CN110580046A - Control method and system for unmanned sightseeing vehicle - Google Patents
Control method and system for unmanned sightseeing vehicle Download PDFInfo
- Publication number
- CN110580046A CN110580046A CN201910865371.9A CN201910865371A CN110580046A CN 110580046 A CN110580046 A CN 110580046A CN 201910865371 A CN201910865371 A CN 201910865371A CN 110580046 A CN110580046 A CN 110580046A
- Authority
- CN
- China
- Prior art keywords
- sightseeing vehicle
- information
- unit
- sightseeing
- control unit
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000003550 marker Substances 0.000 claims description 77
- 230000001133 acceleration Effects 0.000 claims description 26
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 7
- 238000004148 unit process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
the invention provides a control method and a control system for an unmanned sightseeing vehicle, and belongs to the technical field of automobiles. It has solved the problem that prior art has the potential safety hazard. The control method of the unmanned sightseeing vehicle comprises the following steps: acquiring a starting signal or a stopping signal of the sightseeing vehicle in real time through a one-key starting and stopping button; collecting the surrounding environment information of the sightseeing bus in real time through an information collecting unit; the collected surrounding environment information is processed and analyzed through the information identification unit, whether lane lines and obstacles exist or not is identified, and an identification result is sent to the control unit; the control unit sends a starting instruction to the chassis power execution unit when receiving a starting signal transmitted by the one-key start-stop button and the recognition result is that a lane line is acquired and no obstacle exists; the chassis power execution unit outputs power to the wheels according to the starting instruction, so that the sightseeing vehicle is started. A control system for the unmanned sightseeing vehicle is also provided. The invention can improve the unmanned safety of the sightseeing bus.
Description
Technical Field
The invention belongs to the technical field of automobiles, and relates to a control method and a control system for an unmanned sightseeing vehicle.
Background
With the development of intelligent networking of automobiles, particularly unmanned technology, unmanned sightseeing vehicles gradually come into the visual field of people. The unmanned sightseeing vehicle is a vehicle carrying unmanned technology and is mainly used for self-driving, regional patrol and special environment-friendly electric riding vehicles for riding instead of walk in areas such as parks, large amusement parks, closed communities, campuses, garden hotels, resorts, villa areas, urban pedestrian streets, ports and the like.
the conventional sightseeing vehicle requires a large number of drivers to operate repeatedly, and particularly when the vehicle is started, the drivers are required to ensure that all passengers are seated to start the vehicle. As the existing chinese patent document also discloses a system and a method for controlling the start of an unmanned bus [ application number: CN201810934841.8 ], the control system comprises a passenger posture detection module and a vehicle starting control module; wherein the passenger posture detection module includes: the system comprises an image acquisition module and a vehicle-mounted computing terminal; the image acquisition module is used for acquiring images in the vehicle in real time; the vehicle-mounted computing terminal is used for receiving the image data acquired by the image acquisition module, analyzing and processing the data in real time, identifying passengers and detecting the attitude information of all the passengers in the vehicle; the vehicle-mounted computing terminal includes: the system comprises an ARM controller, an in-vehicle three-dimensional reconstruction module, an in-vehicle passenger posture detection module and a CAN communication module; the vehicle starting control module comprises a vehicle control unit and a driving motor; when the vehicle control unit receives the passenger posture detection result of the passenger posture detection module in the vehicle and all passengers are safely seated, a torque command is sent to the driving motor, and the driving motor outputs wheel driving force, so that the vehicle is safely started.
Although the prior art realizes full-automatic intelligent control, the control scheme needs 6 cameras for collecting the postures of passengers in the vehicle, the number of the cameras is large, and the manufacturing cost is high; in addition, the light in the vehicle is limited, and a high-precision camera is needed to be adopted to ensure that the definition of the collected pattern is high, so that the cost is further increased; in addition, the driving intention of the passenger is difficult to confirm through the posture, the passenger is not free, the passenger cannot start when getting on the car with the pet, the external environment is lack of perception, and potential safety hazards exist.
disclosure of Invention
The invention aims to provide a control method and a control system of an unmanned sightseeing vehicle aiming at the problems in the prior art, and the control method and the control system of the unmanned sightseeing vehicle aim at solving the technical problems that: how to improve the safety of unmanned driving of sightseeing vehicles.
the purpose of the invention can be realized by the following technical scheme: a control method of an unmanned sightseeing vehicle comprises the following steps:
Acquiring a starting signal or a stopping signal of the sightseeing vehicle in real time through a one-key starting and stopping button;
Collecting the surrounding environment information of the sightseeing bus in real time through an information collecting unit;
the information identification unit processes and analyzes the surrounding environment information acquired by the information acquisition unit, identifies whether lane lines and obstacles exist or not, and sends the identification result to the control unit;
the control unit sends a starting instruction to the chassis power execution unit when receiving a starting signal transmitted by the one-key start-stop button and the recognition result is that a lane line is acquired and no obstacle exists;
the chassis power execution unit outputs power to the wheels according to the starting instruction, so that the sightseeing vehicle is started.
the working principle of the control method of the unmanned sightseeing vehicle is as follows: when the sightseeing vehicle is in a parking state, if a passenger wants to start the sightseeing vehicle, the passenger presses a key start-stop button, the control unit and the information acquisition unit both start working at the moment, the information acquisition unit acquires the ambient environment information of the sightseeing vehicle and transmits the ambient environment information to the information identification unit, the information identification unit identifies the ambient information acquired by the information acquisition unit and transmits the identified information to the control unit, the control unit receives a start signal transmitted by the key start-stop button, and when the information identification unit identifies a lane line and an obstacle-free ambient environment, the control unit sends a start instruction to the chassis power execution unit, and the chassis power execution unit controls power output to safely start the sightseeing vehicle; if the information identification unit does not identify the lane line or the surrounding environment has obstacles, the sightseeing bus cannot be started without sending a starting instruction; after the sightseeing vehicle is started, if a passenger wants to get off the vehicle midway, a stop signal can be sent to the control unit by pressing the one-key start-stop button, and the control unit controls the chassis power execution unit to stop power output when receiving the stop signal, so that the sightseeing vehicle is stopped. The control method of the unmanned sightseeing vehicle realizes the starting and stopping of the sightseeing vehicle through the operation of the one-key start-stop button, improves the convenience of using the sightseeing vehicle by passengers, and in addition, the control method also combines the information of the surrounding environment of the sightseeing vehicle to jointly judge when the sightseeing vehicle is started, so that the starting judgment improves the safety and the comfort of unmanned driving of the sightseeing vehicle.
