as to prompt a driver or automatically switch to the unmanned mode to control the vehicle, so that the vehicle can be intelligently and timely switched to the unmanned mode to execute the operation task, and the execution efficiency of the operation task is improved.

Fig. 4 schematically illustrates an application scenario diagram of a vehicle control method according to another embodiment of the present disclosure.

As shown in fig. 4, in this embodiment, the distance between the current position of the 4 th vehicle C401 and the track point N401 in the planned travel track L401 is smaller than the preset distance threshold, and the angle between the travel direction of the 4 th vehicle C401 and the track point direction indicated by the track point N401 in the planned travel track L401 is smaller than the preset angle threshold, which may indicate that the 4 th vehicle C401 satisfies the unmanned condition. The distance between the current position of the 5 th vehicle C402 and the track point N401 in the planned driving track L401 is greater than a preset distance threshold, and the included angle between the driving direction of the 5 th vehicle C402 and the track point direction indicated by the track point N401 in the planned driving track L401 is greater than a preset angle threshold, which may indicate that the 5 th vehicle C402 satisfies the unmanned condition.

In some embodiments, it may be determined that the vehicle travel can be controlled based on the unmanned mode, in the event that the current position of the vehicle is in a predetermined planned travel track, or the vehicle is able to enter the planned travel track from the current position via the unmanned mode. Therefore, the control mode of the vehicle is directly switched from the remote control mode to the unmanned mode, and the vehicle is enabled to execute the designated work task according to the planned driving track in the unmanned mode.

In some embodiments, controlling the vehicle based on the unmanned mode may further include transmitting an unmanned request to a remote control terminal that transmits a remote control instruction, and controlling the vehicle based on the unmanned mode in response to a confirmation message from the remote control terminal.

In one embodiment, the remote control terminal may generate a prompt command according to the unmanned request, and control a light device, a sound device, a vibration device, and the like of the remote control terminal through the prompt command to send a prompt signal, so that a driver may operate a mode switching key of the remote control driving terminal and generate a confirmation message through the received prompt signal representing the unmanned request of the vehicle. The vehicle switches the control mode of the vehicle from a remote control mode to an unmanned mode through receiving the confirmation message, and controls the vehicle to execute a preset operation task according to the planned driving track through the unmanned mode.

In some embodiments, the remotely controlled driving trajectory is determined based on determining a driving state of the vehicle in a remote control mode based on the remote control instructions, and performing unmanned trajectory planning based on the driving state to obtain the remotely controlled driving trajectory.

According to the embodiment of the present disclosure, the running state of the vehicle in the remote control mode may be understood as state information related to the running of the vehicle. For example, the running state may include a vehicle state such as a coordinate position, a speed, a heading angle, a steering angle, a parking time period, or may also include a running environment state such as a running space around the vehicle during running, an obstacle position, or the like. According to the time attribute of the remote control instruction or the time sequence relation among a plurality of remote control instructions, the running state corresponding to the remote control instruction can be determined.

In one embodiment, unmanned trajectory planning may be performed based on a driving state of the vehicle in a remote control mode and a corresponding remote control instruction, for example, a remote control driving trajectory may be obtained by processing control information in the driving state and the corresponding remote control instruction based on a trajectory planning algorithm such as a genetic algorithm, a particle swarm algorithm, and the like. The remote driving trajectory may include a plurality of continuous trajectory points starting from the current position to control the stable running of the vehicle through control information of speed, heading angle, coordinates, etc. indicated by the plurality of continuous trajectory points.

In one embodiment, the remotely controlled driving trajectory is further used to control the target vehicle to be able to perform a target work task related to planning the driving trajectory. For example, the end point of the remote control driving track may be a working area of the target working task, or the remote control driving track may further include working control information for instructing the vehicle to execute the working tasks such as lifting the loading bucket and turning on the car light, so as to control the vehicle to execute the target working task in the remote control mode, and improve the working task execution efficiency.

In some embodiments, performing unmanned trajectory planning based on a driving state of a vehicle generated in a remote control mode may include performing unmanned trajectory planning based on the driving state and the planned driving trajectory, obtaining an initial remote control driving trajectory for a plurality of remote control driving moments, and determining a remote control driving trajectory from the plurality of initial remote control driving trajectories based on a positional relationship between the planned driving trajectory and the vehicle in the remote control mode.

