CN115631656A - Control system of unmanned vehicle and unmanned vehicle thereof - Google Patents
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a control system of an unmanned vehicle and the unmanned vehicle, wherein the control system comprises: the system comprises a main processor, a wireless communication module, a navigation module, a lane recognition unit, a vehicle speed control module, a vehicle distance control unit, a vehicle avoiding module, a vehicle alarm module, a vehicle positioning unit and a vehicle parking unit; the main processing controls the execution of other modules and units; the vehicle distance control unit is used for keeping the unmanned vehicle and moving objects on four sides of the unmanned vehicle to keep a preset safe distance in the driving process of the unmanned vehicle; the vehicle avoidance module is used for identifying obstacles or intrusions on the road to implement emergency avoidance; the vehicle positioning unit is used for acquiring the position information of the unmanned vehicle in real time according to the satellite positioning system; the vehicle parking unit is used for realizing automatic parking of the unmanned vehicle. The unmanned vehicle management and control system has the advantages that the unmanned vehicle can be comprehensively managed and controlled, safety is improved through multi-module redundancy and other designs, operation is convenient, and the like; the problem of unmanned car security relatively poor, be not convenient for carry out intelligent management and control is solved.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control system of an unmanned vehicle and the unmanned vehicle.
Background
Artificial intelligence is one of the most popular technical development directions at present, and the development of unmanned vehicles is a key point in the field of artificial intelligence. Unmanned car can be applied to a plurality of fields, especially in the commodity circulation field, can reduce manual operation, reduces the human cost, improves the automation of commodity circulation transportation.
At present, besides automatic driving of the unmanned vehicle, many behaviors also need to be regulated and controlled by the rear end, so that communication between the unmanned vehicle and the rear end control center is extremely important. However, the safety of the existing unmanned vehicle is poor in the driving process, and due to the fact that the road state is changeable, the unmanned vehicle is easy to touch other vehicles, and meanwhile, after a fault occurs, the message cannot be timely transmitted to a control center, so that the road congestion is easily caused.
Disclosure of Invention
The embodiment of the invention provides a control system of an unmanned vehicle and the unmanned vehicle thereof, which are used for solving the technical problems that the existing unmanned vehicle is easy to touch other vehicles, and cannot transmit messages to a control center in time after a fault occurs, so that the road congestion is easily caused, and the like.
An embodiment of the present invention provides a control system for an unmanned vehicle, including: the system comprises a main processor, a wireless communication module, a navigation module, a lane recognition unit, a vehicle speed control module, a vehicle distance control unit, a vehicle avoidance module, a vehicle alarm module, a vehicle positioning unit and a vehicle parking unit; wherein the content of the first and second substances,
the main processing controls the execution of the wireless communication module, the navigation module, the lane recognition unit, the vehicle speed control module, the vehicle distance control unit, the vehicle avoidance module, the vehicle alarm module, the vehicle positioning unit and the vehicle parking unit;
the wireless communication module is used for connecting the mobile terminal and the external controller; the navigation module is used for making a route according to the starting position, the end position and the road condition of the unmanned vehicle and carrying out vehicle navigation; the vehicle speed control module is used for controlling the speed of the unmanned vehicle in running; the vehicle distance control unit is used for keeping the unmanned vehicle and moving objects on four sides of the unmanned vehicle to keep a preset safe distance in the running process of the unmanned vehicle; the vehicle avoidance module is used for identifying obstacles or intrusions on the road to implement emergency avoidance; the vehicle alarm module is used for sending alarm information to an external controller on site or in case of a fault or accident; the vehicle positioning unit is used for acquiring the position information of the unmanned vehicle in real time according to a satellite positioning system and sensor data; the vehicle parking unit is used for realizing automatic parking of the unmanned vehicle.
In some embodiments, the lane recognition unit includes a lane marking recognition module, a zebra crossing recognition module, and a signal light recognition module, which recognize a lane marking, a zebra crossing, and a signal light, respectively, from image data of the sensor.