in the above control method of the unmanned sightseeing vehicle, the sightseeing vehicle is controlled to start at a preset acceleration, and the sightseeing vehicle is driven at a preset cruising speed when the speed of the sightseeing vehicle is increased to the preset cruising speed. The sightseeing vehicle is controlled to start at the preset acceleration and keep the operation of running at the preset cruising speed, so that the driving comfort and the safety are ensured
In the above method for controlling an unmanned sightseeing vehicle, the information collecting unit includes: a camera device installed in a front portion of the sightseeing vehicle for detecting image information of a surrounding environment including a lane line, an obstacle, and a marker;
And the radar equipment is arranged on the periphery of the sightseeing vehicle body and is used for detecting the distance information between the sightseeing vehicle and the barrier or the marker.
The camera device is arranged on the front portion of the sightseeing vehicle, the radar equipment is arranged around the sightseeing vehicle, and due to the arrangement, the cost is effectively saved while the unmanned driving safety of the sightseeing vehicle is guaranteed.
in the control method of the unmanned sightseeing vehicle, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device and is sent to the information identification unit; the information identification unit processes and analyzes the image information acquired in real time and transmits the identified lane line image data to the control unit, the control unit calculates a steering angle according to the lane line image data identified by the information identification unit and sends a corresponding direction control instruction according to the calculated steering angle, and the chassis power execution unit controls the sightseeing vehicle to run in the lane line according to the received direction control instruction. The safe driving of the sightseeing bus is ensured by the operation of the step.
in the control method of the unmanned sightseeing vehicle, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device and is sent to the information identification unit; the information identification unit processes and analyzes image information collected in real time and transmits identified obstacle image data to the control unit, and the control unit processes distance information transmitted by the radar equipment after receiving the obstacle image data and controls the sightseeing vehicle to stop at a preset safe distance according to an obstacle avoidance algorithm. The one-step operation ensures that the sightseeing vehicle can automatically avoid the obstacle, and improves the safety performance.
In the above control method for the unmanned sightseeing vehicle, the obstacle avoidance algorithm includes the following steps:
Setting a preset safe distance as X, a maximum detection distance of radar equipment as S, a driving speed of a sightseeing vehicle as V and a distance between the sightseeing vehicle and an obstacle as L;
When L is greater than S, the radar equipment cannot detect the barrier, the sightseeing vehicle does not limit the speed and runs at the preset cruising speed;
At X<L<When S, the radar device detects the obstacle, calculates the real-time acceleration a,Performing a deceleration operation, comprising: calculating the distance L between the sightseeing vehicle and the barrier in real time through radar equipment, calculating the real-time speed V through a vehicle-mounted sensor, and then acceleratingThe control unit controls the sightseeing vehicle to decelerate and stop according to the calculated acceleration a;
When L < X, the control unit outputs an emergency obstacle avoidance alarm instruction to the intelligent voice unit, and obstacle avoidance reminding is carried out through the intelligent voice unit.
the obstacle avoidance strategy ensures that the sightseeing vehicle can be decelerated and stopped in time, ensures the stability of the vehicle body, and improves the comfort and the safety.
in the control method of the unmanned sightseeing vehicle, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device and is sent to the information identification unit; the information identification unit processes and analyzes image information acquired in real time and transmits identified marker image data to the control unit, and the control unit processes distance information transmitted by the radar equipment after receiving the marker image data and controls the sightseeing vehicle to park according to a marker parking algorithm.
In the above control method of the unmanned sightseeing vehicle, the marker parking algorithm includes:
Setting the length of a sightseeing vehicle as W, the distance between the sightseeing vehicle and the roadside on the right side as d1, the distance between a marker and the roadside as d2 and the distance between the sightseeing vehicle and the marker as L, setting the sightseeing vehicle to stop after driving at least S distance from the current position, and calculating the distance L between the sightseeing vehicle and an obstacle in real time through radar equipment;
thenReal time accelerationWherein X is a preset safety distance;
and the control unit controls the sightseeing vehicle to decelerate and stop to the S distance according to the calculated acceleration a.
When the marker is detected, the sightseeing vehicle is controlled to stop to the S distance, the sightseeing vehicle is guaranteed to stop at the back of the marker, the situation that the sightseeing vehicle cannot be started due to the fact that image information of the marker is detected all the time when the sightseeing vehicle is started next time is avoided, and the comfortableness of unmanned driving of the sightseeing vehicle is guaranteed.
In the control method of the unmanned sightseeing vehicle, the control unit outputs the control instruction to the intelligent voice unit when receiving the image data of the marker, sends out the prompt of reaching the scenic spot through the intelligent voice unit and introduces the scenic spot of the marker.
A control system of an unmanned sightseeing vehicle comprises a chassis power execution unit used for accelerating, decelerating, steering and braking the sightseeing vehicle, and further comprises a control unit, a one-key start-stop button used for collecting start information or stop information of the sightseeing vehicle, an information collection unit used for collecting surrounding environment information of the sightseeing vehicle and an information identification unit used for identifying the collected surrounding environment information, wherein the one-key start-stop button and the chassis power execution unit are both connected with the control unit, the information collection unit is connected with the control unit through the information identification unit, the control unit is used for sending a start instruction when receiving the start information conveyed by the one-key start-stop button and the information identification unit identifies a lane line and the surrounding environment has no obstacles, and the chassis power execution unit is used for controlling the sightseeing vehicle to start according to the start instruction, and controlling the sightseeing vehicle to carry out direction control and speed control according to the identified lane line and the preset acceleration.
