CN111554084B - Method for searching unmanned vehicle - Google Patents
Method for searching unmanned vehicle Download PDFInfo
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- CN111554084B CN111554084B CN202010425484.XA CN202010425484A CN111554084B CN 111554084 B CN111554084 B CN 111554084B CN 202010425484 A CN202010425484 A CN 202010425484A CN 111554084 B CN111554084 B CN 111554084B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to a method for searching unmanned vehicles (or automatic driving vehicles and unmanned vehicles). when the unmanned vehicles reach appointed places, pictures of surrounding environments, such as pictures of landmark buildings, are captured by a camera and transmitted to a terminal user, the terminal user can intuitively know the shooting angle and the shooting direction of the pictures and deduce the direction of the unmanned vehicles for shooting, so that the unmanned vehicles can be quickly found by searching the surrounding environments, the parking places of the unmanned vehicles are free and random, and are not strictly limited by positioning precision and road conditions, meanwhile, the users can easily find the vehicles, and the vehicles are not limited by specific stations when being appointed.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method for searching an unmanned automobile.
Background
At present, unmanned network appointment vehicles are brought on line in the prior art, but in the actual operation process, safety personnel still exist in the vehicles, and the vehicles are not unmanned in the true sense. After a user sends an order, the user receives the order by the unmanned vehicle, the user needs to wait for the vehicle at a specific station, the user gets on the vehicle at the station, the unmanned vehicle is driven to the station by a security officer, then the security officer gets off the vehicle and then is in butt joint with the user, the whole process is not as convenient as the user has a network to order the vehicle, and the user cannot select to get on the vehicle or use the vehicle at any place.
If the unmanned network taxi appointment system is not provided with a safety worker, the user may not accurately find the unmanned taxi even after the unmanned taxi arrives at a place designated by the user because the positioning capability and the automatic driving capability of the existing unmanned taxi are limited and the unmanned taxi cannot actively contact the user like a person and the place or the position of the unmanned taxi is determined. In addition, due to the complex road conditions, the unmanned vehicle may not be parked at a place optionally designated by the user, so that the user cannot find the unmanned vehicle. .
Disclosure of Invention
In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides a method for assisting in searching for an unmanned vehicle after the unmanned vehicle arrives at an appointed location, which comprises the following specific contents:
a method of finding an unmanned vehicle, comprising:
step S01, the unmanned vehicle receives the order of the terminal user and drives to the arrival place appointed in the order;
step S02, acquiring the picture information of the surrounding environment of the unmanned vehicle, and sending the picture information of the surrounding environment to a terminal user;
step S03, receiving the operation command sent by the terminal user and executing the corresponding action;
specifically, the picture information of the surrounding environment is captured by a sensor provided on the unmanned vehicle, and the picture information of the surrounding environment includes image information or video information;
in particular, driving to the arrival location specified in the order comprises driving to a location near the arrival location specified in the order;
in particular, the sensor can select a representative target in the surrounding environment where the unmanned vehicle is located to capture so as to generate picture information of the surrounding environment;
in particular, the representative objects include buildings, road signs, traffic lights, natural environments and/or textual objects;
specifically, the screen information of the surrounding environment includes information indicating a positional relationship between the unmanned vehicle and the surrounding environment;
particularly, the method further comprises a step S011, after the unmanned vehicle drives to the arrival point, judging whether the unmanned vehicle receives the operation information of the user within a certain time period, and if not, executing a step S02;
specifically, the operation information includes information for causing the unmanned vehicle to perform an action;
particularly, the method further includes step S021 of determining whether the unmanned vehicle receives information that the user confirms to find the unmanned vehicle within a certain time period, if yes, step S03 is executed, and if not, the sensor adjusts its own orientation to reacquire picture information of the surrounding environment or reselects the representative target to execute step S02;
in particular, the sensor is a camera.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
after the vehicle arrives at the designated place, the surrounding landmark environmental information is obtained and sent to the user, so that the user can accurately judge the position of the vehicle according to the information, and the user can conveniently and quickly find the unmanned vehicle.
