CN106227204B - Vehicle-mounted device and system, method and device for controlling unmanned vehicle - Google Patents
Vehicle-mounted device and system, method and device for controlling unmanned vehicle Download PDFInfo
- Publication number
- CN106227204B CN106227204B CN201610538408.3A CN201610538408A CN106227204B CN 106227204 B CN106227204 B CN 106227204B CN 201610538408 A CN201610538408 A CN 201610538408A CN 106227204 B CN106227204 B CN 106227204B
- Authority
- CN
- China
- Prior art keywords
- wireless signal
- unmanned vehicle
- relative position
- signal source
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 147
- 238000004891 communication Methods 0.000 claims description 11
- 238000012795 verification Methods 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 16
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000001914 filtration Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses an on-board device and a system, a method and a device for controlling an unmanned vehicle. One specific embodiment of the vehicle-mounted device includes: the detection device comprises a plurality of detection devices, the detection devices are placed at preset detection positions of the unmanned vehicle, detect wireless signals around the unmanned vehicle at intervals of a first preset time period, and send information of the detected wireless signals to the positioning device; the positioning device is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the received information of the detected wireless signals and the coordinates of the detection position, and sending the relative position to the speed control device; and a speed control device for controlling the speed of the unmanned vehicle according to the relative position. According to the embodiment, the accuracy of pedestrian detection is improved, and the safety of the unmanned vehicle and the pedestrians is ensured by controlling the speed of the unmanned vehicle.
Description
Technical Field
The application relates to the field of vehicle control, in particular to the field of unmanned vehicle control, and specifically relates to an on-board device and a system, a method and a device for controlling an unmanned vehicle.
Background
For the unmanned vehicle, the real-time and accurate monitoring of the driving environment of the unmanned vehicle is of great significance to the safety of road users. Since the uncontrollable factors of pedestrians for the unmanned vehicle are more, and the casualty probability of accidents with the pedestrians is much greater than that of accidents with common obstacles, how to improve the accuracy of pedestrian detection is an important issue for the research of the unmanned vehicle.
Most of the existing schemes for pedestrian detection are based on an image recognition algorithm or a radar detection algorithm, and the schemes cannot detect pedestrians with overlapped images in an acquired picture or pedestrians with overlapped images in a detection direction, so that the accuracy of pedestrian detection is reduced.
Disclosure of Invention
The present application aims to provide an on-board device and a system, method and device for controlling an unmanned vehicle to solve the technical problems mentioned in the background section above.
In a first aspect, the present application provides an in-vehicle apparatus, the apparatus comprising: the detection device, the positioning device and the speed control device are sequentially in communication connection; the detection device comprises a plurality of detection devices, the detection devices are placed at preset detection positions of the unmanned vehicle, the detection devices detect wireless signals around the unmanned vehicle every a first preset time period and send information of the detected wireless signals to the positioning device, and the information of the wireless signals comprises the frequency of the wireless signals, the identification of the wireless signals and at least one of the following items: the time when the wireless signal is detected and the strength of the wireless signal; the positioning device is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the received information of the detected wireless signals and the coordinates of the detection position, and sending the relative position to the speed control device; the speed control device is used for controlling the speed of the unmanned vehicle according to the relative position.
In some embodiments, the detection arrangement comprises at least four detection means placed in front of and behind the unmanned vehicle, respectively.
In some embodiments, the at least four detection devices are placed on a left front underside, a right front underside, a center front upper side, and a center rear underside of the unmanned vehicle, respectively.
In some embodiments, the positioning device is further configured to: determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal; and for each wireless signal source, determining the relative position of the wireless signal source and the unmanned vehicle according to the moment when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position, and sending the relative position to the speed control device.
In some embodiments, the apparatus further includes an aggregation device communicatively connected to the detection device and the positioning device, and configured to aggregate information of the wireless signals detected by the detection device at the same time and coordinates of the detection position corresponding to each wireless signal into a data frame, and send the aggregated data frame to the positioning device.
In some embodiments, the positioning device is further configured to: and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the summarized data frame and the coordinates of the detection position, and sending the relative position to the speed control device.
In some embodiments, the device further comprises a directional control device communicatively coupled to the positioning device; and the positioning device is further configured to: determining a motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment, and sending the motion track to the direction control device; and the direction control device is used for adjusting the driving direction of the unmanned vehicle according to the motion trail.
In some embodiments, the device further comprises an image recognition device and/or a radar detection device and an authentication device in communication connection with the image recognition device and/or the radar detection device and the positioning device; the image recognition device is used for recognizing obstacles around the unmanned vehicle and sending the recognized relative position information of the obstacles and the unmanned vehicle to the verification device; the radar detection device is used for detecting obstacles around the unmanned vehicle and sending the detected relative position information of the obstacles and the unmanned vehicle to the verification device; the verification device is used for acquiring the relative position from the positioning device, comparing the relative position with the relative position information of the obstacle and the unmanned vehicle obtained by the image recognition device and/or the radar detection device, and obtaining the accuracy of the relative position determined by the positioning device.
In a second aspect, the present application provides a system for controlling an unmanned vehicle, the system comprising: a portable device and an in-vehicle device as described in any of the above embodiments; the portable device is carried by pedestrians around the unmanned vehicle for transmitting wireless signals; and the detection device in the vehicle-mounted device is used for detecting the wireless signal transmitted by the portable device.
In a third aspect, the present application provides a method for controlling an unmanned vehicle, the method comprising: acquiring information of a wireless signal around an unmanned vehicle, the wireless signal being detected every a first preset time period by a plurality of detecting devices placed at preset detection positions of the unmanned vehicle, the information of the wireless signal including a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected and the strength of the wireless signal; determining the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position; controlling the speed of the unmanned vehicle according to the relative position.
In some embodiments, the wireless signal is detected by at least four detection devices placed in front of and behind the unmanned vehicle every first preset time period.
In some embodiments, the wireless signal is detected by at least four detection devices placed on a lower left front side, a lower right front side, an upper middle front side, and a lower middle rear side of the unmanned vehicle every first preset time period.
In some embodiments, the determining the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position comprises: determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal; for each wireless signal source, determining the relative position of the wireless signal source and the unmanned vehicle according to the time when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position.
