CN117492454B - Unmanned vehicle control method, device, equipment and medium based on intelligent rod - Google Patents
Unmanned vehicle control method, device, equipment and medium based on intelligent rod Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent traffic, and provides an unmanned vehicle control method, device, equipment and medium based on an intelligent rod, which can generate a driving route according to the departure place and the destination of an unmanned target vehicle, acquire an intelligent rod on the side of a road through which the driving route passes to form an intelligent rod sequence, monitor the driving process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach a monitoring condition, and control the target vehicle according to the real-time monitoring result. The intelligent control system and the intelligent control method are combined with the intelligent rod to monitor the running state of the unmanned vehicle in real time, and reasonably control the running state in real time, so that the safety of unmanned vehicles is improved, and the running efficiency is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an unmanned vehicle control method, device, equipment and medium based on an intelligent rod.
Background
With the continuous development of intelligent traffic, unmanned technology is receiving extensive attention in order to release manpower and save manpower cost.
Meanwhile, the intelligent bars are arranged on the road sides at present, so that the intelligent bars are novel infrastructure capable of continuously generating or receiving information flows.
Therefore, how to combine the wisdom pole to effectively control unmanned vehicle to improve unmanned security and the high efficiency of driving has become the problem that needs to be solved urgently.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, apparatus, device, and medium for controlling an unmanned vehicle based on a smart lever, which can improve the safety of the unmanned vehicle and the traveling speed of the vehicle in combination with the smart lever.
The intelligent rod system comprises a plurality of intelligent rods, each intelligent rod comprises an intelligent rod body, an intelligent gateway, a road side parking space signboard, an image acquisition device and a sensor device, the intelligent gateway is arranged in the intelligent rod body, the road side parking space signboard, the image acquisition device and the sensor device are arranged on the intelligent rod body, and the image acquisition device and the sensor device are connected with the intelligent gateway; the intelligent pole-based unmanned vehicle control method comprises the following steps:
Responding to an unmanned vehicle control instruction, and analyzing the unmanned vehicle control instruction to obtain an unmanned target vehicle, a departure place and a destination;
generating a driving route according to the departure place and the destination;
acquiring intelligent bars on the road side where the driving route passes to form an intelligent bar sequence;
detecting whether the target vehicle reaches a monitoring condition;
when the target vehicle is detected to reach the monitoring condition, the running process of the target vehicle is monitored in real time based on the intelligent rod sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result.
According to a preferred embodiment of the present invention, the detecting whether the target vehicle reaches a monitoring condition includes:
for the first intelligent pole in the intelligent pole sequence, acquiring license plate images of each vehicle passing through the first intelligent pole by utilizing an image acquisition device of the first intelligent pole;
identifying license plate images of each vehicle to obtain license plate information of each vehicle;
the intelligent gateway based on the first intelligent pole sends license plate information of each vehicle to a designated server for identity confirmation;
And when the intelligent gateway of the first intelligent pole receives the identity confirmation information corresponding to the target vehicle and fed back by the appointed server, determining that the target vehicle reaches the monitoring condition.
According to a preferred embodiment of the present invention, the real-time monitoring of the driving process of the target vehicle based on the smart lever sequence to obtain a real-time monitoring result, and the controlling the target vehicle according to the real-time monitoring result includes:
for each intelligent rod in the intelligent rod sequence, acquiring a running image of the target vehicle in real time by using an image acquisition device of each intelligent rod;
invoking a face detection model deployed in an intelligent gateway of each intelligent pole to perform face detection on the driving image acquired by each intelligent pole to obtain a first detection result;
acquiring a driver detection result uploaded by the target vehicle through an intelligent gateway of each intelligent rod as a second detection result;
when the first detection result and the second detection result are both unmanned, determining that the real-time monitoring result is that the target vehicle is in an unmanned state, and continuously monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result; or alternatively
And when the first detection result and the second detection result are not both unmanned, determining that the real-time monitoring result is that the target vehicle is in a manned state, and sending alarm information to a background server according to the real-time monitoring result.