In some embodiments, the vehicle distance control unit comprises a vehicle distance sensor, a vehicle distance comparison module and a vehicle distance setting module, wherein the vehicle distance comparison module compares the acquired distance data of the vehicle distance sensor with a safety distance threshold preset by the vehicle distance setting module, and issues a vehicle speed change instruction according to the comparison result.
In some embodiments, the vehicle distance comparison module is connected to a brake pedal sensor, and the brake pedal sensor is connected to the vehicle distance setting module.
In some embodiments, the vehicle positioning unit comprises a satellite positioning module, a video graphics recording module, and an information transmission module; the satellite positioning module realizes satellite positioning, triggers the video recording function of the video graphic video recording module when a fault or an accident occurs, and realizes the report of fault or accident information by utilizing the information transmission module.
In some embodiments, the vehicle positioning unit further comprises an information storage module, and the information storage module stores or reports information through the information transmission module.
In some embodiments, the vehicle parking unit includes a vehicle identification module, a scene identification module, and a parking space control module, and the vehicle identification module and the scene identification module identify a location where the vehicle can be parked according to image data of a sensor, and then drive the unmanned vehicle into the location using the parking space control module.
In some embodiments, the vehicle parking unit further comprises a billing module that initiates billing a vehicle after the unmanned vehicle enters the location.
In some embodiments, the control system further includes a road condition feedback module, configured to receive sensor data from the unmanned vehicle, analyze the data to obtain abnormal road conditions, and feed the abnormal road conditions back to the mobile terminal or the external controller; wherein the sensor data comprises at least one of camera image data, radar data, or ranging laser data.
According to another aspect of the embodiment of the invention, the unmanned vehicle comprises an unmanned vehicle body and a sensor arranged on the unmanned vehicle body, and is characterized by further comprising the control system according to any one of the above items.
Compared with the prior art, the unmanned vehicle provided by the embodiment of the invention has the following advantages:
according to the embodiment of the invention, through the arrangement of the mobile terminal such as the mobile phone client and the external controller (including the control center), the unmanned vehicle can be operated in real time, the user can send a command conveniently, meanwhile, through the arrangement of the sensor such as the camera, the surrounding information of the vehicle can be scanned and read in all directions, the safe driving of the unmanned vehicle is facilitated, through the arrangement of the lane identification unit, the vehicle speed control module and the vehicle distance control unit, the traffic information of the road can be identified in the driving process, the vehicle distance between the front vehicle and the left and right vehicles can be conveniently regulated and controlled, the situation that the vehicle overtaking collision or scratch with the surrounding vehicles due to the fact that the vehicle is too fast is avoided, the road congestion is caused is avoided, meanwhile, through the arrangement of the vehicle positioning unit and the vehicle parking unit, the unmanned vehicle can be positioned and parked in real time, the external control center can conveniently monitor the parking information of the unmanned vehicle in real time, and the problems that the safety of the existing unmanned vehicle is poor in safety and is inconvenient to carry out intelligent control are solved.
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Fig. 1 is a schematic composition diagram of a control system of an unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a lane recognition unit according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a vehicle distance control unit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle positioning unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle parking unit according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an unmanned vehicle control system according to an embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.
According to an embodiment of an aspect of the present invention, referring to fig. 1, there is shown a control system of an unmanned vehicle, comprising: the unmanned vehicle comprises a main processor, a wireless communication module, a navigation module, a lane recognition unit, a vehicle speed control module, a vehicle distance control unit, a vehicle avoiding module, a vehicle alarm module, a vehicle positioning unit and a vehicle parking unit, and of course, the control system also comprises a storage module, a communication bus and other control systems for ensuring that the unmanned vehicle normally runs and other modules or units.
Specifically, the main processor is a hardware entity, and includes a central processor or a microprocessor, and the like, and is mainly used for controlling the execution of other units or modules, such as the wireless communication module, the navigation module, the lane recognition unit, the vehicle speed control module, the vehicle distance control unit, the vehicle avoidance module, the vehicle alarm module, the vehicle positioning unit, and the vehicle parking unit.
The main processor may execute other modules or units sequentially, or trigger a certain module or unit when a condition is met according to a built-in program.