In some embodiments, before said determining the relative position of at least one wireless signal source and said unmanned vehicle from the information of the acquired wireless signals and the coordinates of said probe location, said method further comprises: and summarizing the information of the wireless signals detected at the same time and the coordinates of the detection position corresponding to each wireless signal into a data frame.
In some embodiments, the determining the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position comprises: and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the collected data frame and the coordinates of the detection position.
In some embodiments, the method further comprises: determining a motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment; and adjusting the driving direction of the unmanned vehicle according to the motion trail.
In some embodiments, the method further comprises: acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle, which is identified based on an image identification method; and/or acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle detected based on a radar detection method; and comparing the determined relative position of the wireless signal source and the unmanned vehicle with the obtained relative position information of the obstacle and the unmanned vehicle to obtain the accuracy of the relative position of the wireless signal source and the unmanned vehicle.
In a fourth aspect, the present application provides an apparatus for controlling an unmanned vehicle, the apparatus comprising: a first acquisition unit configured to acquire information of a wireless signal around an unmanned vehicle, the wireless signal being detected every a first preset time period by a plurality of detection devices placed at a preset detection position of the unmanned vehicle, the information of the wireless signal including a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected and the strength of the wireless signal; the determining unit is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position; a control unit for controlling the speed of the unmanned vehicle in dependence on the relative position.
In some embodiments, the wireless signal is detected by at least four detection devices placed in front of and behind the unmanned vehicle every first preset time period.
In some embodiments, the wireless signal is detected by at least four detection devices placed on a lower left front side, a lower right front side, an upper middle front side, and a lower middle rear side of the unmanned vehicle every first preset time period.
In some embodiments, the determining unit comprises: the signal source determining module is used for determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal; and the relative position determining module is used for determining the relative position of the wireless signal source and the unmanned vehicle according to the moment when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position for each wireless signal source.
In some embodiments, the apparatus further comprises: and the summarizing unit is used for summarizing the information of the wireless signals detected at the same moment and the coordinates of the detection position corresponding to each wireless signal into a data frame before the determining unit determines the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position.
In some embodiments, the determining unit is further configured to: and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the collected data frame and the coordinates of the detection position.
In some embodiments, the apparatus further comprises: the track determining unit is used for determining the motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment; and the direction adjusting unit is used for adjusting the driving direction of the unmanned vehicle according to the motion trail.
In some embodiments, the apparatus further comprises: a second acquisition unit configured to acquire relative position information of the unmanned vehicle and obstacles around the unmanned vehicle, which are identified based on an image recognition method; and/or a third acquisition unit for acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle detected based on a radar detection method; and the comparison unit is used for comparing the determined relative position of the wireless signal source and the unmanned vehicle with the acquired relative position information of the obstacle and the unmanned vehicle to obtain the accuracy of the relative position of the wireless signal source and the unmanned vehicle.
The vehicle-mounted device and the system, the method and the device for controlling the unmanned vehicle detect wireless signals around the unmanned vehicle by arranging a plurality of detection devices at preset detection positions of the unmanned vehicle, determine a plurality of wireless signal sources and positions of the wireless signal sources relative to the unmanned vehicle according to the detected wireless signals, and control the speed of the unmanned vehicle according to the determined positions of the wireless signal sources relative to the unmanned vehicle. Therefore, the accuracy of pedestrian detection is improved, and the safety of the unmanned vehicle and the pedestrians is ensured by controlling the speed of the unmanned vehicle.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of one embodiment of an in-vehicle apparatus according to the present application;
FIG. 2 is a schematic diagram of one application scenario of an in-vehicle device according to the present application;
FIG. 3 is a schematic structural diagram of yet another embodiment of an onboard apparatus in accordance with the present application;
FIG. 4 is a schematic block diagram of one embodiment of a system for controlling an unmanned vehicle according to the present application;
FIG. 5 is a schematic flow chart diagram of one embodiment of a method for controlling an unmanned vehicle according to the present application;
FIG. 6 is a schematic structural diagram of one embodiment of an apparatus for controlling an unmanned vehicle according to the present application;
fig. 7 is a schematic block diagram of a computer system suitable for implementing an apparatus for controlling an unmanned vehicle according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a schematic configuration diagram of an embodiment of an in-vehicle apparatus 100 according to the present application. As shown in fig. 1, the vehicle-mounted device 100 of the present embodiment includes a detection device 101, a positioning device 102, and a speed control device 103, which are sequentially connected in communication. It is understood that the communication connection may be a wireless connection or a wired connection, and the wireless connection may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connection now known or developed in the future.
Wherein the detecting means 101 comprises a plurality of detecting devices (detecting device 1-detecting device 4 as shown in fig. 1). A plurality of detecting means are disposed at preset detecting positions of the unmanned vehicle for detecting wireless signals around the unmanned vehicle every first preset time period and transmitting information of the detected wireless signals to the positioning device 102. In practice, the detecting device may be implemented by a wireless signal detector or other device capable of detecting a wireless signal, and the embodiment is not limited thereto. The detection means may be placed at a predetermined detection position of the unmanned vehicle, such as a hood or trunk hood of the unmanned vehicle. The wireless signal may be a wireless signal transmitted by an electronic device carried by a pedestrian around the unmanned vehicle. The electronic devices may include, but are not limited to: wireless signal transmitting devices such as mobile phones, radios, telephone watches and the like. The information of the wireless signal may include a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected, and the strength of the wireless signal.
Taking a mobile phone carried by a pedestrian around the unmanned vehicle as an example, since the mobile phone is to perform transmission and reception of wireless signals with the base station in real time to maintain communication, the detection device placed at the detection position preset by the unmanned vehicle can detect the wireless signals transmitted by each mobile phone, so that the frequency of the wireless signals can be obtained. Because different mobile phone network modes have different frequencies, and wireless signals transmitted by different wireless signal sources in the same frequency band have different identifications. For example, the uplink frequency band of the GSM (Global System for Mobile Communication) mode is about 890-909MHz, and the downlink frequency band is about 935-954MHz, and in the two frequency bands, the wireless signals sent by different Mobile phones have different identifications.
