CN109240300B - Unmanned vehicle, speed control method and device thereof, electronic equipment and storage medium - Google Patents
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The embodiment of the invention discloses an unmanned vehicle, a speed control method and device thereof, electronic equipment and a storage medium, wherein the speed control method of the unmanned vehicle comprises the following steps: acquiring a people flow quantity value in a set area around the unmanned vehicle; determining a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic quantity value; and determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle. According to the unmanned vehicle speed control method, the driving speed of the unmanned vehicle is related to the people flow distribution around the unmanned vehicle, the intelligent degree of the unmanned vehicle is improved, the mobility and the flexibility of the unmanned vehicle can be considered, and meanwhile, the service is better provided for target people.
Description
Technical Field
The present invention relates to the field of unmanned vehicles, and in particular, to an unmanned vehicle, a speed control method and apparatus thereof, an electronic device, and a storage medium.
Background
The unmanned technology is developed more and more mature and starts to penetrate into various fields. Meanwhile, transformation and upgrading are carried out in many traditional fields, and new development power is brought by combination of the transformation and upgrading and the science and technology industry. Therefore, the traditional industry is becoming more and more closely integrated with high technology.
In the traditional retail field, small vendors and superstores in fixed stores exist, and meanwhile, unattended vending machines fixedly arranged in a plurality of offices, districts and other areas exist. The unattended vending machine has the advantages of wide application range, simple maintenance, small volume, convenient transportation and simple operation, can work for 24 hours, does not need to be managed by a specially-assigned person, leases a storefront and pays wages, and provides convenient service for consumers to a certain extent.
However, with the development of the unattended vending machine, due to the defect that the unattended vending machine is not flexible to arrange, especially for the vending machine with large volume and heavy weight, after the arrangement is finished, the workload caused by changing the position is large, and the time and the labor are wasted. In addition, in areas such as community, industry garden, tourist attraction, market, because the real-time difference of people's stream density is great, how better satisfy the swift, convenient shopping demand of user, so the intelligent degree of unmanned vending machine of awaiting urgent need to promote.
Disclosure of Invention
In view of this, embodiments of the present invention provide an unmanned vehicle, a speed control method and apparatus thereof, an electronic device, and a storage medium, so as to solve the problems that the existing unmanned vehicle is not flexible to move and the intelligence level needs to be improved when serving people.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for controlling a speed of an unmanned vehicle, where the method includes:
acquiring a people flow quantity value in a set area around the unmanned vehicle;
determining a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic quantity value;
and determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
In a second aspect, an embodiment of the present invention provides an unmanned vehicle speed control device, including:
the acquisition module is used for acquiring the people flow quantity value in the set area around the unmanned vehicle;
the determining module is used for determining a people flow density adjusting factor for adjusting the running speed of the unmanned vehicle based on the people flow quantity value;
and the control module is used for determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and an executable program that is stored in the memory and can be executed by the processor, where the processor executes the steps of the method for controlling the speed of the unmanned vehicle according to the embodiment of the present invention when executing the executable program.
In a fourth aspect, an embodiment of the present invention further provides an unmanned vehicle, which includes an unmanned vehicle body, a driving system for driving the unmanned vehicle body to move, and the electronic device according to the foregoing embodiment of the present invention.
In a fifth aspect, the present invention further provides a storage medium, on which an executable program is stored, where the executable program, when executed by a processor, implements the steps of the unmanned vehicle speed control method according to the embodiment of the present invention.