The remote control running time can be understood as a plurality of designated times in the remote control mode, and the initial running track of the plurality of remote control times can control the vehicle to run to a designated position meeting unmanned running conditions by processing the running state which is generated based on the track planning algorithm and the control information corresponding to the remote control instruction and the planned running track to which the vehicle needs to run. Through planning the distance, direction angle difference degree etc. relation of the running track and the vehicle at any remote control moment in the remote control mode, the remote control driving track with the included angle smaller than the preset angle threshold value between the running track and the planning running track can be determined from a plurality of initial remote control driving tracks, so that the vehicle can be controlled to stably run in the remote control mode, and the driving safety is improved.

For example, an initial running track tangent to the planned running track can be determined from a plurality of initial running tracks as a remote control running track, so that smoothness of the running of the vehicle to the planned running track is improved, the vehicle is controlled to stably run in a remote control mode, and the planned running track is smoothly returned.

In one embodiment, each of the plurality of remote control moments may have an initial travel track that starts at the remote control moment, and the result of the splicing of the plurality of initial travel tracks may control the vehicle to travel to a specified location that satisfies the unmanned condition, or to travel to a planned travel track. The plurality of initial running tracks are processed through a smoothing algorithm such as a normalization algorithm, and the like, so that the splicing result of the plurality of initial running tracks can be subjected to smoothing processing, and a smooth remote control track which can stably control the running of the vehicle to a designated position or in a planned running track is obtained, so that the running of the vehicle in a remote control mode is improved, the matching degree between the return running track and the running mode of the vehicle in an actual remote control mode state can be improved, and the driving safety is improved.

In one embodiment, performing unmanned trajectory planning based on the driving state and the planned driving trajectory may include performing direction difference detection based on a driving direction in the driving state and at least one trajectory point direction in the planned driving trajectory, resulting in direction difference information, and performing unmanned trajectory planning based on the driving state and the planned driving trajectory in response to the direction difference information being less than or equal to a preset angle threshold.

The direction difference information may include a direction angle difference value between the traveling direction and a traveling direction indicated by a track point in the planned traveling track, and in the case where the direction angle difference value is less than or equal to a preset angle threshold value, the unmanned track planning may be performed based on the traveling state and the planned traveling track to generate the remote control traveling track. Under the condition that the direction angle difference value is larger than the preset angle threshold value, unmanned track planning can be selected not to be carried out, so that the intention of the vehicle to bypass the obstacle is prevented from being ignored by a remote control instruction in the remote control mode process, and the vehicle collides with the obstacle. Meanwhile, the expenditure of computational power resources generated by excessively using a track planning algorithm to carry out unmanned track planning in a remote control mode can be avoided, and the driving safety and stability of the vehicle in the remote control mode are improved.

Fig. 5 schematically illustrates a flow chart of a vehicle control method according to another embodiment of the present disclosure.

As shown in fig. 5, the vehicle control method in this embodiment may include operations S501 to S510.

After the start operation is performed, operation S501 is performed to determine whether the vehicle is currently parked abnormally, and if the determination result of operation S501 is yes, operation S502 is performed to determine whether the current running state of the vehicle can enter the remote control driving mode. If the result of the determination in operation S501 is negative, operation S510 is performed to control the vehicle to execute the target job task according to the planned travel track based on the unmanned mode.

If the determination result in operation S502 is no, operation S502B is executed to control the vehicle running based on the other takeover mode. And performs operation S510 of controlling the vehicle to perform the target job task based on the other takeover mode.

In the case where the result of the determination of operation S502 is yes, operation S503 is performed to transmit a remote control request to the remote control terminal through the vehicle to request the driver of the remote control terminal to take over the vehicle.

In operation S504, the control mode of the vehicle is switched to the remote control mode in response to a confirmation request generated from the remote control terminal for a confirmation operation of the remote control request.

In operation S505, the vehicle determines a remote control command by receiving a remote control command message from the remote control terminal, and performs unmanned trajectory planning based on the remote control command, generating a remote control driving trajectory. And controlling the vehicle to run through the remote control driving track.

In operation S506, an actual running state of the vehicle in the remote control mode is acquired, and then operation S507 is performed to judge that the unmanned condition is satisfied based on information about the running state such as an actual running direction, a position, an acceleration, etc. of the vehicle in the remote control mode. It is understood that it is determined whether the vehicle is traveling into the planned travel track or can be traveling based on the unmanned mode.

If the determination result in operation S507 is yes, operation S508 is performed to switch the control mode of the vehicle to the unmanned mode, and to control the vehicle to travel based on the unmanned mode.

If the determination result of operation S507 is no, operations S505 to S507 are executed in a loop until the determination result of operation S507 is yes, and operation S508 is executed.

In operation S509, it is determined whether the current position of the vehicle is traveling into the planned traveling locus. If the determination result is negative, operations S508 and S509 are performed in a loop.