In some optional implementations of this embodiment, the detection device may include at least four detection devices respectively placed in front of and behind the unmanned vehicle. It is to be understood that the reference to the front of the unmanned vehicle in this embodiment refers to the direction of the front wheels of the unmanned vehicle relative to the center of the unmanned vehicle, and the reference to the rear refers to the direction of the rear wheels of the unmanned vehicle relative to the center of the unmanned vehicle.
In some optional implementations of the present embodiment, the at least four detection devices are respectively placed on a left front lower side, a right front lower side, a middle front upper side, and a middle rear lower side of the unmanned vehicle.
In this embodiment, in order to more accurately detect the wireless signals emitted by the wireless signal sources around the unmanned vehicle, the detection devices are placed at the positions near the edge of the unmanned vehicle, for example, the positions of the headlights of the unmanned vehicle, that is, the lower left front side and the lower right front side, the middle position of the hood of the unmanned vehicle, that is, the upper middle front side, and the middle position of the trunk lid of the unmanned vehicle, that is, the lower middle rear side.
Those skilled in the art can understand that the detection apparatus of the present embodiment may further include more detection devices, which may be distributed at various positions of the overall profile of the unmanned vehicle, and the positions of all the detection devices form a curved surface similar to the profile of the vehicle, so as to detect the wireless signal emitted by the wireless signal source in multiple directions and multiple angles. In this way, locating device 102 can more accurately locate the relative position of the wireless signal source and the unmanned vehicle.
And the positioning device 102 is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the received information of the detected wireless signals and the coordinates of each detection position, and sending the relative position to the speed control device 103.
In this embodiment, the positioning device 102 may determine the at least one wireless signal source and the relative position of the at least one wireless signal source and the unmanned vehicle by various positioning algorithms according to the information of the wireless signals detected by the detecting devices of the detecting device 101 and the coordinates of the detecting positions. Since the detection positions of the respective detection means of the detection device 101 at the unmanned vehicle are known, the coordinates of the respective detection positions in the vehicle coordinate system can be determined. Since the unmanned vehicle is traveling, the geodetic coordinates of the respective probe positions are constantly changing, and therefore the relative positions of the respective wireless signal sources and the unmanned vehicle are determined using the coordinates in the vehicle coordinate system.
In some optional implementations of the present embodiment, the positioning apparatus 102 may first determine at least one wireless signal source according to the frequency of the wireless signal detected by each detecting device of the detecting apparatus 101 and the identification of the wireless signal. In practice, the wireless signal source may be a wireless signal transmitting device carried by a pedestrian. After determining the number of wireless signal sources, the positioning apparatus 102 may determine the relative position between each wireless signal source and the unmanned vehicle based on a time of arrival (TOA) algorithm, a time difference of arrival (TDOA) algorithm, or a Received Signal Strength (RSSI) algorithm, according to the received time at which the wireless signal is detected or the strength of the wireless signal. Similarly, the positions of the wireless signal sources may be expressed by coordinates of a vehicle coordinate system.
And a speed control device 103 for controlling the speed of the unmanned vehicle according to the relative position of each wireless signal source and the unmanned vehicle determined by the positioning device 102.
In this embodiment, the speed control device 103 may classify the speed for different relative positions, for example, within 5 meters, controlling the speed of the unmanned vehicle at 20km/h, between 5 and 20 meters, controlling the speed of the unmanned vehicle at 30 km/h; a speed function can be set, the speed of the unmanned vehicle is used as a dependent variable, the relative position of the wireless signal source and the unmanned vehicle is used as an independent variable, and different relative positions correspond to different driving speeds; the present embodiment does not limit this.
With continued reference to FIG. 2, a schematic diagram of one application scenario of an in-vehicle device according to the present application is shown. The detecting devices 2021, 2022, 2023, and 2024 are respectively disposed on the lower left front side, the lower right front side, the upper middle front side, and the lower middle rear side of the unmanned vehicle, and can detect wireless signals transmitted from a cellular phone carried by a pedestrian in front of the unmanned vehicle and transmit information of the detected wireless signals to the positioning device 203, and the positioning device 202 determines the position of the pedestrian and then transmits the determined position to the speed control device 204, thereby controlling the speed of the unmanned vehicle.
The vehicle-mounted device provided by the above embodiment of the application detects wireless signals around the unmanned vehicle through the detection device placed at the preset detection position of the unmanned vehicle, the positioning device determines the relative position of at least one wireless signal source and the unmanned vehicle according to the information of the detected wireless signals, and the speed control device controls the running speed of the unmanned vehicle according to the relative position determined by the positioning device. The accuracy of pedestrian detection is improved, and the safety of the unmanned vehicle and the pedestrians is ensured by controlling the speed of the unmanned vehicle.
Referring further to FIG. 3, a schematic structural diagram of yet another embodiment of an on-board unit 300 according to the present application is shown. As shown in fig. 3, the in-vehicle apparatus 300 of the present embodiment includes: a detection device 301, a summary device 302, a positioning device 303, a direction control device 304, a speed control device 305, an image recognition device 306 and a verification device 307.
The detecting device 301 includes a plurality of detecting devices, and the plurality of detecting devices are placed at preset detecting positions of the unmanned vehicle, and are used for detecting wireless signals around the unmanned vehicle every first preset time period, and sending information of the detected wireless signals to the summarizing device 302.
The summarizing device 302 is configured to summarize information of the wireless signals detected by the detecting device 301 at the same time and coordinates of the detection position corresponding to each wireless signal into a data frame, and send the summarized data frame to the positioning device 303.
For the same wireless signal source, the information of the wireless signals emitted by the wireless signal source is different because the detection devices at different detection positions detect the wireless signals. In this embodiment, each detecting device may detect the wireless signal around the unmanned vehicle at a preset time interval, for example, at 1 second intervals. It will be appreciated that the detecting devices detect the wireless signals at the same time, so that the summarizing device 302 can summarize all the signals of the wireless signal sources detected at the same time into a data frame and send the summarized data frame to the locating device 303.
And a positioning device 303, configured to determine a relative position between at least one wireless signal source and the unmanned vehicle at the same time according to the information of the wireless signals in the data frame collected by the collecting device 302 and the coordinates of each detected position of the unmanned vehicle, and send the relative position to the speed control device 305.