According to a preferred embodiment of the present invention, the real-time monitoring of the driving process of the target vehicle based on the smart lever sequence to obtain a real-time monitoring result, and controlling the target vehicle according to the real-time monitoring result further includes:
when the sensor device of any intelligent rod in the intelligent rod sequence detects that the parking time length of the target vehicle is greater than or equal to the preset time length, and the intelligent gateway of the any intelligent rod receives a notification that the current road section is in a traffic state, determining that the real-time monitoring result is that the target vehicle is in an abnormal parking state;
detecting an abnormality cause of the abnormal parking state;
and controlling the target vehicle according to the abnormality reason.
According to a preferred embodiment of the present invention, the controlling the target vehicle according to the abnormality cause includes:
when the abnormality is that the current road section cannot pass, replacing a running route for the target vehicle;
And updating the intelligent bar sequence according to the replaced driving route.
According to a preferred embodiment of the present invention, the controlling the target vehicle according to the abnormality cause further includes:
and when the abnormality is that the target vehicle fails, sending an overhaul request to a designated terminal device.
According to the preferred embodiment of the invention, the running process of the target vehicle is monitored in real time based on the intelligent pole sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result:
when an intelligent gateway with an intelligent rod in the intelligent rod sequence receives a low-power prompt and/or a low-oil prompt sent by the target vehicle, determining that the real-time monitoring result is that the target vehicle is in a low-power state and/or a low-oil state;
and sending navigation information of a charging station and/or a gas station nearest to the target vehicle through a corresponding intelligent gateway, and controlling the target vehicle to travel to the charging station and/or the gas station according to the navigation information.
The intelligent rod system comprises a plurality of intelligent rods, each intelligent rod comprises an intelligent rod body, an intelligent gateway, a road side parking space signboard, an image acquisition device and a sensor device, the intelligent gateway is arranged in the intelligent rod body, the road side parking space signboard, the image acquisition device and the sensor device are arranged on the intelligent rod body, and the image acquisition device and the sensor device are connected with the intelligent gateway; the intelligent pole-based unmanned vehicle control device includes:
The analysis unit is used for responding to the unmanned vehicle control instruction and analyzing the unmanned vehicle control instruction to obtain an unmanned target vehicle, a departure place and a destination;
a generation unit for generating a travel route according to the departure place and the destination;
an acquisition unit for acquiring a smart bar sequence formed by smart bars on a road side through which the travel route passes;
a detection unit configured to detect whether the target vehicle reaches a monitoring condition;
and the control unit is used for monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach the monitoring condition, and controlling the target vehicle according to the real-time monitoring result.
A computer device, the computer device comprising:
a memory storing at least one instruction; and
And the processor executes the instructions stored in the memory to realize the intelligent pole-based unmanned vehicle control method.
A computer readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the smart bar-based unmanned vehicle control method.
According to the technical scheme, the intelligent rod sequence is formed by intelligent rods on the road side where the driving route passes through, the driving process of the target vehicle is monitored in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach the monitoring condition, and the target vehicle is controlled according to the real-time monitoring result. The intelligent control system and the intelligent control method are combined with the intelligent rod to monitor the running state of the unmanned vehicle in real time, and reasonably control the running state in real time, so that the safety of unmanned vehicles is improved, and the running efficiency is ensured.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of the intelligent pole-based unmanned vehicle control method of the present invention.
Fig. 2 is a schematic diagram of an application scenario of the intelligent pole-based unmanned vehicle control method of the present invention.
Fig. 3 is a functional block diagram of a preferred embodiment of the intelligent pole-based unmanned vehicle control apparatus of the present invention.
Fig. 4 is a schematic structural view of a computer device for implementing a preferred embodiment of the intelligent pole-based unmanned vehicle control method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of a preferred embodiment of the intelligent pole-based unmanned vehicle control method of the present invention. The order of the steps in the flowchart may be changed and some steps may be omitted according to various needs.