The working principle of the control system of the unmanned sightseeing vehicle is as follows: when the sightseeing vehicle is in a parking state, a passenger presses a one-key start-stop button, the control unit receives start information conveyed by the one-key start-stop button, at the moment, the information acquisition unit works to acquire surrounding environment information of the sightseeing vehicle and convey the surrounding environment information to the information identification unit, the information identification unit identifies the environment information acquired by the information acquisition unit and sends the identified information to the control unit, the control unit sends a start instruction to the chassis power execution unit when the information identification unit identifies a lane line and no obstacles exist in the surrounding environment, the sightseeing vehicle is controlled to start through the chassis power execution unit, and the sightseeing vehicle is controlled to run according to the identified lane line and a preset acceleration; when a passenger wants to get off the sightseeing bus midway, the parking information can be sent to the control unit by pressing the one-key start-stop button, and the control unit controls the chassis power execution unit to stop power output when receiving the parking information, so that the sightseeing bus is parked. This unmanned sightseeing vehicle's control system opens the start-up and the parking of button realization sightseeing vehicle through a key, improve the convenience that the passenger used the sightseeing vehicle, in addition, this control system has still combined sightseeing vehicle surrounding environment information to come the common judgement whether to control the sightseeing vehicle and start, when can't detect lane line or surrounding environment have the barrier, the sightseeing vehicle is unable to start, such start-up is judged, sightseeing vehicle unmanned security performance has been promoted, this control system still controls the sightseeing vehicle and carries out direction control according to the lane line of discernment simultaneously, guarantee that the sightseeing vehicle can drive safely at the lane line, preset acceleration satisfies driving comfort and dynamic property simultaneously, the security of sightseeing vehicle operation has further been promoted.
In the above-mentioned control system for the unmanned sightseeing vehicle, the information acquisition unit includes a camera device for acquiring image data of the surroundings of the sightseeing vehicle and a radar device for detecting the distance to obstacles or markers existing in the surroundings, the camera device is connected to the information identification unit, and the radar device is connected to the control unit.
In the above control system of the unmanned sightseeing vehicle, the camera device includes a camera arranged at the front part of the sightseeing vehicle; the radar equipment comprises a millimeter wave radar arranged at the front part of the sightseeing vehicle and ultrasonic radars arranged at the left side, the right side and the rear part of the sightseeing vehicle.
the camera and the millimeter wave radar are only arranged at the front part of the sightseeing vehicle, and the ultrasonic radar is arranged at other parts of the sightseeing vehicle, so that the cost is effectively saved while the unmanned driving safety of the sightseeing vehicle is ensured; preferably, an ultrasonic radar is also arranged at the front part of the sightseeing vehicle, so that the safety performance is improved.
In the above-mentioned control system of the unmanned sightseeing vehicle, the information recognition unit includes a lane line recognition module for recognizing image information of a lane line, an obstacle recognition module for recognizing image information of an obstacle, and a marker recognition module for recognizing image information of a marker, the lane line recognition module, the obstacle recognition module, and the marker recognition module are all connected to the control unit, and the lane line recognition module, the obstacle recognition module, and the marker recognition module are all connected to the information acquisition unit. The lane line identification module, the obstacle identification module and the marker identification module can ensure that the sightseeing vehicle can effectively identify lane lines, obstacles and markers, and further improve the unmanned safety of the sightseeing vehicle.
In the above-mentioned control system of the unmanned sightseeing vehicle, the control unit is configured to control the sightseeing vehicle to travel with a lane keeping algorithm when receiving the image information of the lane line identified by the information identifying unit, to control the sightseeing vehicle to stop at a preset safe distance with an obstacle avoiding algorithm when receiving the image information of the obstacle identified by the information identifying unit, and to control the sightseeing vehicle to stop with a marker stopping algorithm when receiving the image information of the marker identified by the information identifying unit. According to the lane line keeping algorithm, the obstacle avoidance algorithm and the marker parking algorithm, unmanned safe driving of the sightseeing vehicle, safe obstacle avoidance and automatic parking of the marker can be realized, and the unmanned driving comfort and safety of the sightseeing vehicle are improved.
In the above-mentioned control system of unmanned sightseeing vehicle, the control system further comprises an intelligent voice unit connected with the control unit, the intelligent voice unit is used for carrying out voice broadcast when the control unit receives the information identification unit and identifies the marker, is used for reminding when the control unit receives the information identification unit and does not identify the lane line, and is used for avoiding the obstacle and reminding when the control unit receives the information identification unit and identifies the obstacle. The setting of intelligence speech unit can effectively promote user experience.
compared with the prior art, the control method and the system of the unmanned sightseeing vehicle have the following advantages:
1. the sightseeing bus is started and stopped at any time and any place through the arrangement of the one-key start-stop button, so that the sightseeing bus is more convenient for passengers to use, and the one-key start is realized by combining lane line information and barrier information when the sightseeing bus is started and driven, so that the safety and the reliability of the use of the sightseeing bus are improved.
2. according to the invention, the sightseeing vehicle can be stopped at a preset safe distance from the obstacle through the obstacle avoidance algorithm, so that the safety is ensured; the sightseeing vehicle can stop when passing over the marker through the marker stopping algorithm, the sightseeing vehicle is prevented from being interfered when being started next time, and the unmanned use performance of the sightseeing vehicle is improved.
drawings
Fig. 1 is a control flow chart of the present invention.
fig. 2 is a schematic structural diagram of the present invention.
In the figure, 1, a control unit; 2. a one-key start-stop button; 3. an information acquisition unit; 3a, an image pickup device; 3b, radar equipment; 4. an information identification unit; 4a, a lane line identification module; 4b, an obstacle identification module; 4c, a marker identification module; 5. a chassis power execution unit; 6. and (4) an intelligent voice unit.