According to the unmanned vehicle and the speed control method, the speed control device, the electronic equipment and the storage medium of the unmanned vehicle, the people flow quantity value in the set area around the unmanned vehicle is obtained, the people flow density adjusting factor is determined based on the people flow quantity value, the expected speed of the unmanned vehicle is determined based on the people flow density adjusting factor, and the running speed of the unmanned vehicle is controlled according to the expected speed, so that the running speed of the unmanned vehicle is related to the people flow distribution around the unmanned vehicle, the intelligent degree of the unmanned vehicle is improved, the mobility and the flexibility of the unmanned vehicle are considered, and meanwhile, related services such as retail sale and the like are better provided for target people.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of an unmanned vehicle speed control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a scenario of an unmanned vehicle application provided by an embodiment of the present invention;
fig. 3 is a functional structure diagram of an unmanned vehicle speed control device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Fig. 1 is a schematic flow chart of an unmanned vehicle speed control method according to an embodiment of the present invention, and the unmanned vehicle speed control method may be applied to an unmanned retail vehicle and may also be applied to an unmanned vehicle providing other crowd-oriented services. For example, in the case of an unmanned retail vehicle, which is an unmanned vending vehicle with an unmanned function, the unmanned vending vehicle may sense the surroundings of the vehicle by using an on-board sensor (e.g., a laser radar or an optical camera), and control the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, so that the vehicle can safely and reliably travel on the road. Referring to fig. 1, the method for controlling the speed of the unmanned aerial vehicle according to the embodiment of the present invention includes:
In this embodiment, the pedestrian flow number value in the set area around the unmanned vehicle is obtained to monitor the pedestrian flow density of the current geographic position of the unmanned vehicle, and then the driving speed of the unmanned vehicle is controlled according to the pedestrian flow density and a predetermined speed control strategy.
In this embodiment, the obtaining the people flow quantity value in the peripheral set area of the unmanned vehicle includes: determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; or determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; or determining the people flow quantity value according to sensing data monitored by a sensor carried by the unmanned vehicle.
In an optional implementation manner, the obtaining of the people flow amount value in the set area around the unmanned vehicle is to determine the people flow amount value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as a center. Specifically, the geofence may be set to be a fixed area size, for example, a square area corresponding to the side length is set as the distance with the position where the unmanned vehicle is located as the center; or a circular area with the position of the unmanned vehicle as the center and the set distance as the radius. The fence for setting the geographic fence encloses a virtual geographic boundary, when a mobile terminal carried by a user, such as a mobile phone, an electronic bracelet and the like, enters the set geographic fence, user detection data corresponding to the user can be generated, and the unmanned vehicle counts and generates a people flow value in a set area according to the user detection data corresponding to each user entering the set geographic fence. Illustratively, the unmanned vehicle periodically updates the current geographic position, generates a geo-fence according to a preset rule, and counts the number of people in the geo-fence in the current period, so as to update the people flow value. Those skilled in the art will appreciate that the boundaries of the geofence may also be dynamically adjusted according to changes in operating conditions, and those skilled in the art may make appropriate adjustments according to factors such as the type of unmanned vehicle, the operating speed, the conditions of the surrounding environment, and the like.
In another optional implementation manner, the obtaining of the people flow quantity value in the set area around the unmanned vehicle is to determine the people flow quantity value according to the people flow result counted by the people flow monitoring device corresponding to the unmanned vehicle at present. Specifically, a plurality of people flow monitoring devices are arranged on a running track of the unmanned vehicle to count the number of people flows corresponding to different road sections, when the unmanned vehicle enters a certain road section, an acquisition instruction is triggered to communicate with the people flow monitoring devices corresponding to the road section, and the people flow result counted by the people flow monitoring devices corresponding to the road section is acquired to determine the number of people flows. The people flow monitoring devices arranged on different road sections can adopt the existing people flow monitoring devices based on at least one of infrared induction, image acquisition and temperature acquisition, such as an infrared temperature measurement sensor arranged between an inlet and an outlet of a set road section, and the infrared temperature measurement sensor can count the number of people passing in and out by utilizing the change of temperature data when people pass by to obtain people flow results, which is not repeated herein.
In another optional implementation manner, the obtaining of the people flow rate value in the set area around the unmanned vehicle is to determine the people flow rate value according to sensing data monitored by a sensor carried by the unmanned vehicle. Specifically, the unmanned vehicle carries a people flow monitoring device based on at least one of infrared induction, image acquisition and temperature acquisition, so as to count the people flow quantity of the coverage area of the people flow monitoring device, and obtain the people flow quantity value.