In addition, the user can easily and quickly find the unmanned vehicle, and the unmanned vehicle can be stopped at a position far away from the user and also can be found by the user in the process of driving to the specified place if the unmanned vehicle cannot approach the user due to complex road conditions, so that the parking operation of the unmanned vehicle is more flexible and is suitable for actual scenes.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a method for finding an unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for finding an unmanned vehicle according to another embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention may be more clearly understood, a solution of the present invention will be further described below. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Aiming at the problems that a user cannot randomly specify a vehicle parking place and the user cannot find the vehicle due to inaccurate positioning of the unmanned vehicle or deviation of the parking position and the place where the user is located in the prior art, in the technical scheme of the invention, after the vehicle arrives at the specified place, the user can accurately judge the position of the vehicle according to the information by acquiring surrounding landmark environmental information and sending the information to the user, so that the user can quickly find the unmanned vehicle, and the parking position of the unmanned vehicle is more flexible and diversified and is not limited to a specific station.
In a first aspect, fig. 1 is a schematic flow chart of a method for finding an unmanned vehicle according to an embodiment of the present invention, as shown in fig. 1, including the following steps:
in step S01, the unmanned vehicle receives the order of the end user and drives to the arrival point specified in the order. The unmanned vehicle can be unmanned commercial vehicles such as unmanned net appointment vehicles with an automatic driving function, unmanned retail vehicles and the like.
In step S02, after the unmanned vehicle arrives at the designated location, a sensor capable of capturing images, such as a camera mounted on the unmanned vehicle, acquires picture information of the surrounding environment of the unmanned vehicle, and sends the picture information of the surrounding environment to the end user, wherein the camera is capable of capturing pictures or videos of objects representative of the surrounding environment, such as representative objects of buildings, road signs, traffic lights, natural environments and/or characters, and the camera is further capable of capturing pictures of multiple directions.
The terminal user watches the picture information of the surrounding environment sent by the unmanned vehicle after receiving the picture information, and the picture information is shot by the camera on the unmanned vehicle, so that the shooting angle and the size of the environment target in the picture have a corresponding relation with the position of the unmanned vehicle, and the user can intuitively deduce the position of the unmanned vehicle according to the relation, thereby being capable of finding the unmanned vehicle more conveniently. For example, the camera of the unmanned vehicle captures a tall building with a red color in the front left, and sends a picture of the building to the user, and according to the photographing angle and the building size in the picture, the position relationship between the unmanned vehicle and the building and the distance from the building can be deduced, and the red tall building is easy for the user to find, so that the unmanned vehicle can be quickly found. The camera can also capture a plaque with text on the roadside, and the plaque represents an object which is easier for the user to find.
In addition, the camera can be a 360-degree camera or a camera capable of adjusting the shooting direction at will. The camera can perform object recognition and shoot representative environmental objects into the surrounding environment picture. The target recognition is based on a reference target stored in the unmanned vehicle.
In addition, the screen information of the surrounding environment may further include indication information indicating a positional relationship between the unmanned vehicle and the surrounding environment. The indication information can be character identification information and/or graphic identification information. For example, the red photograph of a large building may automatically indicate an indication arrow indicating the direction and distance of the vehicle, and may be added with text, for example, that the vehicle is located 50 meters ahead of the building.
After receiving the picture information of the surrounding environment, the terminal user can use the surrounding environment as a reference object to finally find the unmanned vehicle, and the surrounding environment is easier to find than the unmanned vehicle, so that the time for finding the unmanned vehicle is saved.
And step S03, receiving the operation information sent by the terminal user and executing corresponding action. After the user finds the unmanned vehicle, the user can perform operations on the unmanned vehicle, such as sending an operation of opening a vehicle door, selling an order, or performing other interactive operations with the unmanned vehicle.