The intelligent pole-based unmanned vehicle control method is applied to one or more computer devices, wherein the computer device is a device capable of automatically performing numerical calculation and/or information processing according to preset or stored instructions, and the hardware comprises, but is not limited to, a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable gate array (Field-Programmable Gate Array, FPGA), a digital processor (Digital Signal Processor, DSP), an embedded device and the like.
The computer device may be any electronic product that can interact with a user in a human-computer manner, such as a personal computer, tablet computer, smart phone, personal digital assistant (Personal Digital Assistant, PDA), game console, interactive internet protocol television (Internet Protocol Television, IPTV), smart wearable device, etc.
The computer device may also include a network device and/or a user device. Wherein the network device includes, but is not limited to, a single network server, a server group composed of a plurality of network servers, or a Cloud based Cloud Computing (Cloud Computing) composed of a large number of hosts or network servers.
The server may be an independent server, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms.
Among these, artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.
The network in which the computer device is located includes, but is not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (Virtual Private Network, VPN), and the like.
Please refer to fig. 2, which is a schematic diagram of an application scenario of the unmanned vehicle control method based on the intelligent lever of the present invention. The intelligent rod-based unmanned vehicle control method is applied to an intelligent rod system arranged on a road side, the intelligent rod system comprises a plurality of intelligent rods, each intelligent rod comprises an intelligent rod body, an intelligent gateway, a road side parking space sign board, an image acquisition device and a sensor device, the intelligent gateway is arranged in the intelligent rod body, the road side parking space sign board, the image acquisition device and the sensor device are all arranged on the intelligent rod body, and the image acquisition device and the sensor device are connected with the intelligent gateway. The intelligent pole system may also communicate with a background server and an unmanned vehicle.
Specifically, the intelligent pole-based unmanned vehicle control method comprises the following steps:
and S10, responding to the unmanned vehicle control instruction, analyzing the unmanned vehicle control instruction, and obtaining an unmanned target vehicle, a departure place and a destination.
In this embodiment, the unmanned vehicle control command may be triggered by a background server.
Specifically, the unmanned vehicle control instruction carries the target vehicle, the departure place and the destination.
S11, generating a driving route according to the departure place and the destination.
In the present embodiment, an optimal route from the departure point to the destination may be acquired using a third-party navigation system and used as the travel route.
For example: the travel route is the least time consuming.
S12, acquiring intelligent bars on the road side where the driving route passes to form an intelligent bar sequence.
In this embodiment, all the intelligent bars deployed on the road side through which the driving route passes are sequentially obtained according to the order from the departure place to the destination, and the intelligent bar sequence is formed.
S13, detecting whether the target vehicle reaches a monitoring condition.
In this embodiment, the detecting whether the target vehicle reaches a monitoring condition includes:
for the first intelligent pole in the intelligent pole sequence, acquiring license plate images of each vehicle passing through the first intelligent pole by utilizing an image acquisition device of the first intelligent pole;
Identifying license plate images of each vehicle to obtain license plate information of each vehicle;
the intelligent gateway based on the first intelligent pole sends license plate information of each vehicle to a designated server for identity confirmation;
and when the intelligent gateway of the first intelligent pole receives the identity confirmation information corresponding to the target vehicle and fed back by the appointed server, determining that the target vehicle reaches the monitoring condition.
Wherein, the image acquisition device may include a camera or the like mounted on each smart lever.
Wherein, the license plate information can comprise license plate numbers and the like.
The designated server may be an authoritative server with authentication rights.
The identity confirmation information may include vehicle information such as a vehicle type and a license plate number of the target vehicle, and vehicle information for confirming that the target vehicle is unmanned.
Through the embodiment, whether the target vehicle reaches the monitoring condition can be automatically detected by combining the intelligent rod.