In the embodiment of the invention, the people flow quantity value in the set area around the unmanned vehicle can be determined according to user detection data corresponding to the set geo-fence with the unmanned vehicle as the center; or determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; or, one or more of the people flow rate values are determined according to sensing data monitored by a sensor carried by the unmanned vehicle, which is not specifically limited herein. Optionally, the people flow quantity value is obtained through two or more than two modes, the people flow quantity values corresponding to the multiple modes are weighted and averaged to obtain the people flow quantity value, and people flow density around the unmanned vehicle can be reliably monitored.
in this embodiment, the determining a traffic density adjustment factor for adjusting the driving speed of the unmanned vehicle based on the traffic volume value includes:
according to the formula
Determining the people flow density adjustment factor, wherein sigma is the people flow density adjustment factor, N is the people flow number value, NmaxFor a preset personFlow number reference value.
Specifically, the preset people flow number reference value may be the maximum number of people flows in an area having the same size as the set area in the scenic spot, and the reference value may be set according to a statistical result or human experience.
And 103, determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
In this embodiment, the determining the desired speed of the unmanned vehicle based on the people flow density adjustment factor includes:
according to formula Vwant＝σVmaxDetermining a desired speed of the unmanned vehicle, wherein VwantIs the desired speed, V, of the unmanned vehiclemaxThe maximum driving speed of the unmanned vehicle.
In this embodiment, optionally, the controlling the driving speed of the unmanned vehicle according to the desired speed of the unmanned vehicle includes:
acquiring the current moving speed of the unmanned vehicle;
and when the current moving speed is determined to be larger than the expected speed of the unmanned vehicle, generating a deceleration instruction to control the running speed of the unmanned vehicle to be below the expected speed.
According to the speed control method of the unmanned vehicle, the number of people in the set area around the unmanned vehicle is obtained, the number of people adjustment factor of the number of people is determined based on the number of people, the expected speed of the unmanned vehicle is determined based on the number of people adjustment factor, and the running speed of the unmanned vehicle is controlled according to the expected speed, so that the running speed of the unmanned vehicle is related to the distribution of the number of people around the unmanned vehicle, the intelligent degree of the unmanned vehicle is improved, the mobility and the flexibility of the unmanned vehicle can be considered, and meanwhile, related services such as retail services can be better provided for target people. In addition, the speed control method for the unmanned vehicle is not simply based on the roadblock information and the traffic complexity for speed control, but based on the people flow density of the targeted terminal customer group, so that the combination of the unmanned driving and the retail related services is really realized, and the method has great popularization and application values.
Fig. 2 is a scene schematic diagram of an unmanned vehicle application provided in an embodiment of the present invention. Referring to fig. 2, in a scenario of this application, an unmanned vehicle 201 has a dedicated lane 202 for the vehicle to travel, no person or other vehicle is present in the dedicated lane 202, and a pedestrian crossing 203 for pedestrians to travel is provided outside the dedicated lane 202. Pedestrians are distributed in the area outside the pedestrian crossing 203 and the exclusive lane 202. In this embodiment, the set area 204 is a circular area having a radius of 1000 m and centered on the unmanned vehicle 201. Assuming a reference value N of the number of people flowingmaxThe maximum driving speed V of the unmanned vehicle in the scenic spot is 20maxIs 20 km/h. In the method for controlling the speed of the unmanned vehicle according to the embodiment, the people flow number value N is 16 in the set area around the unmanned vehicle. Determining a people flow density adjusting factor for adjusting the running speed of the unmanned vehicle based on the people flow quantity value, and obtaining a people flow density adjusting factor sigma as follows:
thus, the desired velocity V of the unmanned vehiclewantThe following were used:
Vwant＝σVmax＝0.2×20km/h＝4km/h
the unmanned vehicle speed control method realizes the effect of controlling the running speed of the unmanned vehicle based on the pedestrian flow density around the unmanned vehicle, thereby realizing the reduction of the running speed (even parking) in places with much pedestrian flow, and fast passing in places with little pedestrian flow, being beneficial to fast and flexibly adjusting the moving effect of the unmanned vehicle, improving the intelligent level thereof, controlling the passing speed according to the pedestrian flow, being beneficial to the unmanned vehicle to improve the traffic volume of services such as retail business and the like.
In order to implement the above unmanned vehicle speed control method, an embodiment of the present invention further provides an unmanned vehicle speed control device, which may be applied to an unmanned vehicle. Fig. 3 is a functional structure diagram of an unmanned vehicle speed control device according to an embodiment of the present invention, and as shown in fig. 3, the unmanned vehicle speed control device may include: an acquisition module 301, a determination module 302 and a control module 303; wherein the content of the first and second substances,
an obtaining module 301, configured to obtain a people flow value in a set area around the unmanned vehicle;
a determining module 302, configured to determine a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic volume value;
and the control module 303 is configured to determine an expected speed of the unmanned vehicle based on the people flow density adjustment factor, and control the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
In this embodiment, the obtaining module 301 is specifically configured to:
determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; alternatively, the first and second electrodes may be,
determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; alternatively, the first and second electrodes may be,
and determining the people flow quantity value according to the sensing data monitored by the sensor carried by the unmanned vehicle.
In an optional implementation manner, the obtaining module 301 determines the people flow amount value according to user detection data corresponding to a set geo-fence centered on the unmanned vehicle. Specifically, the geofence may be set to be a fixed area size, for example, a square area corresponding to the side length is set as the distance with the position where the unmanned vehicle is located as the center; or a circular area with the position of the unmanned vehicle as the center and the set distance as the radius. The fence for setting the geographic fence encloses a virtual geographic boundary, when a mobile terminal carried by a user, such as a mobile phone, an electronic bracelet and the like, enters the set geographic fence, user detection data corresponding to the user can be generated, and the unmanned vehicle counts and generates a people flow value in a set area according to the user detection data corresponding to each user entering the set geographic fence. The unmanned vehicles periodically update the current geographic positions, a geo-fence is generated according to preset information, the number of people flows in the geo-fence is counted in the current period, and then the number value of people flows is updated. Those skilled in the art will appreciate that the boundaries of the geofence may also be dynamically adjusted according to changes in operating conditions, and those skilled in the art may make appropriate adjustments according to factors such as the type of unmanned vehicle, the operating speed, the conditions of the surrounding environment, and the like.
In another optional implementation manner, the obtaining module 301 determines the people flow quantity value according to a people flow result counted by the people flow monitoring device corresponding to the unmanned vehicle currently. Specifically, a plurality of people flow monitoring devices are arranged on a running track of the unmanned vehicle to count the number of people flows corresponding to different road sections, when the unmanned vehicle enters a certain road section, an acquisition instruction is triggered to communicate with the people flow monitoring devices corresponding to the road section, and the people flow result counted by the people flow monitoring devices corresponding to the road section is acquired to determine the number of people flows. The people flow monitoring devices arranged on different road sections can adopt the existing people flow monitoring devices based on at least one of infrared induction, image acquisition and temperature acquisition, such as an infrared temperature measurement sensor arranged between an inlet and an outlet of a road section, and the infrared temperature measurement sensor can count the number of people passing in and out by utilizing the change of temperature data when people pass by to obtain people flow results, which is not repeated herein.
In another optional implementation manner, the obtaining module 301 determines the people flow rate value according to sensing data monitored by a sensor carried by the unmanned vehicle. Specifically, the unmanned vehicle carries a people flow monitoring device based on at least one of infrared induction, image acquisition and temperature acquisition, so as to count the people flow quantity of the coverage area of the people flow monitoring device, and obtain the people flow quantity value.