Detailed Description
the following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the control method of the unmanned sightseeing vehicle comprises the following steps: a start signal or a stop signal of the sightseeing vehicle is acquired in real time through the one-key start-stop button 2; the information acquisition unit 3 is used for acquiring the surrounding environment information of the sightseeing bus in real time; the information identification unit 4 processes and analyzes the surrounding environment information acquired by the information acquisition unit 3, identifies whether lane lines and obstacles exist or not, and sends the identification result to the control unit 1; the control unit 1 sends a starting instruction to the chassis power execution unit 5 when receiving a starting signal transmitted by the one-key start-stop button 2 and when the recognition result is that a lane line is acquired and no obstacle exists; the chassis power execution unit 5 outputs power to the wheels according to the starting instruction, so that the sightseeing vehicle is started.
Preferably, the sightseeing vehicle is controlled to start at a preset acceleration, and the preset cruising speed is kept for running when the speed of the sightseeing vehicle is increased to the preset cruising speed. The sightseeing vehicle is controlled to start at the preset acceleration and keep the operation of running at the preset cruising speed, so that the driving comfort and the safety are ensured
Preferably, the information acquisition unit 3 includes a camera device 3a installed in the front of the sightseeing vehicle for detecting image information of the surrounding environment including lane lines, obstacles, and markers;
And the radar equipment 3b is arranged on the periphery of the sightseeing vehicle body and is used for detecting the distance information between the sightseeing vehicle and the barrier or the marker. Wherein the image pickup device 3a includes a camera; the radar device 3b includes a millimeter wave radar installed in the front of the sightseeing vehicle and ultrasonic radars installed on the left and right sides and the rear of the sightseeing vehicle, and as a preferable, the ultrasonic radars are also installed in the front of the sightseeing vehicle.
As a preferred scheme, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device 3a and is sent to the information identification unit 4; the information identification unit 4 processes and analyzes image information acquired in real time and transmits the identified lane line image data to the control unit 1, the control unit 1 calculates a steering angle according to the lane line image data identified by the information identification unit 4 and sends a corresponding direction control instruction according to the calculated steering angle, and the chassis power execution unit 5 controls the sightseeing vehicle to run in the lane line according to the received direction control instruction.
As a preferred scheme, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device 3a and is sent to the information identification unit 4; the information identification unit 4 processes and analyzes image information collected in real time and transmits the identified image data of the obstacles to the control unit 1, the control unit 1 processes distance information transmitted by the radar device 3b after receiving the image data of the obstacles, and controls the sightseeing vehicle to stop at a preset safe distance according to an obstacle avoidance algorithm; the obstacle avoidance algorithm comprises the following steps:
Setting a preset safe distance as X, a maximum detection distance of the radar device 3b as S, a driving speed of the sightseeing vehicle as V, and a distance between the sightseeing vehicle and the barrier as L;
When L is greater than S, the radar device 3b cannot detect the obstacle, and the sightseeing vehicle does not limit the speed and runs at the preset cruising speed;
at X<L<When S is reached, the radar device 3b calculates the real-time acceleration a at the moment when the obstacle is detected, and performs the deceleration operation, including the steps of: the distance L between the sightseeing vehicle and the barrier is calculated in real time through the radar device 3b, the real-time speed V is calculated through the vehicle-mounted sensor, and then the acceleration is obtainedThe control unit 1 controls the sightseeing vehicle to decelerate and stop according to the calculated acceleration a; after detecting that the obstacle disappears, the control unit 1 controls the sightseeing vehicle to start at a preset acceleration;
When L < X, the control unit 1 outputs an emergency obstacle avoidance alarm instruction to the intelligent voice unit 6, and obstacle avoidance reminding is carried out through the intelligent voice unit 6.
As a preferred scheme, after the sightseeing vehicle is started, image information of the surrounding environment is collected in real time through the camera device 3a and is sent to the information identification unit 4; the information identification unit 4 processes and analyzes image information acquired in real time and transmits identified marker image data to the control unit 1, the control unit 1 processes distance information transmitted by the radar device 3b after receiving the marker image data, and controls the sightseeing vehicle to park according to a marker parking algorithm; wherein the marker parking algorithm comprises:
setting the length of a sightseeing vehicle as W, the distance between the sightseeing vehicle and the roadside on the right side as d1, the distance between a marker and the roadside as d2 and the distance between the sightseeing vehicle and the marker as L, setting the sightseeing vehicle to stop after driving at least S distance from the current position, and calculating the distance L between the sightseeing vehicle and an obstacle in real time through a radar device 3 b;
ThenReal time accelerationWherein X is a preset safety distance;
The control unit 1 controls the sightseeing vehicle to decelerate and stop to a distance S according to the calculated acceleration a.
As a preferred scheme, the control unit 1 outputs a control instruction to the intelligent voice unit 6 when receiving the image data of the marker, sends a sight-point arrival prompt through the intelligent voice unit 6, and performs related introduction on the sight point of the marker.
As shown in fig. 2, the control system of the unmanned sightseeing vehicle comprises a chassis power execution unit 5 for accelerating, decelerating, steering and braking the sightseeing vehicle, a control unit 1, a one-key start-stop button 2 for collecting start information or stop information of the sightseeing vehicle, an information acquisition unit 3 for collecting surrounding environment information of the sightseeing vehicle, and an information identification unit 4 for identifying the collected surrounding environment information, wherein the one-key start-stop button 2 and the chassis power execution unit 5 are both connected with the control unit 1, the information acquisition unit 3 is connected with the control unit 1 through the information identification unit 4, the control unit 1 is used for sending a start instruction when receiving the start information transmitted by the one-key start-stop button 2 and the information identification unit 4 identifies a lane line and a surrounding environment barrier, the chassis power execution unit 5 is used for controlling the start of the sightseeing vehicle according to the start instruction, and controlling the sightseeing vehicle to carry out direction control and speed control according to the identified lane line and the preset acceleration.
Preferably, the information acquisition unit 3 includes an image pickup device 3a for acquiring image data of an environment around the sightseeing vehicle and a radar apparatus 3b for detecting a distance to an obstacle or a marker existing in the environment, the image pickup device 3a is connected to the information recognition unit 4, and the radar apparatus 3b is connected to the control unit 1.
preferably, the camera device 3a includes a camera provided in the front of the sightseeing vehicle; the radar device 3b includes a millimeter wave radar provided in the front of the sightseeing vehicle and ultrasonic radars provided on the left and right sides and the rear of the sightseeing vehicle.