And S14, when the target vehicle is detected to reach the monitoring condition, real-time monitoring is carried out on the running process of the target vehicle based on the intelligent rod sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result.
In this embodiment, when it is detected that the target vehicle reaches the monitoring condition, it is indicated that the target vehicle has traveled into the monitoring range of the intelligent pole sequence, and at the same time, the target vehicle is an unmanned vehicle, so that real-time monitoring of the traveling state of the target vehicle based on the intelligent pole system is required.
In this embodiment, the real-time monitoring of the driving process of the target vehicle based on the smart lever sequence to obtain a real-time monitoring result, and controlling the target vehicle according to the real-time monitoring result includes:
for each intelligent rod in the intelligent rod sequence, acquiring a running image of the target vehicle in real time by using an image acquisition device of each intelligent rod;
invoking a face detection model deployed in an intelligent gateway of each intelligent pole to perform face detection on the driving image acquired by each intelligent pole to obtain a first detection result;
acquiring a driver detection result uploaded by the target vehicle through an intelligent gateway of each intelligent rod as a second detection result;
when the first detection result and the second detection result are both unmanned, determining that the real-time monitoring result is that the target vehicle is in an unmanned state, and continuously monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result; or alternatively
And when the first detection result and the second detection result are not both unmanned, determining that the real-time monitoring result is that the target vehicle is in a manned state, and sending alarm information to a background server according to the real-time monitoring result.
The human face detection model is an artificial intelligent model which is trained in advance and can detect whether a human face exists in an image.
Wherein, whether a person is on the driving position of the target vehicle can be determined through the first detection result.
The second detection result may be obtained by detecting an infrared sensor or the like installed in the target vehicle, so as to determine whether a driver is present in the driving position of the target vehicle.
When the first detection result and the second detection result are both that the target vehicle is not driven, the target vehicle can be determined to be in an unmanned state, namely the driving state of the target vehicle is unchanged from the reported state, and at the moment, monitoring is continued; when the first detection result and the second detection result are not both unmanned, it can be determined that the target vehicle is in a manned state, that is, the driving state of the target vehicle is different from the reported driving state, at this time, alarm information is sent to a background server according to the real-time monitoring result, and related personnel are prompted by the alarm information to drive the target vehicle abnormally, so that safety problems such as vehicle theft and the like are avoided, and unmanned safety is improved.
In this embodiment, the real-time monitoring of the driving process of the target vehicle based on the smart lever sequence to obtain a real-time monitoring result, and controlling the target vehicle according to the real-time monitoring result further includes:
when the sensor device of any intelligent rod in the intelligent rod sequence detects that the parking time length of the target vehicle is greater than or equal to the preset time length, and the intelligent gateway of the any intelligent rod receives a notification that the current road section is in a traffic state, determining that the real-time monitoring result is that the target vehicle is in an abnormal parking state;
detecting an abnormality cause of the abnormal parking state;
and controlling the target vehicle according to the abnormality reason.
Wherein the sensor means may comprise an infrared sensor, an acoustic wave sensor, etc.
The preset duration may be configured to be greater than a duration of a traffic light time.
When the current road section is in a traffic state, the current road section is not in a red light state, but is in a normal traffic state of a green light, and at the moment, if the target vehicle is detected to be stopped for a long time, the real-time monitoring result can be determined to be in an abnormal parking state.
Wherein the controlling the target vehicle according to the abnormality cause includes:
when the abnormality is that the current road section cannot pass, replacing a running route for the target vehicle;
and updating the intelligent bar sequence according to the replaced driving route.
For example: when a traffic accident occurs in the current road section or the current road section cannot be passed due to road repair, a third-party navigation system can be called to replace a driving route for the target vehicle, and the intelligent pole sequence is updated according to the replaced driving route.
Through the embodiment, the new route can be automatically planned after the fact that the current road section cannot pass is monitored according to the intelligent rod, and the driving process of the target vehicle can be continuously monitored according to the intelligent rod deployed on the new route.
