CN109709962A - Unmanned automobile control method, device, computer readable storage medium and system - Google Patents
Unmanned automobile control method, device, computer readable storage medium and system Download PDFInfo
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- CN109709962A CN109709962A CN201811629660.0A CN201811629660A CN109709962A CN 109709962 A CN109709962 A CN 109709962A CN 201811629660 A CN201811629660 A CN 201811629660A CN 109709962 A CN109709962 A CN 109709962A
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Abstract
The invention discloses a kind of unmanned automobile control methods.This method comprises: receiving vehicle reaches the information sent when preset first place or the second place, and record the time for receiving the information；According to information place in received time and information, the priority level of vehicle corresponding to the information is judged using preset rules；According to the priority level of vehicle, the instruction for restoring to drive successively is sent to corresponding vehicle since highest priority level, so that automatic driving vehicle recovery is driving through channel.The invention also discloses a kind of unmanned automotive controls, computer readable storage medium and systems.The present invention can be realized in multiple vehicles while when by unidirectional passability channel, can guarantee the order between vehicle, can pass through half-duplex channel in an orderly manner.
Description
Technical field
The present invention relates to unmanned automotive field more particularly to a kind of unmanned automobile control method, device, computer-readable deposit
Storage media and system.
Background technique
With the fast development of intelligent automobile technology, the intelligence degree that autonomous driving vehicle drives is continuously improved, and is had autonomous
The unmanned technology of intelligent function is gradually applied.Currently, unmanned technology is applied to closed test region more.
But currently, pilotless automobile is in the unidirectional passability channel by only passing through for single vehicle in closed area
When, be frequently run onto multiple vehicles while the case where by unidirectional passability channel, in this way, between vehicle the conflict of Chang Yinwei meeting and
It causes disorder, seriously affects live order.
Summary of the invention
The main purpose of the present invention is to provide a kind of unmanned automobiles to control method, apparatus processed, computer-readable storage medium
Matter and system, it is intended to realize multiple vehicles simultaneously by unidirectional passability channel when, can guarantee the order between vehicle, energy
Pass through half-duplex channel in an orderly manner.
To achieve the above object, the present invention provides a kind of unmanned automobile control method, the unmanned automobile control method packet
Include following steps:
It receives vehicle and reaches the information sent when preset first place or the second place, and record and receive the letter
The time of breath；
According to information place in received time and information, judge vehicle corresponding to the information using preset rules
Priority level；
According to the priority level of vehicle, is successively sent to corresponding vehicle since highest priority level and restore driving
Instruction, so that automatic driving vehicle recovery is driving through channel.
Optionally, it is described according to information place in received time and information, judge the letter using preset rules
The step of ceasing the priority level of corresponding vehicle include:
According to information the received time according to the sequencing of time to information corresponding to vehicle be ranked up；
If the information institute received time is identical, vehicle corresponding to information is arranged according to the priority in place
Sequence.
Optionally, it is outlet end that the priority in the place, which is the first place, and second place is arrival end.
Optionally, the priority level according to vehicle is successively sent to corresponding vehicle extensive since high priority
The instruction driven again, so that automatic driving vehicle recovery is driving through channel and includes the following steps:
Receive vehicle transmission passes through the information in channel；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
Optionally, the priority level according to vehicle is successively sent to corresponding vehicle extensive since high priority
The instruction driven again, so that it further includes following steps that automatic driving vehicle recovery, which is driving through channel:
The corresponding vehicle of instruction is rejected from priority level；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
Optionally, the information command for receiving the first place of arrival or the second place that vehicle transmits, obtains information
Instruction institute further includes following steps before the received time:
Connection is established with user APP；
Receive the request automatic Pilot instruction transmitted at the end user APP；
Described instruction is sent to the driving vehicle of binding corresponding with the APP, so that automatic driving vehicle starting is certainly
It is dynamic to drive.
Optionally, the unmanned automobile control method further includes following steps:
Receive fault message, real time position, driving states and mileage information that vehicle transmits；
The fault message, real time position, driving states and mileage information are sent to user corresponding with the vehicle
The end APP, so that user comes to handle in time.