Note that the arrival point specified in the above-mentioned order includes driving to a point near the arrival point specified in the order. When the unmanned vehicle cannot drive to the arrival place specified in the order due to the fact that road conditions are complex or cannot drive to the arrival place specified in the order for a long time, the unmanned vehicle can select a place within a certain range of distance from the arrival place to park. Or, the actual parking place has a certain position deviation from the arrival place specified in the order due to inaccurate positioning of the unmanned vehicle.
In another embodiment of the present invention, as shown in fig. 2, the method further includes step S011, after the unmanned vehicle drives to the arrival point, determining whether the unmanned vehicle receives an operation command from the user within a certain time period, and if not, executing step S02. The operation command includes information for causing the unmanned vehicle to perform an action as described above. Such as door opening, boarding or vend ordering. The step ensures that the unmanned vehicle does not need to send the picture information of the surrounding environment to the user every time the unmanned vehicle is parked, and the picture information is only needed to be sent when the user can not find the unmanned vehicle within a certain time period. If the user operates the unmanned vehicle within a certain time period, the unmanned vehicle is found and information does not need to be sent to the unmanned vehicle.
In addition, step S021 may be further included, determining whether the unmanned vehicle receives the information of confirming that the user finds the unmanned vehicle within a certain time period, if so, for example, receiving a message of confirming that the user finds the unmanned vehicle, and executing step S03, if not, which may mean that the content in the picture of the surrounding environment is not easy to find by the user, the sensor reselects the representative target or adjusts its own orientation to reacquire the picture information of the surrounding environment, so as to execute step S02.
After the unmanned vehicle reaches the designated place in the order, the surrounding landmark environmental information is obtained and sent to the user, so that the user can accurately judge the position of the unmanned vehicle for shooting according to the shooting angle and the direction of the information, and the user can conveniently and quickly find the unmanned vehicle.
In addition, as the user can easily and quickly find the unmanned vehicle, the unmanned vehicle can be parked near the designated place and can also be found by the user when the unmanned vehicle runs to the designated place and meets complicated road conditions, so that the unmanned vehicle parking operation is more flexibly suitable for actual scenes
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of finding an unmanned vehicle, comprising:
step S01, the unmanned vehicle receives the order of the terminal user and drives to the arrival place appointed in the order;
step S02, acquiring the picture information of the surrounding environment of the unmanned vehicle, sending the picture information of the surrounding environment to the terminal user,
the image information of the surrounding environment is captured by a sensor arranged on the unmanned vehicle, the image information of the surrounding environment comprises photo information or video information, and the sensor can select a representative target in the surrounding environment where the unmanned vehicle is located to capture so as to generate the image information of the surrounding environment;
the shooting angle and the size of the target in the picture of the surrounding environment respectively have corresponding relations with the position relation and the distance between the unmanned vehicle and the environmental target;
and step S03, receiving the operation command sent by the end user and executing corresponding action.
2. The method of claim 1, wherein driving to the arrival location specified in the order comprises driving to a location near the arrival location specified in the order.
3. The method of claim 2, wherein the representative objects include buildings, road signs, traffic lights, natural environments, and/or textual objects.
4. The method of any one of claims 1-3, wherein the screen information of the ambient environment includes indication information indicating a positional relationship between the unmanned vehicle and the ambient environment.
5. The method of claim 4, further comprising,
and step S011, after the unmanned vehicle drives to the arrival place, judging whether the unmanned vehicle receives an operation command of a user within a certain time period, and if not, executing step S02.
6. The method of claim 5, wherein the operating command comprises a command to cause the unmanned vehicle to perform an action.
7. The method of claim 1, further comprising,
and S021, judging whether the unmanned vehicle receives the information that the user confirms to find the unmanned vehicle within a certain time period, if so, executing S03, otherwise, adjusting the self direction of the sensor to acquire the picture information of the surrounding environment again or reselecting the representative target to execute S02.
8. The method of claim 6, wherein the sensor is a camera.
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| CN112651806B (en) * | 2020-12-30 | 2023-08-08 | 北京瞰瞰智能科技有限公司 | Method for quickly finding passengers |
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