Wherein the controlling the target vehicle according to the abnormality cause further includes:
and when the abnormality is that the target vehicle fails, sending an overhaul request to a designated terminal device.
The designated terminal device may be a terminal device of a vehicle service personnel.
Through the embodiment, the target vehicle can be timely reported and repaired when the target vehicle fails, the normal running of the vehicle is prevented from being influenced, and the running efficiency is ensured.
In this embodiment, the real-time monitoring is performed on the driving process of the target vehicle based on the intelligent pole sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result:
when an intelligent gateway with an intelligent rod in the intelligent rod sequence receives a low-power prompt and/or a low-oil prompt sent by the target vehicle, determining that the real-time monitoring result is that the target vehicle is in a low-power state and/or a low-oil state;
and sending navigation information of a charging station and/or a gas station nearest to the target vehicle through a corresponding intelligent gateway, and controlling the target vehicle to travel to the charging station and/or the gas station according to the navigation information.
By the above embodiment, it is possible to avoid affecting the normal running of the unmanned vehicle due to low electric power or low oil amount.
According to the technical scheme, the intelligent rod sequence is formed by intelligent rods on the road side where the driving route passes through, the driving process of the target vehicle is monitored in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach the monitoring condition, and the target vehicle is controlled according to the real-time monitoring result. The intelligent control system and the intelligent control method are combined with the intelligent rod to monitor the running state of the unmanned vehicle in real time, and reasonably control the running state in real time, so that the safety of unmanned vehicles is improved, and the running efficiency is ensured.
Fig. 3 is a functional block diagram of a preferred embodiment of the intelligent bar-based unmanned vehicle control apparatus of the present invention. The intelligent pole-based unmanned vehicle control apparatus 11 includes an analysis unit 110, a generation unit 111, an acquisition unit 112, a detection unit 113, and a control unit 114. The module/unit referred to in the present invention refers to a series of computer program segments, which are stored in a memory, capable of being executed by a processor and of performing a fixed function. In the present embodiment, the functions of the respective modules/units will be described in detail in the following embodiments.
The analyzing unit 110 is configured to respond to an unmanned vehicle control instruction, analyze the unmanned vehicle control instruction, and obtain an unmanned target vehicle, a departure place and a destination;
the generating unit 111 is configured to generate a travel route according to the departure place and the destination;
the acquiring unit 112 is configured to acquire a smart bar sequence formed by smart bars on a road side through which the driving route passes;
the detecting unit 113 is configured to detect whether the target vehicle reaches a monitoring condition;
the control unit 114 is configured to, when detecting that the target vehicle reaches a monitoring condition, monitor the driving process of the target vehicle in real time based on the smart lever sequence to obtain a real-time monitoring result, and control the target vehicle according to the real-time monitoring result.
According to the technical scheme, the intelligent rod sequence is formed by intelligent rods on the road side where the driving route passes through, the driving process of the target vehicle is monitored in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach the monitoring condition, and the target vehicle is controlled according to the real-time monitoring result. The intelligent control system and the intelligent control method are combined with the intelligent rod to monitor the running state of the unmanned vehicle in real time, and reasonably control the running state in real time, so that the safety of unmanned vehicles is improved, and the running efficiency is ensured.
Fig. 4 is a schematic structural diagram of a computer device for implementing a preferred embodiment of the intelligent pole-based unmanned vehicle control method of the present invention.
The computer device 1 may comprise a memory 12, a processor 13 and a bus, and may further comprise a computer program stored in the memory 12 and executable on the processor 13, such as a smart rod based unmanned vehicle control program.
It will be appreciated by those skilled in the art that the schematic diagram is merely an example of the computer device 1 and does not constitute a limitation of the computer device 1, the computer device 1 may be a bus type structure, a star type structure, the computer device 1 may further comprise more or less other hardware or software than illustrated, or a different arrangement of components, for example, the computer device 1 may further comprise an input-output device, a network access device, etc.