It should be noted that the above units or modules may be hardware entities, or may also be software virtual devices, including software devices implemented by artificial intelligence technologies such as deep learning, and certainly also include modules combining software and hardware.
In addition, in the control mode of the unmanned vehicle, the unmanned vehicle can be operated and controlled to run only through the mobile terminal or an external controller, can run only through the modes of autonomous recognition and control, and can realize automatic driving in a mode of mixing the two modes.
The wireless communication module is used for realizing wireless connection with a mobile terminal, an external controller and the like, and certainly, under some required scenes, the wireless communication module can also realize wireless connection with other external devices such as a sensor and the like. The wireless communication module in the embodiment of the invention particularly refers to a device for performing long-distance wireless transmission by using electromagnetic waves.
The navigation module is used for making a route according to the initial position, the end position and the road condition of the unmanned vehicle and carrying out vehicle navigation, and the navigation module can adopt the existing GPS navigation, the Beidou navigation and the like.
The vehicle speed control module is used for controlling the speed of the unmanned vehicle in the running process, and particularly, the vehicle speed control module can be matched with the vehicle distance control unit to realize the control of the distance between the unmanned vehicle and other objects such as vehicles, pedestrians or obstacles.
The vehicle distance control unit is used for keeping the unmanned vehicle and objects, particularly moving objects, on four sides of the unmanned vehicle at a preset safe distance during the running of the unmanned vehicle, for example, when the unmanned vehicle approaches vehicles on the front, back, left and right sides, the safe distance between the unmanned vehicle and other objects is kept through a steering wheel and/or a vehicle speed control module.
The vehicle avoidance module is used for identifying obstacles or intrusions on the road according to data such as sensor images and the like and realizing automatic avoidance, or implementing emergency avoidance according to control instructions of an external mobile terminal or a control center.
The vehicle alarm module is used for sending alarm information to an external controller on site or in case of a fault or accident.
The vehicle positioning unit is used for acquiring the position information of the unmanned vehicle in real time according to a satellite positioning system and sensor data, and the vehicle parking unit controls the unmanned vehicle to realize automatic parking when recognizing that the vehicle is located in a parking lot or other positions where the vehicle can park.
In conclusion, according to the embodiments of the present invention, by setting a plurality of modules or units, the automatic driving level and the intelligent management and control level of the unmanned vehicle are improved, and the safety performance of the unmanned vehicle under various road conditions and scenes is ensured.
In one or some embodiments, as described in conjunction with fig. 2, the lane recognition unit includes a lane marking recognition module, a zebra crossing recognition module, and a traffic light recognition module, which recognize lane markings, zebra crossings, and traffic lights, respectively, based on image data of the sensor.
Specifically, above-mentioned lane marking identification module, zebra crossing identification module and signal lamp identification module can receive about road conditions image data about coming from uploading such as camera, radar, and then discern road conditions such as lane marking, zebra crossing and signal lamp through machine learning models such as neural network models to make unmanned car can be through the demonstration condition of signal lamp, slow down or the parking is waited for in zebra crossing department, the safety and the civilized driving of unmanned car of being convenient for.
In some embodiments, as shown in fig. 3, the vehicle distance control unit includes a vehicle distance sensor, a vehicle distance comparison module, and a vehicle distance setting module, where the vehicle distance comparison module compares the acquired distance data of the vehicle distance sensor with a safety threshold preset by the vehicle distance setting module, and issues a vehicle speed change command according to the comparison result.
Furthermore, the vehicle distance comparison module is connected with a brake pedal sensor, and the brake pedal sensor is connected with the vehicle distance setting module.
Through the setting of vehicle distance sensor, vehicle distance comparison module and vehicle distance setting module for unmanned vehicle accessible vehicle distance sensor responds to the vehicle distance of front side and left and right sides, and compares with the speed of traveling of oneself, and after the contrast, the distance value of accessible vehicle distance is formulated, realizes the safe driving of unmanned vehicle.