If the determination result in operation S509 is yes, operation S510 is executed to control the vehicle to execute the target job task according to the planned travel route based on the unmanned mode.

Embodiments of the present disclosure also provide a vehicle. The vehicle includes a processor and a memory, the processor configured to execute a vehicle control method provided according to an embodiment of the present disclosure.

The embodiment of the disclosure also provides a vehicle, which comprises a communication unit, a sensing unit, a decision unit and a control unit.

The communication unit is configured to acquire a remote control instruction in a remote control mode.

For example, the communication unit may parse the remote control instruction message sent by the remote control terminal to obtain the remote control instruction.

The sensing unit is configured to sense running environment information of the vehicle.

The running environment information may include information related to the running environment such as obstacles around the vehicle, road width, road gradient, and the like.

In some embodiments, the driving environment information may also include a driving state of the vehicle, including, for example, a current position of the vehicle, a vehicle speed, an acceleration, a driving direction, and the like.

The decision unit is configured to generate a remote control driving track based on a remote control instruction in a remote control mode, and determine that the current position of the vehicle is in a preset planned driving track based on driving environment information, or that the vehicle can enter the planned driving track from the current position through an unmanned mode, and determine to enter the unmanned mode.

The control unit is configured to control the vehicle to travel based on the remote control trajectory in the remote control mode, and to control the vehicle to travel based on the unmanned mode after the decision unit determines to enter the unmanned mode.

For example, in a case where the vehicle satisfies the unmanned condition, the control unit may control the vehicle to travel to the planned travel track according to the currently planned unmanned track based on the unmanned mode, and control the vehicle to execute the target job task based on the planned travel track.

In some embodiments, the decision unit is further configured to determine that the vehicle switches to the remote control mode based on driving environment information of the vehicle in the unmanned mode.

For example, the decision unit may switch the vehicle to the remote control mode based on a case where the traffic size of the vehicle in the running environment information does not satisfy the preset space size threshold, the vehicle is parked for longer than the preset parking time period threshold, and the like, and the control unit controls the running of the vehicle based on the generated remote control driving trajectory in the remote control mode.

Fig. 6 schematically illustrates an architecture diagram of a vehicle control system according to an embodiment of the present disclosure.

As shown in fig. 6, the vehicle control system includes a sensing unit, a positioning unit, a map unit, a decision unit, and a control unit. The sensing unit is used for sensing driving environment information around the vehicle in the unmanned mode or the remote control mode. The positioning unit is used for acquiring the current position of the vehicle in the running process. The map unit is used for acquiring map information related to execution of a target job task.

In the unmanned process, the decision unit monitors the running state of the vehicle according to the positioning information, the map information and the running environment information, and reports the running state of the vehicle in the current unmanned mode to the remote control terminal in real time. And under the condition that the vehicle meets the remote control driving condition, prompting the remote control terminal to take over the vehicle by sending a remote control driving request to the remote control terminal.

And the remote control driving condition is met under the condition that the distance between the current position of the vehicle and the planned driving track is larger than a preset distance threshold value. For another example, the remote control driving condition is satisfied in the case where the vehicle is stopped due to the obstacle not bypassing the space, or the vehicle is stopped due to the vehicle traveling to a narrow space or intersection, and the stopping time period is longer than the preset stopping time period threshold. For example, when the vehicle is not capable of executing a designated work operation such as a bucket lifting operation due to the control condition constraint of the unmanned decision unit and is not capable of completing a work task such as an unloading task, the remote control driving condition is satisfied.

And under the condition that the remote control driving condition is met, packaging the remote control driving request through the decision unit, and sending the remote control driving request to a remote control driving service unit of the remote control terminal.

When the remote control driving terminal receives the remote control driving request sent by the decision unit, an acousto-optic prompt signal can be generated based on the remote control driving request, and an acousto-optic prompt device of the remote control cockpit is controlled to send out acoustic prompt information and optical signal prompt information based on the acousto-optic prompt signal. And the driver executes mode switching operation by operating a mode switching key of the remote control cockpit according to the voice prompt information and the light signal prompt information. The remote driving service unit generates a confirmation request in response to the mode switching operation, and transmits the confirmation request to the decision unit. The decision unit switches the control mode of the vehicle to the remote control mode in response to the confirmation request. The vehicle control system accepts remote dispatch of the remote control driving terminal in the remote control mode.

The driver generates a remote control instruction by performing a remote control operation in the remote control cockpit. The remote control driving service unit packages the remote control instruction into a remote control instruction message and sends the remote control instruction message to the vehicle control system. And the decision unit performs unmanned track planning according to the remote control instruction carried by the remote control instruction message and at least one of the received positioning information, map information and running environment information to generate a remote control driving track. The control unit controls the vehicle to run based on the remote control driving track, and realizes the unmanned driving and remote control driving cooperative mode of the vehicle.