It should be noted that the computer device 1 is only used as an example, and other electronic products that may be present in the present invention or may be present in the future are also included in the scope of the present invention by way of reference.
The memory 12 includes at least one type of readable storage medium including flash memory, a removable hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 12 may in some embodiments be an internal storage unit of the computer device 1, such as a removable hard disk of the computer device 1. The memory 12 may in other embodiments also be an external storage device of the computer device 1, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the computer device 1. Further, the memory 12 may also include both an internal storage unit and an external storage device of the computer device 1. The memory 12 may be used not only for storing application software installed in the computer device 1 and various types of data, such as codes of a smart lever-based unmanned vehicle control program, etc., but also for temporarily storing data that has been output or is to be output.
The processor 13 may be comprised of integrated circuits in some embodiments, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors, a combination of various control chips, and the like. The processor 13 is a Control Unit (Control Unit) of the computer device 1, connects the respective components of the entire computer device 1 using various interfaces and lines, executes various functions of the computer device 1 and processes data by running or executing programs or modules stored in the memory 12 (for example, executing a smart lever-based unmanned vehicle Control program, etc.), and calls data stored in the memory 12.
The processor 13 executes the operating system of the computer device 1 and various types of applications installed. The processor 13 executes the application program to implement the steps of the various embodiments of the intelligent pole-based unmanned vehicle control method described above, such as the steps shown in fig. 1.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory 12 and executed by the processor 13 to complete the present invention. The one or more modules/units may be a series of computer readable instruction segments capable of performing the specified functions, which instruction segments describe the execution of the computer program in the computer device 1. For example, the computer program may be divided into an analysis unit 110, a generation unit 111, an acquisition unit 112, a detection unit 113, and a control unit 114.
The integrated units implemented in the form of software functional modules described above may be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a computer device, or a network device, etc.) or a processor (processor) to execute portions of the intelligent-lever-based unmanned vehicle control method according to the embodiments of the present invention.
The modules/units integrated in the computer device 1 may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on this understanding, the present invention may also be implemented by a computer program for instructing a relevant hardware device to implement all or part of the procedures of the above-mentioned embodiment method, where the computer program may be stored in a computer readable storage medium and the computer program may be executed by a processor to implement the steps of each of the above-mentioned method embodiments.
Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory, or the like.
Further, the computer-readable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created from the use of blockchain nodes, and the like.
The blockchain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanism, encryption algorithm and the like. The Blockchain (Blockchain), which is essentially a decentralised database, is a string of data blocks that are generated by cryptographic means in association, each data block containing a batch of information of network transactions for verifying the validity of the information (anti-counterfeiting) and generating the next block. The blockchain may include a blockchain underlying platform, a platform product services layer, an application services layer, and the like.
The bus may be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one straight line is shown in fig. 4, but not only one bus or one type of bus. The bus is arranged to enable a connection communication between the memory 12 and at least one processor 13 or the like.
Although not shown, the computer device 1 may further comprise a power source (such as a battery) for powering the various components, preferably the power source may be logically connected to the at least one processor 13 via a power management means, whereby the functions of charge management, discharge management, and power consumption management are achieved by the power management means. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The computer device 1 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described in detail herein.
Further, the computer device 1 may also comprise a network interface, optionally comprising a wired interface and/or a wireless interface (e.g. WI-FI interface, bluetooth interface, etc.), typically used for establishing a communication connection between the computer device 1 and other computer devices.
The computer device 1 may optionally further comprise a user interface, which may be a Display, an input unit, such as a Keyboard (Keyboard), or a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the computer device 1 and for displaying a visual user interface.
It should be understood that the embodiments described are for illustrative purposes only and are not limited to this configuration in the scope of the patent application.
Fig. 4 shows only a computer device 1 with components 12-13, it will be understood by those skilled in the art that the structure shown in fig. 4 is not limiting of the computer device 1 and may include fewer or more components than shown, or may combine certain components, or a different arrangement of components.