And the speed of the vehicle can be controlled by being connected with the brake pedal sensor, so that the safety distance between the vehicle and the front vehicle and between the vehicle and the left and right sides can be conveniently kept, the touch is avoided, and the safe driving of the unmanned vehicle is ensured.
In some embodiments, referring to fig. 4, the vehicle positioning unit includes a satellite positioning module, a video image recording module and an information transmission module, and the satellite positioning module can realize satellite positioning; and under the condition of a fault or an accident, the unmanned vehicle utilizes the video image recording module to record the video and utilizes the information transmission module to realize the report of the fault or accident information.
And the vehicle positioning unit also comprises an information storage module, and the information storage module stores or reports information to the main processor or the mobile client and the like through the information transmission module.
Specifically, as shown in fig. 4, the satellite positioning module in this embodiment is connected to the video graphics recording module, the output end of the video graphics recording module is electrically connected to the input end of the information transmission module, through the satellite positioning module, the video graphics recording module and the information transmission module, after a vehicle fails or encounters an emergency, the position information of the vehicle can be obtained at the first time, and the vehicle is recorded through videos and pictures, and then the vehicle information is transmitted to the mobile phone of a user or an external controller conveniently, so that the user can know the situation conveniently.
In this embodiment, the output end electric connection of video figure video recording module has information storage module, and information storage module's output is connected with information transmission module's input, and through information storage module's setting, can conveniently save after carrying out real-time video recording to the situation that takes place on every side, further convenient to use person watches the video of storage, has made things convenient for subsequent processing.
In some embodiments, the vehicle parking unit includes a vehicle recognition module, a scene recognition module, and a parking space control module, and the vehicle recognition module and the scene recognition module recognize a position where the vehicle can be parked according to image data of a sensor, and then drive the unmanned vehicle into the position using the parking space control module.
Therefore, through the arrangement of the vehicle identification module, the scene identification module and the parking space control module, the unmanned vehicle can identify the parking information of surrounding vehicles and simultaneously identify surrounding scenes together, and after a vacant parking space is found, the vehicle can be parked through the parking space control module, so that the parking safety is improved.
And, in some preferred embodiments, the vehicle parking unit further comprises a billing module that starts billing a vehicle after the unmanned vehicle enters the location. Through the setting of the charging module, after the vehicle stops, the charging processing is carried out according to the self-counted stopping time, and when the vehicle needs to run again, the fee can be automatically deducted.
In some embodiments, referring to fig. 1 and 6, the control system further includes a road condition feedback module, configured to receive sensor data of the unmanned vehicle, analyze the received sensor data to obtain an abnormal road condition, and feed the abnormal road condition back to the mobile terminal or the external controller.
Wherein the sensor data comprises at least one of camera image data, radar data, or ranging laser data. Specifically, the camera in this embodiment is a 360-degree panoramic camera, and the output end of the camera is electrically connected with the input end of the control system in a bidirectional manner. The camera is arranged as a 360-degree panoramic camera, so that the conditions around the vehicle can be connected in an all-around manner, and the automatic identification and the observation of a user are facilitated.
Preferably, the output end of the camera is electrically connected with the road condition feedback module, and the output end of the road condition feedback module can be in two-way communication with the mobile phone client and the external controller respectively. Through the setting of road conditions feedback module, can feed back the information that the road was gone, avoid meeting with the distance that blocks up after, the customer can't know the information of going and the road condition of unmanned car, bring great inconvenience for user's use.
The unmanned vehicle comprises an unmanned vehicle body and a sensor arranged on the unmanned vehicle body, wherein the sensor comprises a camera, a radar, a distance measuring instrument and the like, the unmanned vehicle further comprises a control system according to any one of the above, and the control system is used for realizing safe driving of the unmanned vehicle.
According to the unmanned vehicle embodiment, safe driving of the unmanned vehicle and comprehensive and intelligent management and control of the unmanned vehicle can be achieved.
Fig. 6 shows a specific implementation example, which shows a driving path of an unmanned vehicle in a scenario, and further describes the above embodiment. It should be noted that, the modules and units in fig. 6 preferably include hardware entities, or at least partially include hardware entities, and certainly, machine learning such as deep learning is also needed to implement recognition and information processing.