In addition, to achieve the above object, the present invention also provides a kind of unmanned automotive controls, the unmanned automobile control
Device includes: memory, processor and the unmanned automobile control that is stored on the memory and can run on the processor
Processing procedure sequence, the unmanned automobile control program realize unmanned automobile control method as described above when being executed by the processor
Step.
In addition, to achieve the goals above, the present invention also provides a kind of computer readable storage medium, the computer can
It reads to be stored with unmanned automobile control program on storage medium, the unmanned automobile control program is realized as above when being executed by processor
The step of described unmanned automobile control method.
In addition, to achieve the goals above, the present invention also provides a kind of unmanned automotive control systems, unmanned automobile control is stated
System includes:
Pilotless automobile and cloud service supervising platform；
The pilotless automobile, for reach send after preset first place or the second place reach instruction to
Cloud service supervising platform；
The cloud service supervising platform is sent when vehicle reaches preset first place or the second place for receiving
Information, and record and receive time of the information, according to information place in received time and information, utilize default rule
The priority level for then judging vehicle corresponding to the information, according to the priority level of vehicle, since high priority successively to
Corresponding vehicle sends the instruction for restoring to drive；
The pilotless automobile is also used to pass through channel according to the instruction that the recovery received drives.
The present invention provides a kind of unmanned automobile control method, device, computer storage medium and system.In the method,
It receives vehicle and reaches the information sent when the first place or the second place, and record the time for receiving the information；According to
Information place in received time and information, the priority level of vehicle corresponding to the information is judged using preset rules；
According to the priority level of vehicle, the instruction for restoring to drive successively is sent to corresponding vehicle since highest priority level, with
So that automatic driving vehicle recovery is driving through channel.By the above-mentioned means, the present invention utilizes the successive preferential of when and where
Sequence is ranked up vehicle, and passes sequentially through half-duplex channel in sequence.In this way, by the narrow bridge of narrow road or other are unidirectional
When passability channel, by the calculating of cloud service supervising platform, vehicle can be passed sequentially through according to established principle, avoid because
It is out of order to cause to conflict, increase through the time, guarantees the order that vehicle passes through.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of the unmanned automobile control method first embodiment of the present invention；
Fig. 3 is the flow diagram of the unmanned automobile control method second embodiment of the present invention；
Fig. 4 is the flow diagram of the unmanned automobile control method 3rd embodiment of the present invention；
Fig. 5 is the flow diagram of the unmanned automobile control method fourth embodiment of the present invention；
Fig. 6 is the flow diagram of unmanned the 5th embodiment of automobile control method of the present invention；
Fig. 7 is the flow diagram of the unmanned automobile control method sixth embodiment of the present invention；
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention can be PC, and being also possible to smart phone, tablet computer, portable computer etc. has number
According to the terminal device of processing function.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, Wi-Fi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when mobile terminal is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect the size of (generally three axis) acceleration in all directions, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify mobile terminal posture are (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe that module, Subscriber Interface Module SIM and unmanned automobile control program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And processor
1001 can be used for that the unmanned automobile stored in memory 1005 is called to control program, and execute following operation:
It receives vehicle and reaches the information sent when preset first place or the second place, and record and receive the letter
The time of breath；
According to information place in received time and information, judge vehicle corresponding to the information using preset rules
Priority level；
According to the priority level of vehicle, the finger for restoring to drive successively is sent to corresponding vehicle since high priority
It enables, so that automatic driving vehicle recovery is driving through channel.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
According to information the received time according to the sequencing of time to information corresponding to vehicle be ranked up；
If the information institute received time is identical, vehicle corresponding to information is arranged according to the priority in place
Sequence.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
The priority in the place is that the first place is outlet end, and second place is arrival end.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
Receive vehicle transmission passes through the information in channel；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
The corresponding vehicle of instruction is rejected from priority level；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
Connection is established with user APP；
Receive the request automatic Pilot instruction transmitted at the end user APP；
Described instruction is sent to the driving vehicle of binding corresponding with the APP, so that automatic driving vehicle starting is certainly
It is dynamic to drive.