In this embodiment of the present invention, the obtaining module 301 may determine the people flow amount value according to user detection data generated in a set geo-fence with the unmanned vehicle as a center; or determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; or, one or more of the people flow rate values are determined according to sensing data monitored by a sensor carried by the unmanned vehicle, which is not specifically limited herein. Optionally, the people flow quantity value is obtained through two or more than two modes, the people flow quantity values corresponding to the multiple modes are weighted and averaged to obtain the people flow quantity value, and people flow density around the unmanned vehicle can be reliably monitored.
In one embodiment, the determination module 302 follows a formula
Determining the people flow density adjustment factor, wherein sigma is the people flow density adjustment factor, N is the people flow number value, NmaxThe number is a preset people flow reference value.
In this embodiment, the preset people flow reference value is the number of people flows allowed in the setting area, and the reference value may be set according to a statistical result or human experience.
In one embodiment, the control module 303 follows formula Vwant＝σVmaxDetermining a desired speed of the unmanned vehicle, wherein VwantIs the desired speed, V, of the unmanned vehiclemaxThe maximum driving speed of the unmanned vehicle.
In one embodiment, the control module 303 controls the driving speed of the unmanned vehicle according to the desired speed of the unmanned vehicle, including:
acquiring the current moving speed of the unmanned vehicle;
and when the current moving speed is determined to be larger than the expected speed of the unmanned vehicle, generating a deceleration instruction to control the running speed of the unmanned vehicle to be below the expected speed.
It should be noted that: in the speed control of the unmanned vehicle speed control device according to the above embodiment, only the division of the program modules is illustrated, and in practical applications, the above processing may be distributed to different program modules according to needs, that is, the internal structure of the unmanned vehicle speed control device may be divided into different program modules to complete all or part of the above-described processing. In addition, the unmanned vehicle speed control device provided by the above embodiment and the unmanned vehicle speed control method embodiment belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and is not described herein again.
In practical applications, each of the program modules may be implemented by a Central Processing Unit (CPU) on the server, a microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
In order to implement the above unmanned vehicle speed control method, an embodiment of the present invention further provides a hardware structure of an electronic device. An electronic device implementing an embodiment of the present invention, which may be implemented in the form of various types of servers such as a cloud server or may be provided on an unmanned vehicle, will now be described with reference to the drawings. When the electronic device is implemented with a cloud server, the electronic device communicates with the unmanned vehicle through the communication port to remotely transfer data with the unmanned vehicle. In the following, the hardware structure of the electronic device according to the embodiment of the present invention is further described, it is to be understood that fig. 4 only shows an exemplary structure of the electronic device, and not a whole structure, and a part of the structure or a whole structure shown in fig. 4 may be implemented as needed.
Referring to fig. 4, fig. 4 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention, which may be applied to an unmanned vehicle in practical applications, where the electronic device 400 shown in fig. 4 includes: at least one processor 401, memory 402, a user interface 403, and at least one network interface 404. The various components in the electronic device 400 are coupled together by a bus system 405. It will be appreciated that the bus system 405 is used to enable communications among the components. The bus system 405 may include a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 405 in fig. 4.
The user interface 403 may include, among other things, a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, or a touch screen. The network interface 404 is in communication connection with the unmanned vehicle control end in a wired and/or wireless mode.
It will be appreciated that the memory 402 can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
The memory 402 in embodiments of the present invention is used to store various types of data to support the operation of the electronic device 400. Examples of such data include: any computer program for operating on the electronic device 400, such as the executable program 4021 and the operating system 4022, a program that implements the unmanned vehicle speed control method of an embodiment of the present invention may be contained in the executable program 4021.