In connection with fig. 1, the memory 12 in the computer device 1 stores a plurality of instructions to implement a smart rod-based unmanned vehicle control method, the processor 13 being executable to implement:
responding to an unmanned vehicle control instruction, and analyzing the unmanned vehicle control instruction to obtain an unmanned target vehicle, a departure place and a destination;
generating a driving route according to the departure place and the destination;
acquiring intelligent bars on the road side where the driving route passes to form an intelligent bar sequence;
detecting whether the target vehicle reaches a monitoring condition;
when the target vehicle is detected to reach the monitoring condition, the running process of the target vehicle is monitored in real time based on the intelligent rod sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result.
Specifically, the specific implementation method of the above instructions by the processor 13 may refer to the description of the relevant steps in the corresponding embodiment of fig. 1, which is not repeated herein.
The data in this case were obtained legally.
In the several embodiments provided in the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be other manners of division when actually implemented.
The invention is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. The units or means stated in the invention may also be implemented by one unit or means, either by software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (9)
1. The unmanned vehicle control method based on the intelligent rod is applied to an intelligent rod system arranged on the road side, and is characterized in that the intelligent rod system comprises a plurality of intelligent rods, each intelligent rod comprises an intelligent rod body, an intelligent gateway, a road side parking space signpost, an image acquisition device and a sensor device, the intelligent gateway is arranged in the intelligent rod body, the road side parking space signpost, the image acquisition device and the sensor device are all arranged on the intelligent rod body, and the image acquisition device and the sensor device are connected with the intelligent gateway; the intelligent pole-based unmanned vehicle control method comprises the following steps:
Responding to an unmanned vehicle control instruction, and analyzing the unmanned vehicle control instruction to obtain an unmanned target vehicle, a departure place and a destination;
generating a driving route according to the departure place and the destination;
acquiring intelligent bars on the road side where the driving route passes to form an intelligent bar sequence;
detecting whether the target vehicle reaches a monitoring condition;
when the target vehicle is detected to reach a monitoring condition, real-time monitoring is performed on the running process of the target vehicle based on the intelligent rod sequence to obtain a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result, and the method comprises the following steps: for each intelligent rod in the intelligent rod sequence, acquiring a running image of the target vehicle in real time by using an image acquisition device of each intelligent rod; invoking a face detection model deployed in an intelligent gateway of each intelligent pole to perform face detection on the driving image acquired by each intelligent pole to obtain a first detection result; acquiring a driver detection result uploaded by the target vehicle through an intelligent gateway of each intelligent rod as a second detection result; when the first detection result and the second detection result are both unmanned, determining that the real-time monitoring result is that the target vehicle is in an unmanned state, and continuously monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result; or when the first detection result and the second detection result are not both unmanned, determining that the real-time monitoring result is that the target vehicle is in a manned state, and sending alarm information to a background server according to the real-time monitoring result.
2. The intelligent bar-based unmanned vehicle control method according to claim 1, wherein the detecting whether the target vehicle reaches a monitoring condition comprises:
for the first intelligent pole in the intelligent pole sequence, acquiring license plate images of each vehicle passing through the first intelligent pole by utilizing an image acquisition device of the first intelligent pole;
identifying license plate images of each vehicle to obtain license plate information of each vehicle;
the intelligent gateway based on the first intelligent pole sends license plate information of each vehicle to a designated server for identity confirmation;
and when the intelligent gateway of the first intelligent pole receives the identity confirmation information corresponding to the target vehicle and fed back by the appointed server, determining that the target vehicle reaches the monitoring condition.