In some optional implementations of this embodiment, the positioning device 303 may further determine a motion trajectory of the at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same time, and send the determined motion trajectory to the direction control device 304.
After the relative position of the wireless signal source and the unmanned vehicle at each moment is determined, the relative position of the wireless signal source at each moment is analyzed, and the motion track of the wireless signal source relative to the unmanned vehicle can be determined.
And a direction control device 304, configured to adjust a driving direction of the unmanned vehicle according to the motion trajectory determined by the positioning device 303.
The running direction of the unmanned vehicle is adjusted through the determined motion track, so that the unmanned vehicle can be effectively prevented from colliding with pedestrians in the running process.
Speed control means 305 for controlling the speed of the unmanned vehicle in dependence on the relative position of the at least one wireless signal source and the unmanned vehicle as determined by the positioning means 303.
And an image recognition means 307 for recognizing an obstacle around the unmanned vehicle and transmitting the relative position information of the recognized obstacle and the unmanned vehicle to the verification means 306.
In this embodiment, the image recognition device 307 may include a plurality of cameras, telescopes, or other devices capable of image recognition, and by analyzing the obtained images, it is possible to determine obstacles around the unmanned vehicle.
Radar detection means 308 for detecting an obstacle around the unmanned vehicle and transmitting information on the relative position of the detected obstacle and the unmanned vehicle to verification means 306.
In this embodiment, the radar detection device 308 may be a radar sensor that determines obstacles around the unmanned vehicle by transmitting radar signals, receiving and analyzing the returned radar signals.
And the verification device 306 is used for acquiring the relative position of at least one wireless signal source and the unmanned vehicle from the positioning device 303, and comparing the relative position with the relative position information of the obstacle and the unmanned vehicle obtained by the radar detection device 308 and/or the image recognition device 307 to obtain the accuracy of the relative position determined by the positioning device 303.
The verification device 306 is in communication connection with the positioning device 303, the radar detection device 308 and/or the image recognition device 307, respectively, and compares the obstacle information around the unmanned vehicle analyzed by the three or two, thereby determining the accuracy of the relative position of the wireless signal source determined by the positioning device 303.
In some optional implementations of this embodiment, the vehicle-mounted device 300 further includes a filtering device, not shown in fig. 3, for filtering a position curve determined by the relative position of the at least one wireless signal source and the unmanned vehicle at different times determined by the positioning device 303, so as to remove data with large errors and improve the accuracy of speed control.
According to the vehicle-mounted device provided by the embodiment of the application, the wireless signals detected by the detection device at the same moment are collected by the collecting device, the motion track of the wireless signal source relative to the unmanned vehicle is determined, and the running direction of the unmanned vehicle can be adjusted in real time; by comparing the relative position of the wireless signal source and the unmanned vehicle determined by the positioning device with the mature radar detection technology and image recognition technology, on one hand, the method can be used as a supplement to other detection technologies, and on the other hand, an improved basis can be provided for improving the method for determining the position of the pedestrian according to the wireless signal of the embodiment.
Referring further to FIG. 4, a block diagram 400 of one embodiment of a system for controlling an unmanned vehicle according to the present application is shown. As shown in fig. 4, the system for controlling an unmanned vehicle of the present embodiment includes: a portable device 401 and an in-vehicle device 402 as provided in the embodiments of fig. 2 or fig. 3.
Wherein portable device 401 is carried by a pedestrian around the unmanned vehicle for transmitting wireless signals. In practice, the portable device 401 may be a mobile phone, a radio, or other electronic device capable of transmitting wireless signals of any national use standard.
The detection means in the in-vehicle apparatus 402 is used to detect the wireless signal transmitted by the portable apparatus 401.
The system for controlling the unmanned vehicle provided by the embodiment of the application utilizes the wireless signal detection technology to effectively detect the wireless signals transmitted by the wireless signal transmitting devices carried by the pedestrians around the unmanned vehicle, so that the pedestrians around the unmanned vehicle can be accurately detected, and the driving safety of the unmanned vehicle is improved.
FIG. 5 shows a flowchart 500 of one embodiment of a method for controlling an unmanned vehicle according to the present application. As shown in fig. 5, the method for controlling an unmanned vehicle of the present embodiment includes the steps of:
In the present embodiment, the electronic device (e.g., a drive computer of the unmanned vehicle) on which the method for controlling the unmanned vehicle operates may acquire information of the wireless signal around the unmanned vehicle from the detection means for detecting the wireless signal in a wireless or wired manner. The wireless signals are detected by a plurality of detecting devices which are placed at preset detecting positions of the unmanned vehicle at intervals of a first preset time period. The information of the wireless signal includes a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected, and the strength of the wireless signal.
In some optional implementations of the present embodiment, the wireless signal is detected by at least four detecting devices placed in front of and behind the unmanned vehicle every first preset time period.
In some optional implementations of the present embodiment, the wireless signal is detected by at least four detecting devices placed on a lower left front side, a lower right front side, an upper middle front side, and a lower middle rear side of the unmanned vehicle every interval of a first preset time period.
Those skilled in the art can understand that the present embodiment may further include more detecting devices, which may be distributed at various positions of the overall profile of the unmanned vehicle, and the positions of all detecting devices form a curved surface similar to the profile of the vehicle, so as to detect the wireless signal emitted by the wireless signal source in multiple directions and multiple angles.
And determining at least one wireless signal source and the relative position of the at least one wireless signal source and the unmanned vehicle through various positioning algorithms according to the acquired information of the wireless signals and the coordinates of the detection position.
Since the detected positions are known, the coordinates of the above-mentioned respective detected positions in the vehicle coordinate system can be determined. Since the unmanned vehicle is traveling, the geodetic coordinates of the respective probe positions are constantly changing, and therefore the relative positions of the respective wireless signal sources and the unmanned vehicle are determined using the coordinates in the vehicle coordinate system.