Further, processor 1001 can call the unmanned automobile stored in memory 1005 to control program, also execute
It operates below:
Receive fault message, real time position, driving states and mileage information that vehicle transmits；
The fault message, real time position, driving states and mileage information are sent to user corresponding with the vehicle
The end APP, so that user comes to handle in time.
The specific embodiment of the unmanned automobile control equipment of the present invention and following unmanned each embodiments of automobile control method are basic
Identical, therefore not to repeat here.
Referring to Fig. 2, Fig. 2 is the flow diagram of the unmanned automobile control method first embodiment of the present invention, the unmanned vapour
Vehicle control method includes:
Step S100 receives vehicle and reaches the information sent when preset first place or the second place, and records and connect
Receive the time of the information；
The embodiment of the present invention is suitable for the case where unidirectional passability channel that narrow bridge of narrow road etc. only allows single vehicle to pass through, the
One place and the second place are the preset two sides positioned at half-duplex channel of system, for carrying out vehicle from channel two sides respectively
It distinguishes.Vehicle can add the positioning method of laser radar using vision, be determined under GPS signal loss and low light environment
Position, to determine the position in the first place and the second place.Vehicle is equipped with communication connecting apparatus, can by wireless network or
The connection types such as WIFI are connected with control platform, and the mutual transmission of information data is carried out between control platform.Vehicle can be with
By current vehicle location, driving states, the data such as mileage information by wireless network or WIFI real-time Transmission to control platform,
It realizes that control platform positions the real-time monitoring monitoring of vehicle, position, while can also be realized and other vehicles by control platform
Real time information communication, position between is shared.After vehicle reaches the first place or the second place, relevant arrival letter is sent
Breath is given to control platform, and request waits for parking the instruction order of control platform by channel, and control platform receives vehicle and sends
Information, and record time and specific place that information receives.For example, parking sends information after vehicle A reaches the first place
To control platform, control platform receive information time be 12 points 50 seconds 30 minutes, then control platform record this information when
Between for 12 points 50 seconds 30 minutes, specific place be the first place.
Step S200, according to information place in received time and information, judge the information using preset rules
The priority level of corresponding vehicle；
In the present embodiment, according to information place in received time and information, so that it may it is successive using the time
Sequence and the priority in feature place are ranked up vehicle corresponding to information, establish the priority level between vehicle, this
The vehicle that comes of channel two sides can be established according to certain rules a sequential queue by sample.For example, the vehicle when certain side such as side A comes
When vehicle is more, can be preferentially ranked up to the vehicle that comes in place corresponding to the side A according to the sequencing of time, then to vehicle compared with
Few other side is ranked up, and has alleviated the more pressure of the side A vehicle.Two sides can also be arranged come vehicle according to the time
Sequence, when two sides come the vehicle time it is identical when, then compare the place of two sides to be ranked up.In this way, can have by a variety of sortords
Effect establishes priority level to vehicle using multiple rule according to the actual situation.
Step S300 successively sends to corresponding vehicle since high priority and restores according to the priority level of vehicle
The instruction of driving, so that automatic driving vehicle recovery is driving through channel.
According to the sequence sequenced, control platform is according to corresponding sequence successively since high priority to corresponding vehicle
Send the instruction for restoring to drive.Be connected to restore the automobiles of steering instructions require to restore to drive according to instruction pass sequentially through it is unidirectional logical
Road, it is orderly between Lai Shixian vehicle to pass through channel.For example, control platform is come first according to the priority level sequence of vehicle
The vehicle A of position, which is sent, restores steering instructions, and corresponding vehicle A recovery is driving through channel, and control platform can be by receiving vehicle
Send judge that vehicle has passed through channel by information, can also be judged by being shared with the real time position of vehicle A
Vehicle A has passed through channel, or judges that vehicle A passes through channel by the monitoring camera in channel.Determining that vehicle A passes through channel
Afterwards, according to the priority level sequence of vehicle, continue to send to next vehicle B and restore steering instructions, continue subsequent similar operations step
Suddenly.
The present invention provides a kind of unmanned automobile control method, device, computer storage medium and system.In the method,
It receives vehicle and reaches the information sent when the first place or the second place, and record the time for receiving the information；According to
Information place in received time and information, the priority level of vehicle corresponding to the information is judged using preset rules；
According to the priority level of vehicle, the instruction for restoring to drive successively is sent to corresponding vehicle since high priority, so that
Automatic driving vehicle recovery is driving through channel.By the above-mentioned means, the present invention utilizes the successive priority of when and where
Vehicle is ranked up, and passes sequentially through half-duplex channel in sequence.In this way, by the narrow bridge of narrow road or other unidirectionally pass through
When property channel, by the calculating of cloud service supervising platform, vehicle can be passed sequentially through according to established principle, be avoided because of no order
Sequence causes to conflict, and increases through the time, guarantees the order that vehicle passes through.
Referring to Fig. 3, Fig. 3 is the flow diagram of the unmanned automobile control method second embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S200 includes:
Step S210, according to information the received time according to the sequencing of time to information corresponding to vehicle carry out
Sequence；
The embodiment of the present invention is mainly using the sequencing of time and the priority in place come to automatic driving vehicle
It is ranked up.It is ranked up specifically carrying out vehicle to two sides first with the sequencing of time, reaches information receiving time preceding
Better than arrival information receiving time rear.Such as control platform is sent information to behind the first place of A vehicle arrival, control platform receives
The time of information be 10 points 30 seconds 30 minutes, B vehicle sends information to control platform after reaching the first place, and control platform receives information
Time be 10 points 50 seconds 30 minutes, then before 50 seconds 30 minutes, exist according to information receiving time is reached at 10 points within 30 seconds 30 minutes for 10 points
Preceding to be better than reaching the posterior principle of information receiving time, A lateral order number is before B vehicle serial number, and if A vehicle is at the 1st, B vehicle is second
Position.Using the sequencing of time, it can preferably realize that vehicle reaches and relatively early leave principle earlier, be more fair sequence
Method.
Step S220, if the information institute received time is identical, according to the priority in place to corresponding to information
Vehicle is ranked up.
If the information institute received time is identical, need to quote place to be compared.In the present embodiment, Ke Yishe
Fixed first place is outlet end, that is, is located at vehicle and sails out of that side of the outlet of closed area；Second place is arrival end, that is, is located at vehicle
Enter closed area that side of entrance.First place is better than the second place.In this way, carry out vehicle when two sides, when receiving information between
In identical situation, the principle that the first place is better than the second place is depended on, for appearance vehicle better than admission vehicle, appearance vehicle can
Preferentially to pass through channel.
Referring to Fig. 4, Fig. 4 is the flow diagram of the unmanned automobile control method 3rd embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S300 includes:
Step S310, receive vehicle transmission passes through the information in channel；
After sailing out of channel by the vehicle in channel, transmission is given to control platform by information, keeps control platform timely
The correlation circumstance by situation and channel for solving vehicle, is controlled and is handled to channel in time convenient for control platform.Pass through this
The mode of sample, the control to channel for the platform that is conducive to tighten control, while control platform can be made to execute next step in time,
It is not required to carry out confirmation by channel carrying out other means, reduces the time of whole process.
Step S320 sends out according to the information and restores steering instructions to the vehicle of next priority level.
According to vehicle by the information in channel, the instruction for restoring to drive can be sent according to priority level sequence to next
The vehicle of a priority level.Circulation step in this way, reach keep more automatic driving vehicles orderly by channel, avoid
It is chaotic.
Referring to Fig. 5, Fig. 5 is the flow diagram of the unmanned automobile control method fourth embodiment of the present invention.
Based on the above embodiment, in the present embodiment, step S300 includes:
Step S330 rejects the corresponding vehicle of instruction from priority level；
After sending the instruction for restoring to drive to the other vehicle of highest priority, then will the corresponding vehicle of instruction from preferential
Queue is rejected.It thus can be reduced that the vehicle arranged in queue is more, and serial number is larger, it is difficult to control and operate, while can also have
The maloperation for avoiding repeating to send the instruction for restoring driving to same vehicle of effect, causes control chaotic.
Step S340 sends according to the information and restores steering instructions to the vehicle of next priority level.
According to vehicle by the information in channel, the instruction for restoring to drive can be sent according to priority level sequence to next
The vehicle of a priority level.Circulation step in this way, reach keep more automatic driving vehicles orderly by channel, avoid
It is chaotic.
Referring to Fig. 6, Fig. 6 is the flow diagram of unmanned the 5th embodiment of automobile control method of the present invention.
Based on the above embodiment, further include following steps in the present embodiment:
Step S010 establishes connection with user APP；
APP can establish connection by the connection types such as WIFI or wireless network and control platform, realize flat with control
Bidirectional data transfers and interaction between platform, and then realize user using the prison of the vehicle of control platform pair binding corresponding with APP
Control control.The carry out information communication between other vehicles and the detection to road conditions can also be reached by control platform.
Step S020 receives the request automatic Pilot instruction transmitted at the end user APP；
User can send the instruction of request automatic Pilot to control platform by APP, and control platform receives instruction, understands
User demand, and then carry out next step step.
Described instruction is sent to the driving vehicle of binding corresponding with the APP, so that automatic driving car by step S030
Starting automatic Pilot.
Control platform understand user demand after, by the instruction for requesting automatic Pilot be sent to it is corresponding with APP nobody drive
Vehicle is sailed, the request automatic Pilot that automatic driving vehicle receives control platform is waken up starting after instructing and drives, and realizes vehicle
Valet parking and car service service save parking for user and pick up the car the time, line efficiency be lifted out, when reducing the waiting of user
Between, improve the Experience Degree of user.By this mode, user can preferably be realized to corresponding by APP using control platform
The control of vehicle.
Referring to Fig. 7, Fig. 7 is the flow diagram of the unmanned automobile control method sixth embodiment of the present invention.
Based on the above embodiment, further include following steps in the present embodiment:
Step S040 receives fault message, real time position, driving states and mileage information that vehicle transmits；
Vehicle can carry out static avoidance equipped with laser radar and ultrasonic wave, clear away vehicle body avoidance blind area, solve vehicle and exist
Normally travel during automatic traveling crane, dynamic static-obstacle thing slows down, parking avoidance, overtakes other vehicles or meeting Avoidance.Work as vehicle
Can not avoidance or occur influence automatic Pilot failure after, corresponding failure can be corresponded to automatic stopping and by fault condition
Mode sends error code to control platform, while it is related to send the vehicles such as the real time position of vehicle, driving states and mileage information
Information receives relevant information to control platform, control platform.
The fault message, real time position, driving states and mileage information are sent to and the vehicle pair by step S050
The end user APP answered, so that user comes to handle in time.
After control platform receives relevant information, by the fault message of vehicle, real time position, driving states and mileage information etc.
Information is sent to the end APP of binding corresponding with vehicle, and user is notified to handle as early as possible, and user is made to grasp the situation of vehicle at any time.APP
End can pass through vibration or ring notification user.Such emergency response mechanism is established, facilitates user and solves vehicle in time
Problem avoids influencing other vehicle pass-throughs.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium.
Unmanned automobile control program is stored on computer readable storage medium of the present invention, the unmanned automobile controls program
The step of unmanned automobile control as described above is realized when being executed by processor.
Wherein, the unmanned automobile control program run on the processor is performed realized method and can refer to this
The each embodiment of unmanned automobile control method is invented, details are not described herein again.
In addition, the embodiment of the present invention also proposes a kind of unmanned automotive control system.
The unmanned automotive control system of the present invention includes:
Pilotless automobile and cloud service supervising platform；
The pilotless automobile, for reach send after preset first place or the second place reach instruction to
Cloud service supervising platform, and restore to be driving through channel after receiving the recovery steering instructions that cloud service supervising platform is sent；
The cloud service supervising platform is sent when vehicle reaches preset first place or the second place for receiving
Information, and record and receive time of the information, according to information place in received time and information, utilize default rule
The priority level for then judging vehicle corresponding to the information, according to the priority level of vehicle, since high priority successively to
Corresponding vehicle sends the instruction for restoring to drive；
The pilotless automobile is also used to pass through channel according to the instruction that the recovery received drives.
Wherein, being performed realized method in the unmanned automotive control system can refer to the unmanned automobile control of the present invention
The each embodiment of method processed, details are not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of unmanned automobile control method, which comprises the following steps:
It receives vehicle and reaches the information sent when preset first place or the second place, and record and receive the information
Time；
According to information place in received time and information, judge the excellent of vehicle corresponding to the information using preset rules
First rank；
According to the priority level of vehicle, the finger for restoring to drive successively is sent to corresponding vehicle since highest priority level
It enables, so that automatic driving vehicle recovery is driving through channel.
2. unmanned automobile control method as described in claim 1, which is characterized in that it is described according to the information institute received time and
Place in information, the step of judging the priority level of vehicle corresponding to the information using preset rules include:
According to information the received time according to the sequencing of time to information corresponding to vehicle be ranked up；
If the information institute received time is identical, vehicle corresponding to information is ranked up according to the priority in place.
3. unmanned automobile control method as claimed in claim 2, which is characterized in that the priority in the place is the first
Point is outlet end, and second place is arrival end.
4. unmanned automobile control method as described in claim 1, which is characterized in that the priority level according to vehicle, from
High priority starts successively to send the instruction for restoring to drive to corresponding vehicle, so that automatic driving vehicle recovery driving is logical
Channel is crossed to include the following steps:
Receive vehicle transmission passes through the information in channel；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
5. unmanned automobile control method as claimed in claim 4, which is characterized in that described sent according to the information restores to drive
The step of sailing vehicle of the instruction to next priority level further includes following steps:
The corresponding vehicle of instruction is rejected from priority level；
It is sent according to the information and restores steering instructions to the vehicle of next priority level.
6. unmanned automobile control method as described in claim 1, which is characterized in that the arrival first for receiving vehicle and transmitting
The information command in place or the second place, obtaining the information command institute received time further includes before following steps:
Connection is established with user APP；
Receive the request automatic Pilot instruction transmitted at the end user APP；
Described instruction is sent to the driving vehicle of binding corresponding with the APP, so that automatic driving vehicle starting is driven automatically
It sails.
7. unmanned automobile control method as claimed in claim 6, which is characterized in that the unmanned automobile control method further includes
Following steps:
Receive fault message, real time position, driving states and mileage information that vehicle transmits；
The fault message, real time position, driving states and mileage information are sent to user APP corresponding with the vehicle
End, so that user comes to handle in time.
8. a kind of unmanned automotive controls, which is characterized in that the unmanned automotive controls include: memory, processor
And it is stored in the unmanned automobile control program that can be run on the memory and on the processor, the unmanned automobile control
It is realized when program is executed by the processor as described in any one of claims 1 to 7 the step of unmanned automobile control method.
9. a kind of computer readable storage medium, which is characterized in that be stored with unmanned vapour on the computer readable storage medium
Vehicle controls program, and the unmanned automobile control program realizes the nothing as described in any one of claims 1 to 7 when being executed by processor
The step of people's automobile control method.
10. a kind of unmanned automotive control system, which is characterized in that the unmanned automotive control system includes:
Pilotless automobile and cloud service supervising platform；
The pilotless automobile gives cloud clothes for transmission arrival instruction after reaching preset first place or the second place
Business supervising platform；
The cloud service supervising platform, for receiving the letter sent when vehicle reaches preset first place or the second place
Breath, and record and receive time of the information, according to information place in received time and information, utilize preset rules
The priority level for judging vehicle corresponding to the information, according to the priority level of vehicle, successively to right since high priority
The vehicle answered sends the instruction for restoring to drive；
The pilotless automobile is also used to pass through channel according to the instruction that the recovery received drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811629660.0A CN109709962A (en) | 2018-12-28 | 2018-12-28 | Unmanned automobile control method, device, computer readable storage medium and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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