The camera and the millimeter wave radar are only arranged at the front part of the sightseeing vehicle, and the ultrasonic radar is arranged at other parts of the sightseeing vehicle, so that the cost is effectively saved while the unmanned driving safety of the sightseeing vehicle is ensured; preferably, an ultrasonic radar is also arranged at the front part of the sightseeing vehicle, so that the safety performance is improved.
Preferably, the information recognition unit 4 includes a lane line recognition module 4a for recognizing image information of a lane line, an obstacle recognition module 4b for recognizing image information of an obstacle, and a marker recognition module 4c for recognizing image information of a marker, the lane line recognition module 4a, the obstacle recognition module 4b, and the marker recognition module 4c are all connected to the control unit 1, and the lane line recognition module 4a, the obstacle recognition module 4b, and the marker recognition module 4c are all connected to the information acquisition unit 3. The lane line recognition module 4a performs lane line recognition on the image information acquired by the camera device 3a through a lane line recognition algorithm; the obstacle recognition module 4b performs obstacle recognition on the image information acquired by the camera device 3a through an obstacle recognition algorithm; the marker recognition module 4c performs marker recognition on the image information acquired by the imaging device 3a through a marker recognition algorithm, the marker recognition can pre-store marker images at various places in the control unit 1 in advance, and the marker information at the places can be recognized through image comparison.
As a preferable aspect, the control unit 1 is configured to control the sightseeing vehicle to travel with the lane line holding algorithm when receiving the image information of the lane line recognized by the information recognition unit 4, to control the sightseeing vehicle to stop at the preset safe distance with the obstacle avoidance algorithm when receiving the image information of the obstacle recognized by the information recognition unit 4, and to control the sightseeing vehicle to stop with the marker parking algorithm when receiving the image information of the marker recognized by the information recognition unit 4. According to the lane line keeping algorithm, the obstacle avoidance algorithm and the marker parking algorithm, unmanned safe driving of the sightseeing vehicle, safe obstacle avoidance and automatic parking of the marker can be realized, and the unmanned driving comfort and safety of the sightseeing vehicle are improved.
As a preferable scheme, the control system further comprises an intelligent voice unit 6 connected with the control unit 1, wherein the intelligent voice unit 6 is used for performing voice broadcast when the control unit 1 receives the information that the information recognition unit 4 recognizes the marker, is used for reminding when the control unit 1 receives the information that the information recognition unit 4 does not recognize the lane line, and is used for performing obstacle avoidance reminding when the control unit 1 receives the information that the information recognition unit 4 recognizes the obstacle. The setting of intelligence speech unit 6 can effectively promote user experience.
preferably, the control system further comprises a positioning unit connected with the control unit 1, and the driving track of the sightseeing vehicle is planned through the positioning unit, so that the unmanned safety of the sightseeing vehicle is further ensured.
Preferably, the control unit 1 is integrated in a body control unit 1 of the vehicle.
preferably, the chassis power actuator unit 5 includes a power actuator module for speed and distance control and a chassis actuator module for steering and braking control.
the control method and the system of the unmanned sightseeing vehicle have the working principle that: when the sightseeing bus is in a parking state, if a passenger wants to start the sightseeing bus, the passenger only needs to press the one-key start-stop button 2, after the one-key start-stop button 2 is pressed, the control unit 1 and the information acquisition unit 3 start to work, the image information of the surrounding environment of the sightseeing bus is acquired by the camera 3a in the information acquisition unit 3 in real time and is transmitted to the information identification unit 4, the information identification unit 4 identifies the image information acquired by the information acquisition unit 3, and sends the identified information to the control unit 1, the control unit 1 receives the starting signal transmitted by the one-key start-stop button 2, when the information identification unit 4 identifies that the lane line and the surrounding environment have no obstacles, a starting instruction is sent to the chassis power execution unit 5, and the chassis power execution unit 5 controls power output to safely start the sightseeing vehicle; if the information recognition unit 4 does not recognize the lane line or an obstacle is in front of the sightseeing vehicle, the sightseeing vehicle cannot be started, and a prompt that the lane line cannot be collected is sent out through the intelligent voice unit 6, or a braking algorithm is executed after the start to stop the vehicle; as a preferred scheme, the sightseeing vehicle is started at a preset acceleration to ensure the comfortability and the safety of unmanned driving of the sightseeing vehicle, after the sightseeing vehicle is started at the preset acceleration, the sightseeing vehicle stops accelerating when the sightseeing vehicle accelerates to a preset cruising speed, the sightseeing vehicle keeps the preset cruising speed to drive, in the driving process of the vehicle, a camera device 3a and a radar device 3b in an information acquisition unit 3 continue to acquire surrounding environment information in real time, a lane line identification module 4a, an obstacle identification module 4b and a marker identification module 4c in an information identification unit 4 respectively identify image information acquired by the camera device 3a, when a lane line is identified by the lane line identification module 4a and the identification result is sent to a control unit 1, when an obstacle is identified by the obstacle identification module 4b, the identification result is sent to the control unit 1, when the marker is identified by the marker identification module 4c, the identification result is sent to the control unit 1, when the control unit 1 receives the lane line identified by the lane line identification module 4a, the control unit 1 calculates a steering angle according to the identified lane line and sends a corresponding direction control command according to the calculated steering angle, the chassis power execution unit 5 receives the direction control command and controls the sightseeing vehicle to turn or go straight, preferably, the control unit 1 controls the chassis power execution unit 5 to work according to a lane line keeping algorithm, so that the sightseeing vehicle keeps running in the lane line, and the unmanned driving safety of the sightseeing vehicle is ensured; when the control unit 1 receives the obstacle identified by the obstacle identification module 4b, the millimeter wave radar arranged at the front part of the sightseeing vehicle also detects the distance information of the obstacle in real time, at the moment of detecting the obstacle, the distance signal of the obstacle is sent to the