It should be noted that the arrow direction in fig. 6 mainly refers to the information flow direction between modules or units, and certainly, some modules and units also have an electrical connection relationship, which can be determined according to specific situations, and will not be further described here.
In this embodiment, the management and control system of the unmanned vehicle specifically includes a main processor, a read-write module, a mobile phone client, an external controller, a camera, a wireless communication module, a navigation module, a vehicle control module, a vehicle distance control unit, a vehicle avoidance module, a vehicle alarm module, a position information positioning unit and a vehicle parking unit, an input end of a main process is respectively connected with the read-write module and the camera in a bidirectional manner, an input end of a dedicated read-write module is respectively connected with the mobile phone client and the external controller in a bidirectional manner, an output end of the main process is connected with an input end of the wireless communication module, an output end of the wireless communication module is connected with an input end of the navigation module, an output end of the navigation module is connected with an input end of a lane identification unit, an output end of the lane identification unit is connected with an input end of a vehicle speed control module, an output end of the vehicle speed control module is connected with an input end of the vehicle distance control unit, an output end of the vehicle avoidance module is connected with an input end of the vehicle alarm module, an output end of the vehicle alarm module is electrically connected with an input end of the vehicle positioning unit, and an output end of the vehicle positioning unit is connected with an input end of the vehicle parking unit. Further, in order to improve the safety and controllability of the unmanned vehicle, a road condition feedback module electrically connected with the output end of the camera is further arranged on the unmanned vehicle, the road condition feedback module is in two-way communication with the mobile phone client and the external controller, and the information of road driving can be fed back through the arrangement of the road condition feedback module, so that after the unmanned vehicle is prevented from meeting congestion, a client cannot know the driving information and the road condition of the unmanned vehicle, and great inconvenience is brought to the use of a user.
In the implementation example, through the arrangement of the mobile phone client and the external controller, the unmanned vehicle can be operated in real time, and a user can conveniently send out a number instruction, meanwhile, through the arrangement of the camera, the surrounding information of the vehicle can be scanned and read in an all-around manner, and safe driving of the unmanned vehicle is facilitated.
In summary, according to the above embodiment of the present invention, an optional workflow of the present invention is as follows: during the use, the initial position and the terminal point position that the accessible cell-phone client class terminal or external controller input travel, then assign the instruction of traveling to this unmanned car through wireless communication module, and through navigation module, travel according to the definite navigation route, unmanned car is at the in-process of traveling, sensors such as accessible camera scan the lane line on road surface discernment, and be convenient for the road of unmanned car to travel, if meet zebra crossing and signal lamp, the demonstration condition of accessible signal lamp, slow down or the parking is waited for in zebra crossing department, so that the pedestrian passes through, thereby the civilized driving level and the security performance of unmanned car have been improved.
In the process of unmanned vehicle driving, accessible car distance sensor is controlled the car distance of preceding car and both sides, and go on contrastive analysis rather than through self speed of traveling, the speed of a motor vehicle that accessible brake pedal sensor adjustment was gone simultaneously, can carry out stable safe distance drive afterwards, if the vehicle when breaking down on the road of traveling, accessible satellite positioning, can find unmanned vehicle's specific position fast, and make things convenient for the trailer to carry out the consignment, the fault condition of taking place around to implement the video recording through the camera simultaneously, and save it, on information transmission module such as accessible radio communication feeds back to user's cell-phone or external control ware afterwards.
When the unmanned vehicle needs to park after reaching the designated position, the surrounding vehicles can be recognized, and when the vacant parking spaces are found, the vehicle can be parked through the vehicle parking unit.
It is to be noted that, in the embodiments of the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the above-mentioned preferred embodiments of the present invention are not intended to limit the present invention, and any person skilled in the art may make variations and modifications without departing from the spirit and scope of the present invention.