In some optional implementations of the embodiment, in determining the relative position of the at least one wireless signal source and the unmanned vehicle, the at least one wireless signal source may be determined first according to a frequency of the wireless signal and an identity of the wireless signal. After the number of the wireless signal sources is determined, the relative position between each wireless signal source and the unmanned vehicle may be determined based on a time of arrival (TOA) algorithm, a time difference of arrival (TDOA) algorithm, or a Received Signal Strength (RSSI) algorithm according to the received time of detection of the wireless signal or the strength of the wireless signal.
After the relative positions of the wireless signal sources and the unmanned vehicle are determined, the speed of the unmanned vehicle can be controlled by a preset grading method or a preset function method.
In some optional implementations of this embodiment, before step 503, the method further includes the following steps not shown in fig. 5:
the location curves determined by the relative locations of the at least one wireless signal source and the unmanned vehicle at different times are filtered.
Through the filtering, data with large errors in the position curve can be removed, and the accuracy of speed control is improved.
In some optional implementations of this embodiment, before step 502, the method further includes the following steps not shown in fig. 5:
and summarizing the information of the wireless signals detected at the same time and the coordinates of the detection position corresponding to each wireless signal into a data frame.
The information of the wireless signal emitted by the wireless signal source detected by different detection positions is different for the same wireless signal source. The information of the wireless signals detected at the same moment and the coordinates of the detection position corresponding to each wireless signal are collected into a data frame, so that the position of the wireless signal source at each moment can be positioned more favorably.
In some optional implementations of this embodiment, step 502 may further include:
and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the collected data frame and the coordinates of the detection position.
In some optional implementations of this embodiment, the method further includes the following steps not shown in fig. 5:
determining the motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment; and adjusting the driving direction of the unmanned vehicle according to the motion trail.
After the relative position of the wireless signal source and the unmanned vehicle at each moment is determined, the relative position of the wireless signal source at each moment is analyzed, and the motion track of the wireless signal source relative to the unmanned vehicle can be determined. The running direction of the unmanned vehicle is adjusted through the determined motion track, so that the unmanned vehicle can be effectively prevented from colliding with pedestrians in the running process.
In some optional implementations of this embodiment, the method further includes the following steps not shown in fig. 5:
acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle, which is identified based on an image identification method; and/or
Acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle detected based on a radar detection method;
and comparing the determined relative position of the wireless signal source and the unmanned vehicle with the acquired relative position information of the obstacle and the unmanned vehicle to obtain the accuracy of the relative position of the wireless signal source and the unmanned vehicle.
The relative position of the wireless signal source determined by detecting the wireless signal is compared with the relative position of the unmanned vehicle and the obstacle information around the unmanned vehicle analyzed by the image recognition method or the radar detection method, so that the accuracy of the determined relative position of the wireless signal source is calculated, and the safety of the unmanned vehicle in the driving process is improved.
According to the method for controlling the unmanned vehicle, the wireless signal information detected by the detecting devices placed at different detecting positions of the unmanned vehicle at preset time intervals is obtained, and the relative positions of the plurality of wireless signal sources and each wireless signal source and the unmanned vehicle are determined, so that the speed of the unmanned vehicle is controlled, and the accuracy of pedestrian detection is improved.
With further reference to fig. 6, as an implementation of the method shown in fig. 4, the present application provides an embodiment of an apparatus for controlling an unmanned vehicle, which corresponds to the embodiment of the method shown in fig. 4, and which is particularly applicable to an onboard computer of the unmanned vehicle.
As shown in fig. 6, the apparatus 600 for controlling an unmanned vehicle of the present embodiment includes: a first acquisition unit 601, a determination unit 602, and a control unit 603.
Wherein, the first obtaining unit 601 is configured to obtain information of wireless signals around the unmanned vehicle. The wireless signal is detected every first preset time period by a plurality of detecting devices placed at preset detection positions of the unmanned vehicle. The information of the wireless signal includes a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected, and the strength of the wireless signal.
In some optional implementations of the present embodiment, the wireless signal is detected by at least four detecting devices placed in front of and behind the unmanned vehicle every first preset time period.
It is to be understood that the reference to the front of the unmanned vehicle in this embodiment refers to the direction of the front wheels of the unmanned vehicle relative to the center of the unmanned vehicle, and the reference to the rear refers to the direction of the rear wheels of the unmanned vehicle relative to the center of the unmanned vehicle.
In some optional implementations of the present embodiment, the wireless signal is detected by at least four detecting devices placed at a lower left front side, a lower right front side, an upper middle front side, and a lower middle rear side of the unmanned vehicle every interval of a first preset time period.
In this embodiment, in order to more accurately detect the wireless signals emitted by the wireless signal sources around the unmanned vehicle, the detection devices are placed at the positions near the edge of the unmanned vehicle, for example, the positions of the headlights of the unmanned vehicle, that is, the lower left front side and the lower right front side, the middle position of the hood of the unmanned vehicle, that is, the upper middle front side, and the middle position of the trunk lid of the unmanned vehicle, that is, the lower middle rear side.
A determining unit 602, configured to determine a relative position between at least one wireless signal source and the unmanned vehicle according to the information of the wireless signal acquired by the first acquiring unit 601 and coordinates of a detection position preset by the unmanned vehicle.
In some optional implementation manners of this embodiment, when determining the relative position, the determining unit 602 may specifically be implemented by a signal source determining module and a relative position determining module, which are not shown in fig. 6.
The signal source determining module is used for determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal.
And the relative position determining module is used for determining the relative position of the wireless signal source and the unmanned vehicle according to the moment when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position for each wireless signal source.
In this embodiment, the relative position determining module may determine the relative position between each wireless signal source and the unmanned vehicle based on a time of arrival (TOA) algorithm, a time difference of arrival (TDOA) algorithm, and a Received Signal Strength (RSSI) algorithm according to the received time of the detected wireless signal or the strength of the wireless signal.
A control unit 603 for controlling the speed of the unmanned vehicle in accordance with the relative position determined by the determination unit 602.
In some optional implementations of the present embodiment, the apparatus 600 for controlling an unmanned vehicle further includes a filtering unit, not shown in fig. 6, for filtering a position curve determined by the relative position of the at least one wireless signal source and the unmanned vehicle at different time instants.