The unmanned vehicle speed control method disclosed by the embodiment of the invention can be applied to the processor 401, or can be realized by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above unmanned vehicle speed control method may be implemented by hardware integrated logic circuits in the processor 401 or instructions in the form of software. The processor 401 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 401 may implement or perform the various unmanned vehicle speed control methods, steps, and logic blocks provided in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the unmanned vehicle speed control method provided by the embodiment of the invention can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software module in the decoding processor is combined. The software modules may be located in a storage medium located in the memory 402, and the processor 401 reads information in the memory 402, and performs the steps of the unmanned vehicle speed control method provided by the embodiment of the present invention in combination with hardware thereof.
In this embodiment, when the processor 401 runs the executable program 4021, the following operations are implemented: acquiring a people flow quantity value in a set area around the unmanned vehicle; determining a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic quantity value; and determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
As an embodiment, when the processor 401 runs the executable program 4021, it implements: determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; or determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; or determining the people flow quantity value according to sensing data monitored by a sensor carried by the unmanned vehicle.
As an embodiment, when the processor 401 runs the executable program 4021, it implements:
according to the formula
Determining the people flow density adjustment factor, wherein sigma is the people flow density adjustment factor, N is the people flow number value, NmaxThe number is a preset people flow reference value.
As an embodiment, when the processor 401 runs the executable program 4021, it implements:
according to formula Vwant＝σVmaxDetermining a desired speed of the unmanned vehicle, wherein VwantIs the desired speed, V, of the unmanned vehiclemaxThe maximum driving speed of the unmanned vehicle.
As an embodiment, when the processor 401 runs the executable program 4021, it implements: acquiring the current moving speed of the unmanned vehicle; and when the current moving speed is determined to be larger than the expected speed of the unmanned vehicle, generating a deceleration instruction to control the running speed of the unmanned vehicle to be below the expected speed.
In an exemplary embodiment, an embodiment of the present invention further provides an unmanned vehicle, which includes an unmanned vehicle body, a driving system for driving the unmanned vehicle body to move, and the electronic device according to the foregoing embodiment of the present invention. As an example, the unmanned retail vehicle is provided with a functional unit for automatically selling commodities, and a user can obtain selected commodities by scanning payment or coin-in. The driving system can realize the unmanned displacement of the unmanned vehicle body, and the functional unit and the driving system can be realized by adopting the prior art, which are not described herein again. The driving system of the embodiment is in communication connection with the processor of the electronic device to receive the speed control command generated by the processor and adjust the running speed of the unmanned vehicle.
In an exemplary embodiment, an embodiment of the present invention further provides a storage medium, which may be a storage medium such as a removable storage device, a Read Only Memory (ROM), an optical disc, a flash Memory, or a magnetic disc, and may be selected as a non-transitory storage medium.
Wherein the storage medium has stored thereon an executable program 4021, said executable program 4021 when executed by the processor implementing: acquiring a people flow quantity value in a set area around the unmanned vehicle; determining a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic quantity value; and determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle.
As an embodiment, the executable program 4021 when executed by a processor implements: determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; or determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; or determining the people flow quantity value according to sensing data monitored by a sensor carried by the unmanned vehicle.
As an embodiment, the executable program 4021 when executed by a processor implements:
according to the formula
Determining the people flow density adjustment factor, wherein sigma is the people flow density adjustment factor, N is the people flow number value, NmaxThe number is a preset people flow reference value.
As an embodiment, the executable program 4021 when executed by a processor implements:
according to formula Vwant＝σVmaxDetermining a desired speed of the unmanned vehicle, wherein VwantIs the desired speed, V, of the unmanned vehiclemaxThe maximum driving speed of the unmanned vehicle.
As an embodiment, the executable program 4021 when executed by a processor implements: acquiring the current moving speed of the unmanned vehicle; and when the current moving speed is determined to be larger than the expected speed of the unmanned vehicle, generating a deceleration instruction to control the running speed of the unmanned vehicle to be below the expected speed.
The technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or executable program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of an executable program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and executable program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by executable program instructions. These executable program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor with reference to a programmable data processing apparatus to produce a machine, such that the instructions, which execute via the computer or processor with reference to the programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These executable program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These executable program instructions may also be loaded onto a computer or reference programmable data processing apparatus to cause a series of operational steps to be performed on the computer or reference programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or reference programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned vehicle speed control method, comprising:
acquiring a people flow quantity value in a set area around the unmanned vehicle;
determining a traffic density adjustment factor for adjusting a driving speed of the unmanned vehicle based on the traffic quantity value;
determining the expected speed of the unmanned vehicle based on the people stream density adjusting factor, and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle;
the determining a traffic density adjustment factor for adjusting the driving speed of the unmanned vehicle based on the traffic quantity value comprises:
according to the formula
Determining the stream density toneA section factor, wherein sigma is the people flow density adjusting factor, N is the people flow quantity value, NmaxThe number is a preset people flow reference value.
2. The method for controlling the speed of the unmanned vehicle according to claim 1, wherein the obtaining of the flow number value of the unmanned vehicle in the peripheral set area comprises:
determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; alternatively, the first and second electrodes may be,
determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; alternatively, the first and second electrodes may be,
and determining the people flow quantity value according to the sensing data monitored by the sensor carried by the unmanned vehicle.
3. The unmanned vehicle speed control method of claim 1, wherein the determining a desired speed of the unmanned vehicle based on the traffic density adjustment factor comprises:
according to formula Vwant＝σVmaxDetermining a desired speed of the unmanned vehicle, wherein VwantIs the desired speed, V, of the unmanned vehiclemaxThe maximum driving speed of the unmanned vehicle.
4. The unmanned vehicle speed control method of claim 1, wherein the controlling the travel speed of the unmanned vehicle in accordance with the desired speed of the unmanned vehicle comprises:
acquiring the current moving speed of the unmanned vehicle;
and when the current moving speed is determined to be larger than the expected speed of the unmanned vehicle, generating a deceleration instruction to control the running speed of the unmanned vehicle to be below the expected speed.
5. An unmanned vehicle speed control device, characterized by comprising:
the acquisition module is used for acquiring the people flow quantity value in the set area around the unmanned vehicle;
the determining module is used for determining a people flow density adjusting factor for adjusting the running speed of the unmanned vehicle based on the people flow quantity value;
the control module is used for determining the expected speed of the unmanned vehicle based on the people flow density adjusting factor and controlling the running speed of the unmanned vehicle according to the expected speed of the unmanned vehicle;
the determining module is specifically configured to:
according to the formula
Determining the people flow density adjustment factor, wherein sigma is the people flow density adjustment factor, N is the people flow number value, NmaxThe number is a preset people flow reference value.
6. The unmanned vehicle speed control device of claim 5, wherein the acquisition module is specifically configured to:
determining the people flow quantity value according to user detection data corresponding to a set geo-fence with the unmanned vehicle as the center; alternatively, the first and second electrodes may be,
determining the people flow quantity value according to the people flow result counted by the people flow monitoring equipment corresponding to the unmanned vehicle at present; alternatively, the first and second electrodes may be,
and determining the people flow quantity value according to the sensing data monitored by the sensor carried by the unmanned vehicle.
7. An electronic device comprising a memory, a processor and an executable program stored on the memory and executable by the processor, wherein the processor executes the executable program to perform the steps of the method of controlling the speed of an unmanned vehicle as claimed in any one of claims 1 to 4.
8. An unmanned vehicle comprising an unmanned vehicle body, a drive system for driving the unmanned vehicle body to move, and further comprising the electronic device of claim 7.
9. A storage medium having stored thereon an executable program, the executable program when executed by a processor implementing the steps of the unmanned vehicle speed control method according to any of claims 1 to 4.
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| CN113311820B (en) * | 2021-04-03 | 2022-11-08 | 联友智连科技有限公司 | Unmanned vehicle automatic maneuvering system and method based on big data |
| CN113905215B (en) * | 2021-12-07 | 2022-03-01 | 江西佳铭特实业有限公司 | Bus safe driving monitoring system |
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