Claims (10)
1. A control system for an unmanned vehicle, the control system comprising: the system comprises a main processor, a wireless communication module, a navigation module, a lane recognition unit, a vehicle speed control module, a vehicle distance control unit, a vehicle avoidance module, a vehicle alarm module, a vehicle positioning unit and a vehicle parking unit; wherein the content of the first and second substances,
the main processor controls the execution of the wireless communication module, the navigation module, the lane recognition unit, the vehicle speed control module, the vehicle distance control unit, the vehicle avoidance module, the vehicle alarm module, the vehicle positioning unit and the vehicle parking unit;
the wireless communication module is used for connecting the mobile terminal and the external controller; the navigation module is used for making a route according to the starting position, the end position and the road condition of the unmanned vehicle and carrying out vehicle navigation; the vehicle speed control module is used for controlling the speed of the unmanned vehicle in running; the vehicle distance control unit is used for keeping the unmanned vehicle and objects on four sides of the unmanned vehicle keep a preset safe distance in the running process of the unmanned vehicle; the vehicle avoidance module is used for identifying obstacles or intrusions on a road so as to implement emergency avoidance; the vehicle alarm module is used for sending alarm information to the mobile terminal and an external controller on site when a fault or an accident occurs; the vehicle positioning unit is used for acquiring the position information of the unmanned vehicle in real time according to a satellite positioning system and/or sensor data; the vehicle parking unit is used for realizing automatic parking of the unmanned vehicle.
2. The control system according to claim 1, wherein the lane recognition unit includes a lane marking recognition module, a zebra crossing recognition module, and a signal light recognition module, which recognize a lane marking, a zebra crossing, and a signal light, respectively, based on image data of a sensor.
3. The control system according to claim 1, wherein the vehicle distance control unit comprises a vehicle distance sensor, a vehicle distance comparison module and a vehicle distance setting module, the vehicle distance comparison module compares the acquired distance data of the vehicle distance sensor with a safety distance threshold value preset by the vehicle distance setting module, and issues a vehicle speed change command according to the comparison result.
4. The control system of claim 3, wherein the separation comparison module is coupled to a brake pedal sensor coupled to the separation setting module.
5. The control system of claim 1, wherein the vehicle positioning unit comprises a satellite positioning module, a video graphics recording module and an information transmission module, wherein the satellite positioning module realizes satellite positioning; when a fault or accident occurs, triggering the video recording function of the video image video recording module, and reporting fault or accident information by using the information transmission module.
6. The control system of claim 5, wherein the vehicle locating unit further comprises an information storage module, and the information storage module stores or reports information through the information transmission module.
7. The control system of claim 1, wherein the vehicle parking unit comprises a vehicle recognition module, a scene recognition module and a parking space control module, the vehicle recognition module and the scene recognition module recognize a position where the vehicle can be parked according to image data of a sensor, and then the unmanned vehicle is driven into the position by the parking space control module.
8. The control system of claim 7, wherein the vehicle parking unit further comprises a billing module that initiates billing a vehicle after the unmanned vehicle enters the location.
9. The control system according to claim 1, further comprising a road condition feedback module, wherein the road condition feedback module is configured to receive sensor data from the unmanned vehicle, analyze the data to obtain abnormal road conditions, and feed the abnormal road conditions back to the mobile terminal or the external controller; wherein the sensor data comprises at least one of camera image data, radar data, or ranging laser data.
10. An unmanned vehicle comprising an unmanned vehicle body and a sensor provided on the unmanned vehicle body, characterized in that the unmanned vehicle further comprises a control system according to any of claims 1-9.
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| CN109204586A (en) * | 2018-07-25 | 2019-01-15 | 智慧式控股有限公司 | The unmanned scooter of wisdom formula and shared system and business model |
| CN109343530A (en) * | 2018-11-02 | 2019-02-15 | 北京悦畅科技有限公司 | A kind of AGV transfer robot |
| WO2022082843A1 (en) * | 2020-10-19 | 2022-04-28 | 垒途智能教科技术研究院江苏有限公司 | Multi-sensor integrated unmanned vehicle detection and obstacle avoidance system and obstacle avoidance method |
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| CN112991772A (en) * | 2021-02-26 | 2021-06-18 | 西北工业大学 | Unmanned vehicle scheduling method and system |
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