3. The intelligent bar-based unmanned vehicle control method according to claim 1, wherein the real-time monitoring of the driving process of the target vehicle based on the intelligent bar sequence to obtain a real-time monitoring result, and controlling the target vehicle according to the real-time monitoring result further comprises:
when the sensor device of any intelligent rod in the intelligent rod sequence detects that the parking time length of the target vehicle is greater than or equal to the preset time length, and the intelligent gateway of the any intelligent rod receives a notification that the current road section is in a traffic state, determining that the real-time monitoring result is that the target vehicle is in an abnormal parking state;
Detecting an abnormality cause of the abnormal parking state;
and controlling the target vehicle according to the abnormality reason.
4. The intelligent bar-based unmanned vehicle control method according to claim 3, wherein the controlling the target vehicle according to the abnormality cause comprises:
when the abnormality is that the current road section cannot pass, replacing a running route for the target vehicle;
and updating the intelligent bar sequence according to the replaced driving route.
5. The intelligent bar-based unmanned vehicle control method according to claim 3, wherein the controlling the target vehicle according to the abnormality cause further comprises:
and when the abnormality is that the target vehicle fails, sending an overhaul request to a designated terminal device.
6. The intelligent bar-based unmanned vehicle control method according to claim 1, wherein the real-time monitoring of the travel process of the target vehicle based on the intelligent bar sequence obtains a real-time monitoring result, and the target vehicle is controlled according to the real-time monitoring result:
when an intelligent gateway with an intelligent rod in the intelligent rod sequence receives a low-power prompt and/or a low-oil prompt sent by the target vehicle, determining that the real-time monitoring result is that the target vehicle is in a low-power state and/or a low-oil state;
And sending navigation information of a charging station and/or a gas station nearest to the target vehicle through a corresponding intelligent gateway, and controlling the target vehicle to travel to the charging station and/or the gas station according to the navigation information.
7. The unmanned vehicle control device based on the intelligent rod operates on an intelligent rod system arranged on the road side, and is characterized in that the intelligent rod system comprises a plurality of intelligent rods, each intelligent rod comprises an intelligent rod body, an intelligent gateway, a road side parking space signpost, an image acquisition device and a sensor device, the intelligent gateway is arranged in the intelligent rod body, the road side parking space signpost, the image acquisition device and the sensor device are arranged on the intelligent rod body, and the image acquisition device and the sensor device are connected with the intelligent gateway; the intelligent pole-based unmanned vehicle control device includes:
the analysis unit is used for responding to the unmanned vehicle control instruction and analyzing the unmanned vehicle control instruction to obtain an unmanned target vehicle, a departure place and a destination;
a generation unit for generating a travel route according to the departure place and the destination;
An acquisition unit for acquiring a smart bar sequence formed by smart bars on a road side through which the travel route passes;
a detection unit configured to detect whether the target vehicle reaches a monitoring condition;
the control unit is used for monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result when the target vehicle is detected to reach the monitoring condition, and controlling the target vehicle according to the real-time monitoring result, and comprises the following steps: for each intelligent rod in the intelligent rod sequence, acquiring a running image of the target vehicle in real time by using an image acquisition device of each intelligent rod; invoking a face detection model deployed in an intelligent gateway of each intelligent pole to perform face detection on the driving image acquired by each intelligent pole to obtain a first detection result; acquiring a driver detection result uploaded by the target vehicle through an intelligent gateway of each intelligent rod as a second detection result; when the first detection result and the second detection result are both unmanned, determining that the real-time monitoring result is that the target vehicle is in an unmanned state, and continuously monitoring the running process of the target vehicle in real time based on the intelligent rod sequence to obtain a real-time monitoring result; or when the first detection result and the second detection result are not both unmanned, determining that the real-time monitoring result is that the target vehicle is in a manned state, and sending alarm information to a background server according to the real-time monitoring result.
8. A computer device, the computer device comprising:
a memory storing at least one instruction; and
A processor executing instructions stored in the memory to implement the intelligent bar-based unmanned vehicle control method of any of claims 1 to 6.
9. A computer-readable storage medium, characterized by: the computer-readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the intelligent bar-based unmanned vehicle control method of any of claims 1-6.
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