In the process of driving the vehicle based on the remote control mode, the decision unit judges whether the current position of the vehicle meets unmanned conditions, such as whether the vehicle enters a preset planned driving track or not, or whether the vehicle can drive into the planned driving track based on the unmanned mode according to the driving environment information (such as the road width in front of the driving direction, the position of an obstacle and the like) updated in real time. When the current position of the vehicle meets the unmanned condition, the decision unit sends an unmanned driving request to the remote control terminal to remind the driver that remote control driving operation can be omitted. Meanwhile, the decision unit is automatically switched to an unmanned mode to execute a target operation task, and in the unmanned mode, the decision unit monitors the running state of the vehicle according to the positioning information, the map information and the running environment information, and reports the running state of the vehicle in the current unmanned mode to the remote control terminal in real time. And under the condition that the vehicle meets the remote control driving condition, prompting the remote control terminal to take over the vehicle by sending a remote control driving request to the remote control terminal.

In the process of executing the target task by the vehicle, each unit of the vehicle-end control system executes normal operation according to an unmanned mode, for example, the decision unit can execute unmanned track planning in real time according to at least one of the received positioning information, map information and driving environment information. The sensing unit, the positioning unit and the map unit collect related data in real time, the service execution unit can execute operations such as bucket lifting and the like according to remote control instructions, and the control unit controls the vehicle to run based on the planned remote control running track of the decision unit. Therefore, all functional units of the vehicle-end control system, such as a sensing unit, a control unit and the like, except the decision unit in a remote control mode do not need to be subjected to mode switching, the noninductive coordination of the vehicle-end control system is realized, and the calculation cost generated by the mode switching of the functional units is reduced. Meanwhile, under the condition of switching from the remote control mode to the unmanned mode, the vehicle can be driven again based on a preset planned driving track, or the vehicle can be driven to the planned driving track automatically through an unmanned function, so that the control duration of remote control driving on the vehicle is reduced, the communication resource overhead level and the calculation resource consumption level of unmanned track planning are reduced, the fluency of the vehicle in executing target operation tasks in scenes such as mines is improved, and the operation efficiency is improved.

It should be noted that, the vehicle-end control system may be disposed in a vehicle, or may also be disposed in a server or a server cluster that is communicatively connected to the vehicle, and the specific manner of disposing the vehicle-style control system is not limited in the embodiments of the present disclosure.

Fig. 7 schematically illustrates a block diagram of an electronic device adapted to implement the vehicle control method described above, according to an embodiment of the disclosure. The electronic device shown in fig. 7 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.

As shown in fig. 7, an electronic device 700 according to an embodiment of the present disclosure includes a processor 701 that can perform various appropriate actions and processes according to a program stored in a ROM (read only memory) 702 or a program loaded from a storage section 708 into a RAM (random access memory) 703. The processor 701 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. The processor 701 may also include on-board memory for caching purposes. The processor 701 may comprise a single processing unit or a plurality of processing units for performing different actions of the method flows according to embodiments of the disclosure.

In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 700 are stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. The processor 701 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 702 and/or the RAM 703. Note that the program may be stored in one or more memories other than the ROM 702 and the RAM 703. The processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in the one or more memories.

According to an embodiment of the present disclosure, the electronic device 700 may further include an input/output (I/O) interface 705, the input/output (I/O) interface 705 also being connected to the bus 704. The electronic device 700 may also include one or more of an input portion 706 including a keyboard, mouse, etc., an output portion 707 including a Cathode Ray Tube (CRT), liquid Crystal Display (LCD), etc., and speaker, etc., a storage portion 708 including a hard disk, etc., and a communication portion 709 including a network interface card such as a LAN card, modem, etc., connected to an input/output (I/O) interface 705. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to an input/output (I/O) interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.

According to embodiments of the present disclosure, the method flow according to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. The above-described functions defined in the system of the embodiments of the present disclosure are performed when the computer program is executed by the processor 701. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.

The present disclosure also provides a computer-readable storage medium that may be included in the apparatus/device/system described in the above embodiments, or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present disclosure.

According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Such as, but not limited to, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

For example, according to embodiments of the present disclosure, the computer-readable storage medium may include ROM 702 and/or RAM 703 and/or one or more memories other than ROM 702 and RAM 703 described above.

Embodiments of the present disclosure also include a computer program product comprising a computer program comprising program code for performing the method provided by the embodiments of the present disclosure, when the computer program product is run on an electronic device, for causing the electronic device to implement the method for controlling a vehicle provided by the embodiments of the present disclosure.

The above-described functions defined in the system/apparatus of the embodiments of the present disclosure are performed when the computer program is executed by the processor 701. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.

In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed over a network medium in the form of signals, downloaded and installed via the communication section 709, and/or installed from the removable medium 711. The computer program may comprise program code that is transmitted using any appropriate network medium, including but not limited to wireless, wireline, etc., or any suitable combination of the preceding.

According to embodiments of the present disclosure, program code for performing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure may be combined and/or combined in various combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, features recited in various embodiments of the present disclosure may be combined and/or combined in various ways without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.

The embodiments of the present disclosure are described above. These examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims

1. A vehicle control method comprising:

controlling the vehicle to run according to a remote control driving track generated based on the remote control instruction in a remote control mode;

And determining that the current position of the vehicle is in a preset planned driving track, or that the vehicle can enter the planned driving track from the current position through the unmanned mode, and controlling the vehicle based on the unmanned mode.

2. The method of claim 1, wherein the method further comprises:

determining that the remote control mode condition is met, entering a remote control mode and informing a remote control terminal;

The remote control mode condition includes at least one of:

The vehicle is in a specified fault state;

The offset distance between the actual running track of the vehicle and the planned running track for the unmanned mode meets a preset offset condition;

the actual position of the vehicle is outside the designated area.

3. The method of claim 1, wherein the planned travel track is determined to be accessible from the current location through the unmanned mode if at least one of the following conditions is met:

The distance between at least one track point in the planned driving track for the unmanned mode and the current position is smaller than or equal to a preset distance threshold;

an included angle between the running direction of the vehicle at the current position and the track point direction of at least one track point in the planned running track is smaller than or equal to a preset angle threshold value;

The running space size around the vehicle is greater than or equal to a preset space size threshold.

4. A method according to claim 1 or 3, wherein the controlling the vehicle based on the unmanned mode further comprises:

Sending an unmanned driving request to a remote control terminal sending the remote control instruction;

and responding to the confirmation message from the remote control terminal, and controlling the vehicle based on the unmanned driving mode.

5. The method of claim 1, wherein the remote control driving trajectory is determined based on:

Determining a running state of the vehicle in the remote control mode based on the remote control instruction;

and carrying out unmanned track planning based on the driving state to obtain the remote control driving track, wherein the remote control driving track is used for controlling the target vehicle to be capable of executing a target operation task related to the planned driving track.

6. The method of claim 5, wherein the unmanned trajectory planning based on the driving state of the vehicle generated in the remote control mode, results in the remote control driving trajectory, comprises:

performing unmanned track planning based on the driving state and the planned driving track to obtain initial remote control driving tracks at a plurality of remote control driving moments, and

The remote control driving trajectory is determined from a plurality of the initial remote control driving trajectories based on a positional relationship between the planned driving trajectory and the vehicle in the remote control mode.

7. The method of claim 6, wherein the unmanned trajectory planning based on the travel state and the planned travel trajectory comprises:

Detecting direction difference based on the running direction in the running state and at least one track point direction in the planned running track to obtain direction difference information, and

And responding to the direction difference information being smaller than or equal to a preset angle threshold value, and carrying out unmanned track planning based on the driving state and the planned driving track.

8. The method according to claim 1, wherein the controlling the vehicle travel in the remote control mode according to the remote control driving trajectory generated based on the remote control instruction includes:

and controlling the vehicle to travel to a specified position based on the remote control driving track, wherein the position relation between the specified position and a specified track point in the planned travel track meets a preset distance threshold value, and controlling the target vehicle to travel based on the planned travel track under the condition that the vehicle travels to the specified position.

9. A vehicle, comprising:

A communication unit configured to acquire a remote control instruction in a remote control mode;

A sensing unit configured to sense traveling environment information of the vehicle;

The decision unit is configured to generate a remote control driving track based on the remote control instruction in the remote control mode, and determine that the current position of the vehicle is in a preset planned driving track or the vehicle can enter the planned driving track from the current position through the unmanned mode based on the driving environment information, and determine to enter the unmanned mode;

and after the decision unit determines that the unmanned mode is entered, the vehicle is controlled to run based on the unmanned mode.

10. The vehicle according to claim 9, wherein the decision unit is configured to determine that the vehicle is switched to the remote control mode based on running environment information of the vehicle in an unmanned mode.

11. A vehicle comprising a processor and a memory, the processor configured to perform the method of any one of claims 1 to 8.

12. A computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of any of claims 1 to 8.