In some optional implementations of the present embodiment, the apparatus 600 for controlling an unmanned vehicle further includes a summarizing unit, not shown in fig. 6, configured to summarize, into a data frame, information of wireless signals detected at the same time and coordinates of a detection position corresponding to each wireless signal before the determining unit 602 determines a relative position of at least one wireless signal source and the unmanned vehicle according to the information of the wireless signals and the coordinates of the detection position acquired by the first acquiring unit 601.
In this embodiment, because there are a plurality of detecting devices for detecting wireless signals transmitted by a plurality of wireless signal sources, and the plurality of detecting devices detect the wireless signals at intervals, the data received by the determining unit is huge and complex, and the summarizing unit summarizes the information of the wireless signals detected by each detecting device at the same time in the data frame in combination with the coordinates of the detection position where each detecting device is located, so as to effectively improve the processing efficiency of the determining unit 602.
In some optional implementations of the present embodiment, the determining unit 602 is further configured to: and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the data frame and the coordinates of the detection position after the data frame is summarized by the summarizing unit.
In some optional implementations of the present embodiment, the apparatus 600 for controlling an unmanned vehicle further includes a trajectory determination unit and a direction adjustment unit, which are not shown in fig. 6.
The trajectory determination unit is configured to determine a motion trajectory of the at least one wireless signal source relative to the unmanned vehicle according to the relative position of the at least one wireless signal source and the unmanned vehicle at the same time determined by the determination unit 602.
After the determining unit 602 determines the relative position of the wireless signal source and the unmanned vehicle at each moment, the track determining unit analyzes the relative position of the wireless signal source at each moment and determines the motion track of the wireless signal source relative to the unmanned vehicle.
And the direction adjusting unit is used for adjusting the driving direction of the unmanned vehicle according to the motion track determined by the track determining unit.
The running direction of the unmanned vehicle is adjusted through the determined motion track, so that the unmanned vehicle can be effectively prevented from colliding with pedestrians in the running process.
In some optional implementations of the present embodiment, the apparatus 600 for controlling an unmanned vehicle further includes a second obtaining unit, a third obtaining unit, and a comparing unit, which are not shown in fig. 6.
The second acquisition unit is used for acquiring the relative position information of the obstacles around the unmanned vehicle and the unmanned vehicle, which is identified based on the image identification method; and/or
And a third acquisition unit configured to acquire relative position information of the unmanned vehicle and obstacles around the unmanned vehicle detected based on the radar detection method.
And a comparing unit, configured to compare the relative position of the wireless signal source and the unmanned vehicle determined by the determining unit 602 with the relative position information of the obstacle and the unmanned vehicle acquired from the second acquiring unit and the third acquiring unit, so as to obtain accuracy of the relative position of the wireless signal source and the unmanned vehicle.
According to the device for controlling the unmanned vehicle, the first acquisition unit is used for acquiring the wireless signal information detected by the detection device placed at different detection positions of the unmanned vehicle at intervals of the preset time period, so that the determination unit is used for determining the relative positions of the plurality of wireless signal sources and each wireless signal source and the unmanned vehicle, the control unit can control the speed of the unmanned vehicle, and the accuracy of pedestrian detection is improved.
Referring now to FIG. 7, a block diagram of a computer system 700 suitable for use in implementing an apparatus for controlling an unmanned vehicle of embodiments of the present application is shown.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program, when executed by a Central Processing Unit (CPU)701, performs the above-described functions defined in the method of the present application.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a first acquisition unit, a determination unit, and a control unit. Where the names of these units do not in some cases constitute a limitation on the unit itself, for example, the first acquisition unit may also be described as a "unit that acquires information of wireless signals around the unmanned vehicle".
As another aspect, the present application also provides a non-volatile computer storage medium, which may be the non-volatile computer storage medium included in the apparatus in the above-described embodiments; or it may be a non-volatile computer storage medium that exists separately and is not incorporated into the terminal. The non-transitory computer storage medium stores one or more programs that, when executed by a device, cause the device to: acquiring information of a wireless signal around an unmanned vehicle, the wireless signal being detected every a first preset time period by a plurality of detecting devices placed at preset detection positions of the unmanned vehicle, the information of the wireless signal including a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected and the strength of the wireless signal; determining the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position; controlling the speed of the unmanned vehicle according to the relative position.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (25)
1. An in-vehicle apparatus, characterized in that the apparatus comprises: the detection device, the positioning device and the speed control device are sequentially in communication connection;
the detection device comprises a plurality of detection devices, the detection devices are placed at preset detection positions of the unmanned vehicle, the detection devices detect wireless signals around the unmanned vehicle every a first preset time period and send information of the detected wireless signals to the positioning device, and the information of the wireless signals comprises the frequency of the wireless signals, the identification of the wireless signals and at least one of the following items: the time when the wireless signal is detected and the strength of the wireless signal;
the positioning device is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the information of the detected wireless signal and the coordinates of the detection position received each time, and sending the relative position to the speed control device, wherein the wireless signal source is a wireless signal transmitting device carried by a pedestrian;
the speed control device is used for controlling the speed of the unmanned vehicle according to the relative position.
2. The apparatus of claim 1, wherein the detection device comprises at least four detection devices placed in front of and behind the unmanned vehicle, respectively.
3. The apparatus of claim 2, wherein the at least four detection devices are placed on a left front underside, a right front underside, a center front upper side, and a center rear underside of the unmanned vehicle, respectively.
4. The apparatus of claim 1, wherein the positioning device is further configured to:
determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal;
and for each wireless signal source, determining the relative position of the wireless signal source and the unmanned vehicle according to the moment when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position, and sending the relative position to the speed control device.
5. The apparatus of claim 1, further comprising a summarizing device communicatively connected to the detecting device and the positioning device, for summarizing information of the wireless signals detected by the detecting device at the same time and coordinates of the detected position corresponding to each wireless signal into a data frame, and sending the summarized data frame to the positioning device.
6. The apparatus of claim 5, wherein the positioning device is further configured to:
and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the summarized data frame and the coordinates of the detection position, and sending the relative position to the speed control device.
7. The device of claim 6, further comprising a directional control device communicatively coupled to the positioning device; and
the positioning device is further configured to: determining a motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment, and sending the motion track to the direction control device;
and the direction control device is used for adjusting the driving direction of the unmanned vehicle according to the motion trail.
8. The device according to any one of claims 1 to 7, characterized in that it further comprises image recognition means and/or radar detection means and authentication means communicatively connected to said image recognition means and/or said radar detection means and said positioning means;
the image recognition device is used for recognizing obstacles around the unmanned vehicle and sending the recognized relative position information of the obstacles and the unmanned vehicle to the verification device;
the radar detection device is used for detecting obstacles around the unmanned vehicle and sending the detected relative position information of the obstacles and the unmanned vehicle to the verification device;
the verification device is used for acquiring the relative position from the positioning device, comparing the relative position with the relative position information of the obstacle and the unmanned vehicle obtained by the image recognition device and/or the radar detection device, and obtaining the accuracy of the relative position determined by the positioning device.
9. A system for controlling an unmanned vehicle, the system comprising: a portable device and an in-vehicle device according to any one of claims 1 to 8;
the portable device is carried by pedestrians around the unmanned vehicle for transmitting wireless signals;
and the detection device in the vehicle-mounted device is used for detecting the wireless signal transmitted by the portable device.
10. A method for controlling an unmanned vehicle, the method comprising:
acquiring information of a wireless signal around an unmanned vehicle, the wireless signal being detected every a first preset time period by a plurality of detecting devices placed at preset detection positions of the unmanned vehicle, the information of the wireless signal including a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected and the strength of the wireless signal;
determining the relative position of at least one wireless signal source and the unmanned vehicle according to the information of the wireless signal acquired each time and the coordinates of the detection position, wherein the wireless signal source is a wireless signal transmitting device carried by a pedestrian;
controlling the speed of the unmanned vehicle according to the relative position.
11. The method according to claim 10, characterized in that the wireless signal is detected by at least four detection means placed in front of and behind the unmanned vehicle every first preset time period.
12. The method of claim 11, wherein the wireless signals are detected by at least four detection devices placed on the left front underside, right front underside, mid front upper side, and mid rear lower side of the unmanned vehicle every first preset time period.
13. The method of claim 10, wherein determining the relative position of at least one wireless signal source and the unmanned vehicle based on the information of the acquired wireless signals and the coordinates of the probe location comprises:
determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal;
for each wireless signal source, determining the relative position of the wireless signal source and the unmanned vehicle according to the time when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position.
14. The method of claim 10, wherein prior to said determining the relative position of at least one wireless signal source and the unmanned vehicle based on the information of the acquired wireless signals and the coordinates of the probe location, the method further comprises:
and summarizing the information of the wireless signals detected at the same time and the coordinates of the detection position corresponding to each wireless signal into a data frame.
15. The method of claim 14, wherein determining the relative position of at least one wireless signal source and the unmanned vehicle based on the information of the acquired wireless signals and the coordinates of the probe location comprises:
and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the collected data frame and the coordinates of the detection position.
16. The method of claim 15, further comprising:
determining a motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment;
and adjusting the driving direction of the unmanned vehicle according to the motion trail.
17. The method according to any one of claims 10-16, further comprising:
acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle, which is identified based on an image identification method; and/or
Acquiring relative position information of obstacles around the unmanned vehicle and the unmanned vehicle, which is detected based on a radar detection method;
and comparing the determined relative position of the wireless signal source and the unmanned vehicle with the obtained relative position information of the obstacle and the unmanned vehicle to obtain the accuracy of the relative position of the wireless signal source and the unmanned vehicle.
18. An apparatus for controlling an unmanned vehicle, the apparatus comprising:
a first acquisition unit configured to acquire information of a wireless signal around an unmanned vehicle, the wireless signal being detected every a first preset time period by a plurality of detection devices placed at a preset detection position of the unmanned vehicle, the information of the wireless signal including a frequency of the wireless signal, an identification of the wireless signal, and at least one of: the time when the wireless signal is detected and the strength of the wireless signal;
the determining unit is used for determining the relative position of at least one wireless signal source and the unmanned vehicle according to the information of the wireless signal acquired each time and the coordinates of the detection position, wherein the wireless signal source is a wireless signal transmitting device carried by a pedestrian;
a control unit for controlling the speed of the unmanned vehicle in dependence on the relative position.
19. The apparatus of claim 18, wherein the wireless signal is detected by at least four detection devices placed in front of and behind the unmanned vehicle every first preset time period.
20. The apparatus of claim 19, wherein the wireless signal is detected by at least four detection devices placed on the left front underside, right front underside, mid front upper side, and mid rear lower side of the unmanned vehicle every first predetermined period of time.
21. The apparatus of claim 18, wherein the determining unit comprises:
the signal source determining module is used for determining at least one wireless signal source according to the frequency of the wireless signal and the identification of the wireless signal;
and the relative position determining module is used for determining the relative position of the wireless signal source and the unmanned vehicle according to the moment when the wireless signal is detected or the strength of the wireless signal and the coordinates of the detection position for each wireless signal source.
22. The apparatus of claim 18, further comprising:
and the summarizing unit is used for summarizing the information of the wireless signals detected at the same moment and the coordinates of the detection position corresponding to each wireless signal into a data frame before the determining unit determines the relative position of at least one wireless signal source and the unmanned vehicle according to the acquired information of the wireless signals and the coordinates of the detection position.
23. The apparatus of claim 22, wherein the determining unit is further configured to:
and determining the relative position of at least one wireless signal source and the unmanned vehicle at the same moment according to the information of the wireless signals in the collected data frame and the coordinates of the detection position.
24. The apparatus of claim 23, further comprising:
the track determining unit is used for determining the motion track of at least one wireless signal source relative to the unmanned vehicle according to the determined relative position of the at least one wireless signal source and the unmanned vehicle at the same moment;
and the direction adjusting unit is used for adjusting the driving direction of the unmanned vehicle according to the motion trail.