control unit 1 in real time, the control unit 1 calculates the acceleration a according to the obstacle avoidance algorithm and sends a control instruction to the chassis power execution unit 5, the chassis power execution unit 5 controls the sightseeing vehicle to automatically decelerate and stop at a preset safe distance, preferably, the ultrasonic radar is also arranged at the front part of the sightseeing vehicle, when the sightseeing vehicle does not stop at the preset safe distance, the control unit 1 sends a reminding instruction to the intelligent voice unit 6 when the ultrasonic radar detects the distance information of the obstacle, the intelligent voice unit 6 sends an obstacle avoidance alarm, and passengers can manually operate the sightseeing vehicle, the sightseeing bus is assisted to stop, in the process of obstacle avoidance, if the obstacle disappears, the speed is not limited, and the bus runs at the preset acceleration until the preset cruising speed is reached; when the control unit 1 receives the marker identified by the marker identification module 4c, the millimeter wave radar arranged at the front part of the sightseeing vehicle also detects the distance information of the marker in real time, at the moment of detecting the marker, the distance signal of the marker is sent to the control unit 1 in real time, the control unit 1 calculates the parking position of the sightseeing vehicle according to the prestored distance value between the sightseeing vehicle and the right roadside, the distance value between the marker and the roadside, the length of the vehicle body and the preset safe distance, the sightseeing vehicle is ensured to be stopped at the back of the marker, namely the position of the marker can not be detected by a front camera, the control unit 1 calculates the acceleration a of the decelerated vehicle according to the marker parking algorithm after calculating the parking position, and sends a control instruction to the chassis power execution unit 5, and controls the sightseeing vehicle to automatically park and decelerate through the chassis power execution unit 5, when the marker is detected, the control unit 1 also sends a control instruction to the intelligent voice unit 6, and the intelligent voice unit 6 sends a station arrival prompt and provides a brief introduction to the scenic spot at the marker. The method and the system thereof effectively avoid the situation of potential safety hazard caused by lack of external environment sensing in the prior art, and in addition, the method has low requirement on the number of cameras, low cost, good safety because of sensing and analyzing the external environment during starting, and realizes starting or stopping of the sightseeing vehicle at any time and any place through the one-key start-stop button 2, so that the use is more convenient for users, the judgment of lane lines is increased during starting and driving of the sightseeing vehicle, and the unmanned driving safety of the sightseeing vehicle is further improved.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. A control method of an unmanned sightseeing vehicle is characterized by comprising the following steps:
A start signal or a stop signal of the sightseeing vehicle is acquired in real time through a one-key start-stop button (2);
The information acquisition unit (3) is used for acquiring the surrounding environment information of the sightseeing bus in real time;
the information identification unit (4) is used for processing and analyzing the surrounding environment information acquired by the information acquisition unit (3), identifying whether lane lines and obstacles exist or not and sending the identification result to the control unit (1);
The control unit (1) sends a starting instruction to the chassis power execution unit (5) when receiving a starting signal transmitted by the one-key start-stop button (2) and when the recognition result is that a lane line is acquired and no obstacle exists;
The chassis power execution unit (5) outputs power to the wheels according to the starting instruction, so that the sightseeing vehicle is started.
2. The control method of the unmanned sightseeing vehicle according to claim 1, wherein the information collecting unit (3) comprises: a camera device (3a) mounted on the front of the sightseeing vehicle for detecting image information of surrounding environment including lane lines, obstacles and markers;
And radar equipment (3b) arranged around the sightseeing vehicle body and used for detecting distance information between the sightseeing vehicle and the barrier or the marker.
3. The control method of the unmanned sightseeing vehicle according to claim 2, characterized in that after the sightseeing vehicle is started, the image information of the surrounding environment is collected in real time by the camera device (3a) and sent to the information identification unit (4); the information identification unit (4) processes and analyzes image information acquired in real time and transmits the identified lane line image data to the control unit (1), the control unit (1) calculates a steering angle according to the lane line image data identified by the information identification unit (4) and sends a corresponding direction control instruction according to the calculated steering angle, and the chassis power execution unit (5) controls the sightseeing vehicle to run in the lane line according to the received direction control instruction.
4. The control method of the unmanned sightseeing vehicle according to claim 2 or 3, characterized in that after the sightseeing vehicle is started, the image information of the surrounding environment is collected in real time by the camera device (3a) and sent to the information recognition unit (4); the information identification unit (4) processes and analyzes image information collected in real time and transmits identified obstacle image data or marker image data to the control unit (1), the control unit (1) processes distance information transmitted by the radar device (3b) after receiving the obstacle image data or the marker image data, and controls the sightseeing vehicle to stop at a preset safe distance according to an obstacle avoidance algorithm or controls the sightseeing vehicle to stop according to a marker parking algorithm.
5. The method of controlling an unmanned sightseeing vehicle according to claim 4, wherein the obstacle avoidance algorithm comprises the steps of:
Setting a preset safe distance as X, the maximum detection distance of the radar equipment (3b) as S, the running speed of the sightseeing vehicle as V, and the distance between the sightseeing vehicle and the barrier as L;
When L is greater than S, the radar equipment (3b) cannot detect the obstacle, the sightseeing vehicle does not limit the speed and runs at the preset cruising speed;
at X<L<When S is satisfied, the radar device (3b) calculates a real-time acceleration a at the moment when the obstacle is detected, and performs a deceleration operation, and the method includes the steps of: the distance L between the sightseeing vehicle and the barrier is calculated in real time through the radar equipment (3b), the real-time speed V is calculated through the vehicle-mounted sensor, and then the acceleration is obtainedthe control unit (1) controls the sightseeing vehicle to decelerate and stop according to the calculated acceleration a;
when L < X, the control unit (1) outputs an emergency obstacle avoidance alarm instruction to the intelligent voice unit (6), and obstacle avoidance reminding is carried out through the intelligent voice unit (6).
6. The method of controlling an unmanned sightseeing vehicle according to claim 4, wherein the marker parking algorithm comprises:
setting the length of a sightseeing vehicle as W, the distance between the sightseeing vehicle and the roadside on the right side as d1, the distance between a marker and the roadside as d2 and the distance between the sightseeing vehicle and the marker as L, setting the sightseeing vehicle to stop after driving at least S distance from the current position, and calculating the distance L between the sightseeing vehicle and an obstacle in real time through a radar device (3 b);
ThenReal time accelerationwherein X is a preset safety distance;
The control unit (1) controls the sightseeing vehicle to decelerate and stop to the S distance according to the calculated acceleration a.
7. The control system of the unmanned sightseeing vehicle comprises a chassis power execution unit (5) used for enabling the sightseeing vehicle to accelerate, decelerate, turn and brake, and is characterized in that the control system further comprises a control unit (1), a one-key start-stop button (2) used for acquiring start information or stop information of the sightseeing vehicle, an information acquisition unit (3) used for acquiring surrounding environment information of the sightseeing vehicle and an information identification unit (4) used for identifying the acquired surrounding environment information, the one-key start-stop button (2) and the chassis power execution unit (5) are connected with the control unit (1), the information acquisition unit (3) is connected with the control unit (1) through the information identification unit (4), and the control unit (1) is used for sending out obstacles when the start information conveyed by the one-key start-stop button (2) and the information identification unit (4) are received and the obstacles are identified to a lane line and the surrounding environment And the chassis power execution unit (5) is used for controlling the sightseeing vehicle to start according to the starting instruction and controlling the sightseeing vehicle to carry out direction control and speed control according to the identified lane line and the preset acceleration.
8. The control system of the unmanned sightseeing vehicle according to claim 7, wherein the information recognition unit (4) comprises a lane line recognition module (4a) for recognizing image information of a lane line, an obstacle recognition module (4b) for recognizing image information of an obstacle, and a marker recognition module (4c) for recognizing image information of a marker, the lane line recognition module (4a), the obstacle recognition module (4b), and the marker recognition module (4c) are all connected to the control unit (1), and the lane line recognition module (4a), the obstacle recognition module (4b), and the marker recognition module (4c) are all connected to the information acquisition unit (3).
9. The control system of the unmanned sightseeing vehicle of claim 8, wherein the control unit (1) is configured to control the sightseeing vehicle to travel with a lane keeping algorithm upon receiving the image information of the lane identified by the information identifying unit (4), to control the sightseeing vehicle to stop at a preset safe distance with an obstacle avoiding algorithm upon receiving the image information of the obstacle identified by the information identifying unit (4), and to control the sightseeing vehicle to stop with a sign stopping algorithm upon receiving the image information of the sign identified by the information identifying unit (4).
10. the control system of the unmanned sightseeing vehicle according to claim 7, 8 or 9, characterized in that the control system further comprises an intelligent voice unit (6) connected with the control unit (1), wherein the intelligent voice unit (6) is used for voice broadcasting when the control unit (1) receives the information identification unit (4) and identifies the marker, is used for reminding when the control unit (1) receives the information identification unit (4) and does not identify the lane line, and is used for obstacle avoidance reminding when the control unit (1) receives the information identification unit (4) and identifies the obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865371.9A CN110580046B (en) | 2019-09-12 | 2019-09-12 | Control method and system for unmanned sightseeing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865371.9A CN110580046B (en) | 2019-09-12 | 2019-09-12 | Control method and system for unmanned sightseeing vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110580046A true CN110580046A (en) | 2019-12-17 |
| CN110580046B CN110580046B (en) | 2022-08-16 |
Family
ID=68811789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910865371.9A Active CN110580046B (en) | 2019-09-12 | 2019-09-12 | Control method and system for unmanned sightseeing vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110580046B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532226A (en) * | 2020-04-21 | 2020-08-14 | 上海电力大学 | Sightseeing carrier and control system thereof |
| CN111564039A (en) * | 2020-05-28 | 2020-08-21 | 新石器慧通（北京）科技有限公司 | Sightseeing unmanned vehicle and control method thereof |
| CN111785020A (en) * | 2020-06-23 | 2020-10-16 | 江苏鼎观智能科技有限公司 | Automatic driving sightseeing vehicle control method and system |
| CN112351154A (en) * | 2020-10-28 | 2021-02-09 | 湖南汽车工程职业学院 | Unmanned automobile road condition recognition system |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104036279A (en) * | 2014-06-12 | 2014-09-10 | 北京联合大学 | Intelligent vehicle running control method and system |
| CN104157160A (en) * | 2014-08-08 | 2014-11-19 | 中国联合网络通信集团有限公司 | Vehicle drive control method and device as well as vehicle |
| CN104392212A (en) * | 2014-11-14 | 2015-03-04 | 北京工业大学 | Method for detecting road information and identifying forward vehicles based on vision |
| CN105015545A (en) * | 2015-07-03 | 2015-11-04 | 内蒙古麦酷智能车技术有限公司 | Autonomous lane-changing decision making system for pilotless automobile |
| KR20160143206A (en) * | 2015-06-05 | 2016-12-14 | 김민재 | Unmaneed auto cart collecting system |
| CN106886217A (en) * | 2017-02-24 | 2017-06-23 | 安科智慧城市技术（中国）有限公司 | Automatic navigation control method and apparatus |
| CN107844120A (en) * | 2017-12-15 | 2018-03-27 | 包头市天盛重工有限公司 | A kind of unmanned mine wide-body car |
| CN108364494A (en) * | 2018-02-26 | 2018-08-03 | 郑清辉 | Road traffic intelligent management, system and platform |
| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
| CN108656962A (en) * | 2018-05-10 | 2018-10-16 | 中国石油大学(华东) | A kind of intelligent network connection electric sightseeing vehicle and control method |
| CN208180853U (en) * | 2018-05-08 | 2018-12-04 | 陕西同力重工股份有限公司 | The unmanned mine car in the dedicated field of engineering transportation |
| CN109649401A (en) * | 2017-10-11 | 2019-04-19 | 浙江容融荣环保科技有限公司 | A kind of automobile Unmanned Systems |
| CN109801109A (en) * | 2019-01-22 | 2019-05-24 | 北京百度网讯科技有限公司 | Automatic driving vehicle user's acceptance measurement method, device and electronic equipment |
| CN109979188A (en) * | 2019-04-04 | 2019-07-05 | 吉林大学 | A kind of unmanned sightseeing fleet of intelligence |
| CN110008891A (en) * | 2019-03-29 | 2019-07-12 | 厦门金龙旅行车有限公司 | A kind of pedestrian detection localization method, device, cart-mounted computing device and storage medium |
| CN110045727A (en) * | 2018-12-03 | 2019-07-23 | 江西洪都航空工业集团有限责任公司 | A kind of garden unmanned vehicle path planning and control method |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
-
2019
- 2019-09-12 CN CN201910865371.9A patent/CN110580046B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104036279A (en) * | 2014-06-12 | 2014-09-10 | 北京联合大学 | Intelligent vehicle running control method and system |
| CN104157160A (en) * | 2014-08-08 | 2014-11-19 | 中国联合网络通信集团有限公司 | Vehicle drive control method and device as well as vehicle |
| CN104392212A (en) * | 2014-11-14 | 2015-03-04 | 北京工业大学 | Method for detecting road information and identifying forward vehicles based on vision |
| KR20160143206A (en) * | 2015-06-05 | 2016-12-14 | 김민재 | Unmaneed auto cart collecting system |
| CN105015545A (en) * | 2015-07-03 | 2015-11-04 | 内蒙古麦酷智能车技术有限公司 | Autonomous lane-changing decision making system for pilotless automobile |
| CN106886217A (en) * | 2017-02-24 | 2017-06-23 | 安科智慧城市技术（中国）有限公司 | Automatic navigation control method and apparatus |
| CN109649401A (en) * | 2017-10-11 | 2019-04-19 | 浙江容融荣环保科技有限公司 | A kind of automobile Unmanned Systems |
| CN107844120A (en) * | 2017-12-15 | 2018-03-27 | 包头市天盛重工有限公司 | A kind of unmanned mine wide-body car |
| CN108364494A (en) * | 2018-02-26 | 2018-08-03 | 郑清辉 | Road traffic intelligent management, system and platform |
| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
| CN208180853U (en) * | 2018-05-08 | 2018-12-04 | 陕西同力重工股份有限公司 | The unmanned mine car in the dedicated field of engineering transportation |
| CN108656962A (en) * | 2018-05-10 | 2018-10-16 | 中国石油大学(华东) | A kind of intelligent network connection electric sightseeing vehicle and control method |
| CN110045727A (en) * | 2018-12-03 | 2019-07-23 | 江西洪都航空工业集团有限责任公司 | A kind of garden unmanned vehicle path planning and control method |
| CN109801109A (en) * | 2019-01-22 | 2019-05-24 | 北京百度网讯科技有限公司 | Automatic driving vehicle user's acceptance measurement method, device and electronic equipment |
| CN110008891A (en) * | 2019-03-29 | 2019-07-12 | 厦门金龙旅行车有限公司 | A kind of pedestrian detection localization method, device, cart-mounted computing device and storage medium |
| CN109979188A (en) * | 2019-04-04 | 2019-07-05 | 吉林大学 | A kind of unmanned sightseeing fleet of intelligence |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111532226A (en) * | 2020-04-21 | 2020-08-14 | 上海电力大学 | Sightseeing carrier and control system thereof |
| CN111564039A (en) * | 2020-05-28 | 2020-08-21 | 新石器慧通（北京）科技有限公司 | Sightseeing unmanned vehicle and control method thereof |
| CN111785020A (en) * | 2020-06-23 | 2020-10-16 | 江苏鼎观智能科技有限公司 | Automatic driving sightseeing vehicle control method and system |
| CN112351154A (en) * | 2020-10-28 | 2021-02-09 | 湖南汽车工程职业学院 | Unmanned automobile road condition recognition system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110580046B (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110580046B (en) | Control method and system for unmanned sightseeing vehicle | |
| CN108928343A (en) | A kind of panorama fusion automated parking system and method | |
| CN106274898A (en) | A kind of vehicle-mounted remote-control parking equipment and system thereof | |
| CN112238843B (en) | Vehicle travel control device | |
| CN111986505B (en) | Control device, boarding/alighting facility, control method, and storage medium | |
| CN103847739A (en) | Method and system for automatically following car and assisting parking by means of mobile terminal | |
| US20200282976A1 (en) | Vehicle control device, information providing device, information providing system, vehicle control method, information providing method, and storage medium | |
| CN111830859A (en) | Vehicle remote indication system | |
| CN112124096B (en) | Parking assist system | |
| CN112712730A (en) | Method for preparing a signal for controlling an at least partially automated vehicle | |
| US11654962B2 (en) | Vehicle travel control method and vehicle travel control apparatus | |
| CN111932927A (en) | Management device, management method, and storage medium | |
| US11458939B2 (en) | Trailer | |
| US20200302199A1 (en) | Vehicle control device, monitoring system, vehicle control method, and storage medium | |
| CN109532849B (en) | Emergency system of bus | |
| JP7075789B2 (en) | Vehicle control devices, vehicle control methods, and programs | |
| CN113192352B (en) | Automatic driving method and system for receiving instructions of traffic control personnel | |
| JP2020059346A (en) | Vehicular pedal control device | |
| CN115158048A (en) | Method for charging an electric vehicle, vehicle and vehicle system | |
| CN110322679B (en) | Vehicle traffic accident remote driving take-over rescue method and system | |
| US20190266895A1 (en) | Vehicle control device | |
| CN216660078U (en) | Automatic driving low-speed sightseeing vehicle for taking 4 to 6 people | |
| CN215752356U (en) | Emergency collision avoidance system based on braking and steering | |
| KR102338643B1 (en) | Driver assistance system and driver assistance method | |
| CN219565061U (en) | Vehicle safety control system for dead zone braking and speed limiting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |