CN114548802A - Unmanned vehicle starting method, device, equipment and computer readable storage medium - Google Patents

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the driving process of the unmanned vehicle, human interference is generally required rarely. After the task is finished, the unmanned vehicle can also automatically stop to a preset position. When used again, the unmanned vehicle needs to be started. Current unmanned vehicle activation methods are either manually activated by the vehicle owner or by a user other than the vehicle owner (e.g., a passenger, etc.) or are activated in a single manner. The former is not unmanned strictly because of the need of manual participation, and the latter is a single starting mode which can not meet the requirements of various scenes.

In order to solve the above problems, embodiments of the present application provide a method for starting an unmanned vehicle, which has multiple starting schemes and can meet the starting requirements of people on the unmanned vehicle in multiple scenes.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, a schematic flow chart of an unmanned vehicle starting method according to an embodiment of the present application is shown, and the method is applied to automatic driving, and mainly includes steps S101 to S103, which are described as follows:

step S101: and acquiring various kinds of demand information as various awakening sources corresponding to the standby module of the unmanned vehicle.

In the field of autonomous driving, an unmanned vehicle is also called an unmanned vehicle, an autonomous vehicle or an intelligent driving vehicle, and refers to various automobiles which are equipped with various sensing devices and can start, stop and run without manual operation of human beings under the control of a computer program. It should be noted that, when the unmanned vehicle stops running, although the engine is already turned off, modules such as the 5G module, the V2X module, some sensors, and various detection units are in a standby state, and are not completely turned off, and these modules in the standby state are referred to as standby modules; the standby module can be awakened under the trigger of various awakening sources to start working. In the embodiment of the application, various kinds of demand information can be acquired and used as various awakening sources corresponding to the standby module of the unmanned vehicle. The requirement information includes a service requirement of the unmanned vehicle, such as a passenger requirement, a renting requirement, and the like, and/or a maintenance requirement of the unmanned vehicle, including adding a power source (e.g., charging or refueling), maintaining the unmanned vehicle, and the like.

Step S102: under the trigger of any one of the various awakening sources, the standby module generates any one starting signal of the unmanned vehicle.

As described above, the requirement information includes the service requirement of the unmanned vehicle and/or the operation and maintenance requirement of the unmanned vehicle. When the various kinds of requirement information include the service requirement of the unmanned vehicle, as an embodiment of the present application, under the trigger of any one of the various wake-up sources, the standby module generates any one of the start signals of the unmanned vehicle, which can be realized through steps S1021 to S1023, and the following description is provided:

step S1021: and if the unmanned vehicle belongs to a vehicle platform for providing the riding service for the customer, sending a verification request to the vehicle platform under the trigger of a wake-up source corresponding to the service requirement of the unmanned vehicle.

In the embodiment of the application, the unmanned vehicle may belong to a vehicle platform providing boarding service for customers, that is, the unmanned vehicle is owned by the vehicle platform, or the unmanned vehicle may belong to a personal vehicle owner, that is, the property right of the unmanned vehicle is owned by a person. If the unmanned vehicle belongs to the vehicle platform providing the riding service for the customer, a verification request is sent to the vehicle platform under the trigger of the awakening source corresponding to the service requirement of the unmanned vehicle, and the vehicle platform is requested to verify the current service requirement of the unmanned vehicle, such as whether the riding requirement or the renting requirement of the unmanned vehicle comes from the vehicle platform or is forwarded by the vehicle platform.

Step S1022: and if the unmanned vehicle belongs to the individual vehicle owner, sending a verification request to a terminal to which the vehicle owner of the unmanned vehicle belongs under the trigger of the awakening source corresponding to the service requirement of the unmanned vehicle.

In an embodiment of the present application, the authentication request sent to the owner of the unmanned vehicle may be an authentication request for the passenger riding the unmanned vehicle. In general, since the owner of the unmanned vehicle should know whether or not the owner of the unmanned vehicle will take his/her own unmanned vehicle, it is not necessary to authenticate the owner himself/herself who is the unmanned vehicle, in other words, the passenger should be an individual other than the owner of the unmanned vehicle in the authentication request for the passenger transmitted as described above.

Step S1023: and after receiving a verification success response returned by the vehicle using platform or the terminal belonging to the vehicle owner, converting the service requirement of the unmanned vehicle into a starting signal of the unmanned vehicle.

When the vehicle platform receives the verification request, the information carried by the verification request, such as the customer account number, the password and the like, is compared with the information, such as the customer account number, the password and the like, which are stored in advance, and if the customer account number, the password and the like are consistent, a verification success response is returned. Similarly, when the terminal to which the owner of the unmanned vehicle belongs receives the authentication request, the owner of the unmanned vehicle can verify or authenticate the identity of the current occupant. And if the current passenger is a legal passenger of the unmanned vehicle, returning a response of successful verification. And after receiving a verification success response returned by the vehicle using platform or the terminal belonging to the vehicle owner, converting the service requirement of the unmanned vehicle into a starting signal of the unmanned vehicle.

As can be seen from the technical solutions in the above steps S1021 to S1023, since the verification request is sent to the vehicle owner terminal of the vehicle using platform or the unmanned vehicle, the service requirement of the unmanned vehicle is converted into the start signal of the unmanned vehicle only after receiving the verification success response returned by the vehicle using platform or the vehicle owner terminal, so that the illegal use of the unmanned vehicle by lawless persons or hackers can be prevented, and the vehicle using safety of the unmanned vehicle is ensured.

When the various kinds of requirement information include operation and maintenance requirements of the unmanned vehicle, as another embodiment of the present application, under the trigger of any one of the various wake-up sources, the standby module generating any one of start signals of the unmanned vehicle may be implemented by step S '1021 and step S' 1022, which are described as follows:

step S' 1021: and detecting the energy surplus of the unmanned vehicle or the energy surplus of the unmanned vehicle and the health state of the component.

In the embodiment of the present application, the energy remaining amount of the unmanned vehicle includes a battery remaining amount and/or a fuel remaining amount, for example, for a new energy vehicle, the energy remaining amount may be a battery remaining amount of the unmanned vehicle, for a conventional vehicle, the energy remaining amount may be a fuel remaining amount of the unmanned vehicle, and for a hybrid vehicle, the energy remaining amount includes a battery remaining amount and a fuel remaining amount. The components of the unmanned vehicle may be various components constituting the unmanned vehicle, in particular, various sensor devices, communication modules, lines, and the like.

Step S' 1022: if the energy margin is lower than a preset threshold or the component has a fault, the operation and maintenance requirement of the unmanned vehicle is converted into a starting signal for starting the unmanned vehicle to drive to the operation and maintenance site under the triggering of a wake-up source corresponding to the operation and maintenance requirement.

When the energy surplus of the unmanned vehicle is lower than the preset threshold value, the requirement of increasing the energy of the unmanned vehicle is indicated, for example, the unmanned vehicle is refueled or/and charged. When the components of the unmanned vehicle break down, the unmanned vehicle needs to be maintained, otherwise, the driving safety of the unmanned vehicle is influenced. In the embodiment of the application, the operation and maintenance site comprises an energy supply place and a maintenance site, wherein the energy supply place comprises a gas station, a charging house, a charging pile and the like.

Whether the energy margin of the unmanned vehicle is lower than the preset threshold value or the components of the unmanned vehicle have faults, the unmanned vehicle is expected to smoothly and quickly travel to the operation and maintenance station, which relates to the problem of planning a path to the operation and maintenance station, so that the method in the steps S '1021 and S' 1022 may further include positioning the unmanned vehicle to determine the current position of the unmanned vehicle; and planning a driving path of the unmanned vehicle to the operation and maintenance station according to the current position of the unmanned vehicle, the energy surplus of the unmanned vehicle and the position of the operation and maintenance station. In the above embodiment, the positioning of the unmanned vehicle may be a conventional positioning method, for example, GPS positioning or beidou system positioning, and the position of the operation and maintenance station may be pre-stored in a storage unit such as a database of the unmanned vehicle, and may be obtained by directly reading from the storage unit of the unmanned vehicle. As an embodiment of the present application, according to the current position of the unmanned vehicle, the energy surplus of the unmanned vehicle, and the position of the operation and maintenance site, planning a driving path of the unmanned vehicle to the operation and maintenance site may be: inquiring a plurality of paths supporting driving from the current position of the unmanned vehicle to the position of the operation and maintenance station, and respectively acquiring path information of the plurality of paths, wherein the path information comprises current traffic flow (such as vehicle flow, people flow, the increasing rate of people and vehicles and the like), intersection number and congestion information; generating a grade recommendation value of each path based on the current traffic flow, the number of intersections and congestion information of each path; and comparing the grading recommended values of the multiple paths, determining the maximum value of the grading recommended values under the constraint condition of the energy surplus of the unmanned vehicle, and determining the path corresponding to the maximum value as a driving path for the unmanned vehicle to drive to the operation and maintenance station. In the above embodiment, when the scoring recommendation value of each route is generated, specifically, weight values of each item of information may be preset, and then the current traffic flow, the number of intersections, and the congestion information are weighted according to the respective weight values, so that the obtained processing result is the scoring recommendation value, where the weight values of each item of information are different according to the influence degree of each item of information on whether the unmanned vehicle can quickly pass through the route, for example, the influence degree of the congestion information on whether the unmanned vehicle quickly passes through the route is large, so the set weight value is larger, and vice versa.

Step S103: and sending any starting signal to a starting module of the unmanned vehicle to start the unmanned vehicle.

In this embodiment, the starting module of the unmanned vehicle may specifically be a hardware circuit, and the starting signal may be a level signal, for example, a high level signal; the starting module can start the unmanned vehicle after receiving the starting signal.

Since in the present embodiment, a human may not participate in the starting of the unmanned vehicle, the starting safety of the unmanned vehicle is a concern. In order to ensure the safety of the unmanned vehicle when starting, for example, the unmanned vehicle does not collide with an obstacle, does not generate collision risk to people around the unmanned vehicle, and the like, the embodiments provided in the application may further include: before any starting signal is sent to a starting module of the unmanned vehicle to start the unmanned vehicle, acquiring characteristic information of a peripheral area of the unmanned vehicle, wherein the peripheral area of the unmanned vehicle comprises a chassis of the unmanned vehicle, a ground shielded by the unmanned vehicle, front, back, left and right sides of the unmanned vehicle and a space area between the chassis and the ground; judging whether the acquired characteristic information is matched with the characteristic information of the peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time; and determining whether the peripheral area of the unmanned vehicle has an object influencing the entrance and exit according to the matching result. Specifically, according to the matching result, determining whether the object affecting the entrance and exit exists in the peripheral area of the unmanned vehicle may be: if the acquired characteristic information is consistent with the characteristic information of the peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time, determining that no object influencing the entrance and exit of the unmanned vehicle exists in the peripheral area of the unmanned vehicle; if the acquired feature information is inconsistent with feature information of a peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time, performing target identification on the acquired feature information to determine attribute information and position information of a target object contained in the acquired feature information; judging whether the attribute information and the position information of the target object meet preset conditions influencing the access of the unmanned vehicle; and if the attribute information and the position information of the target object meet the preset condition for influencing the access of the unmanned vehicle, determining that the object influencing the access of the unmanned vehicle exists in the peripheral area of the unmanned vehicle. In the above embodiment, the attribute information of the target object is inherent attribute information such as a type, a size, and a function of the target object, the position information of the target object may be a geographic position of the target object, may be absolute position information such as a coordinate point, or may be relative position information with respect to the unmanned vehicle, and the preset condition affecting the entrance and exit of the unmanned vehicle is related to the attribute information and the position information of the target object. For example, the preset condition may be that the size is larger than a threshold, the relative distance to the unmanned vehicle is smaller than a distance threshold, an object located within a preset area of the bottom of the unmanned vehicle, belonging to a preset category, or the like.

It can be known from the above unmanned vehicle starting method illustrated in fig. 1 that compared with the related art, the unmanned vehicle can only be started manually by a human operator, the degree of automation for starting the unmanned vehicle is high in the technical scheme of the present application, and compared with the related art, the unmanned vehicle can be started in a single manner, because various kinds of demand information can be used as various wake-up sources corresponding to the standby module of the unmanned vehicle, under the trigger of any one of the various wake-up sources, the standby module generates any one kind of starting signal of the unmanned vehicle, and sends any one kind of starting signal to the starting module of the unmanned vehicle to start the unmanned vehicle, therefore, the technical scheme of the present application can meet the starting demand of people on the unmanned vehicle in various scenes, realize the unmanned vehicle in the whole course, and bring good use experience to users.

Corresponding to the embodiment of the application function implementation method, the application also provides an unmanned vehicle starting device, electronic equipment and a corresponding embodiment.

the first verification request sending unit is used for sending a verification request to a vehicle platform under the trigger of a wake-up source corresponding to the service requirement of the unmanned vehicle if the unmanned vehicle belongs to the vehicle platform providing the riding service for the customer;

the second verification request sending unit is used for sending a verification request to a terminal to which the owner of the unmanned vehicle belongs under the trigger of the awakening source corresponding to the service requirement of the unmanned vehicle if the unmanned vehicle belongs to the owner of the individual vehicle;

and the first starting signal conversion unit is used for converting the service requirement of the unmanned vehicle into a starting signal of the unmanned vehicle after receiving a verification success response returned by the vehicle using platform or the terminal to which the vehicle owner belongs.

the detection unit is used for detecting the energy surplus of the unmanned vehicle or the energy surplus of the unmanned vehicle and the health state of the components;

and the second starting signal conversion unit is used for converting the operation and maintenance requirement of the unmanned vehicle into a starting signal for starting the unmanned vehicle to drive to the operation and maintenance site under the triggering of a wake-up source corresponding to the operation and maintenance requirement if the energy surplus of the unmanned vehicle is lower than a preset threshold or a component fails.

Optionally, in the foregoing embodiment, the apparatus illustrated in fig. 2 may further include a positioning module and a path planning module, where:

the positioning module is used for positioning the unmanned vehicle so as to determine the current position of the unmanned vehicle;

and the path planning module is used for planning a driving path of the unmanned vehicle to the operation and maintenance station according to the current position of the unmanned vehicle, the energy surplus of the unmanned vehicle and the position of the operation and maintenance station.

Optionally, in the above embodiment, the path planning module may include a query unit, a calculation unit, and a maximum score recommendation value determination unit, where:

the system comprises a query unit, a traffic information acquisition unit and a traffic information acquisition unit, wherein the query unit is used for querying a plurality of routes supporting driving from the current position of an unmanned vehicle to the position of an operation and maintenance site and respectively acquiring route information of the plurality of routes, and the route information comprises current traffic flow, intersection number and congestion information;

the calculation unit is used for generating a grade recommendation value of each path based on the current traffic flow, the number of intersections and the congestion information of each path;

and the maximum scoring recommendation value determining unit is used for comparing the scoring recommendation values of the multiple paths, determining the maximum value in the scoring recommendation values under the constraint condition of the energy surplus of the unmanned vehicle, and determining the path corresponding to the maximum value as a running path for the unmanned vehicle to drive to the operation and maintenance station.

Optionally, the apparatus of the foregoing embodiment may further include an obtaining module, a determining module, and a determining module, where:

the judging module is used for judging whether the acquired characteristic information is matched with the characteristic information of the peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time;

and the determining module is used for determining whether the peripheral area of the unmanned vehicle has an object influencing the entrance and exit according to the matching result.

Optionally, the determining module of the above embodiment may further include a first object determining unit, a target identifying unit, a condition determining unit, and a second object determining unit, wherein:

the first object determining unit is used for determining that no object influencing the entrance and exit of the unmanned vehicle exists in the peripheral area if the acquired characteristic information is consistent with the characteristic information of the peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time;

the target identification unit is used for carrying out target identification on the acquired characteristic information to determine attribute information and position information of a target object contained in the acquired characteristic information if the acquired characteristic information is inconsistent with the characteristic information of the peripheral area of the unmanned vehicle acquired when the unmanned vehicle parks for the last time;

the condition judging unit is used for judging whether the attribute information and the position information of the target object meet preset conditions influencing the access of the unmanned vehicle;

and the second object determining unit is used for determining that the object influencing the access of the unmanned vehicle exists in the peripheral area if the attribute information and the position information of the target object meet the preset condition influencing the access of the unmanned vehicle.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 3 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

Referring to fig. 3, the electronic device 300 includes a memory 310 and a processor 320.

The Processor 320 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 310 may include various types of storage units such as a system memory, a Read Only Memory (ROM), and a permanent storage device. Wherein the ROM may store static data or instructions for the processor 320 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 310 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 310 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), Blu-ray disc read only, ultra-dense disc, flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

The memory 310 has stored thereon executable code that, when processed by the processor 320, may cause the processor 320 to perform some or all of the methods described above.

Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.

Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.