25. The apparatus of any one of claims 18-24, further comprising:
a second acquisition unit configured to acquire relative position information of the unmanned vehicle and obstacles around the unmanned vehicle, which are identified based on an image recognition method; and/or
A third acquisition unit configured to acquire relative position information of the unmanned vehicle and obstacles around the unmanned vehicle detected based on a radar detection method;
and the comparison unit is used for comparing the determined relative position of the wireless signal source and the unmanned vehicle with the acquired relative position information of the obstacle and the unmanned vehicle to obtain the accuracy of the relative position of the wireless signal source and the unmanned vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610538408.3A CN106227204B (en) | 2016-07-08 | 2016-07-08 | Vehicle-mounted device and system, method and device for controlling unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610538408.3A CN106227204B (en) | 2016-07-08 | 2016-07-08 | Vehicle-mounted device and system, method and device for controlling unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106227204A CN106227204A (en) | 2016-12-14 |
| CN106227204B true CN106227204B (en) | 2020-03-10 |
Family
ID=57519561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610538408.3A Active CN106227204B (en) | 2016-07-08 | 2016-07-08 | Vehicle-mounted device and system, method and device for controlling unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106227204B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109471437B (en) * | 2018-11-20 | 2020-10-16 | 百度在线网络技术（北京）有限公司 | Method, device and control system for controlling mobile robot |
| CN109814568B (en) | 2019-02-19 | 2022-05-03 | 阿波罗智能技术(北京)有限公司 | Method and device for generating speed track of unmanned vehicle and storage medium |
| CN112078572B (en) * | 2019-05-27 | 2024-05-24 | 西安光启智能技术有限公司 | Vehicle distance alarm method and system and computer readable storage medium |
| CN110233903A (en) * | 2019-06-30 | 2019-09-13 | 南京云睿航天科技有限公司 | A kind of bus location navigation interactive system based on Internet of Things |
| CN112242069B (en) | 2019-07-17 | 2021-10-01 | 华为技术有限公司 | Method and device for determining vehicle speed |
| CN110490114A (en) * | 2019-08-13 | 2019-11-22 | 西北工业大学 | Target detection barrier-avoiding method in a kind of unmanned plane real-time empty based on depth random forest and laser radar |
| CN111063214A (en) * | 2019-12-16 | 2020-04-24 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN111231965B (en) * | 2020-01-14 | 2021-07-13 | 北京小马慧行科技有限公司 | Method and device for adjusting vehicle control mode and unmanned vehicle |
| CN112130568B (en) * | 2020-09-24 | 2022-08-19 | 闽江学院 | Driving method of unmanned transport vehicle, unmanned transport vehicle and computer equipment |
| CN113353100B (en) * | 2021-06-21 | 2023-02-24 | 高靖涵 | Method and system for avoiding pedestrians for unmanned vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203480702U (en) * | 2013-08-20 | 2014-03-12 | 比亚迪股份有限公司 | Anti-crash early warning system and vehicle having same |
| CN104080042A (en) * | 2013-03-30 | 2014-10-01 | 北京百度网讯科技有限公司 | Wireless signal acquisition method and system for mobile positioning service |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7218240B2 (en) * | 2004-08-10 | 2007-05-15 | The Boeing Company | Synthetically generated sound cues |
| CN102096803B (en) * | 2010-11-29 | 2013-11-13 | 吉林大学 | Safe state recognition system for people on basis of machine vision |
| CN103149599B (en) * | 2013-03-07 | 2015-11-18 | 吉林省高速公路管理局 | A kind of highway green test passage vehicle cab avoidance system and method |
| JP2014197294A (en) * | 2013-03-29 | 2014-10-16 | 株式会社日立産機システム | Position identification device and mobile robot having the same |
| CN205162985U (en) * | 2015-09-25 | 2016-04-20 | 安徽三联学院 | Domestic clean robot |
| CN105487558A (en) * | 2015-12-24 | 2016-04-13 | 青岛海通机器人系统有限公司 | Object following system based on mobile robot and method |
-
2016
- 2016-07-08 CN CN201610538408.3A patent/CN106227204B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080042A (en) * | 2013-03-30 | 2014-10-01 | 北京百度网讯科技有限公司 | Wireless signal acquisition method and system for mobile positioning service |
| CN203480702U (en) * | 2013-08-20 | 2014-03-12 | 比亚迪股份有限公司 | Anti-crash early warning system and vehicle having same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106227204A (en) | 2016-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106227204B (en) | Vehicle-mounted device and system, method and device for controlling unmanned vehicle | |
| US11881030B2 (en) | Method for detecting vehicle and device for executing the same | |
| CN110036423B (en) | Method and control unit for adjusting the inter-vehicle distance between vehicles in a vehicle train | |
| CN107888877B (en) | Method and system for vehicle tracking and road traffic information acquisition | |
| US10249183B2 (en) | Traffic index generation device, traffic index generation method, and computer program | |
| US10373503B2 (en) | Trainable transceiver with single camera park assist | |
| JP6468062B2 (en) | Object recognition system | |
| US20190096215A1 (en) | Amber alert monitoring and support | |
| EP3358550A1 (en) | Information processing device and information processing method | |
| US20210382969A1 (en) | Biometrics authentication method and apparatus using in-vehicle multi camera | |
| US20210188311A1 (en) | Artificial intelligence mobility device control method and intelligent computing device controlling ai mobility | |
| KR20160107636A (en) | Device for preventing accident of vehicle and operating method thereof | |
| US20150181551A1 (en) | Location estimation method and system | |
| US11837084B2 (en) | Traffic flow estimation apparatus, traffic flow estimation method, traffic flow estimation program, and storage medium storing traffic flow estimation program | |
| KR101525151B1 (en) | System and method for recognizing license plate | |
| KR102528421B1 (en) | Communications terminal for vehicle and method for positioning vehicle using the same | |
| US20230256997A1 (en) | Intelligent beam prediction method | |
| US11501539B2 (en) | Vehicle control system, sensing device and sensing data processing method | |
| EP3867892A1 (en) | Traffic management system and an unmanned aerial vehicle compatible with such a system | |
| US9984296B2 (en) | Misaligned tire detection method and apparatus | |
| US20220371597A1 (en) | Driving support system | |
| CN109286785B (en) | Environment information sharing system and method | |
| CN113614732A (en) | Information processing apparatus and information processing method | |
| US20240147242A1 (en) | Method and apparatus for providing a shared mobility service | |
| US20240045016A1 (en) | Mobile device range finder via rf power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |