CN110930745B - Information prompt system and method for unmanned vehicle and unmanned vehicle - Google Patents
Information prompt system and method for unmanned vehicle and unmanned vehicle Download PDFInfo
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- CN110930745B CN110930745B CN201811213507.XA CN201811213507A CN110930745B CN 110930745 B CN110930745 B CN 110930745B CN 201811213507 A CN201811213507 A CN 201811213507A CN 110930745 B CN110930745 B CN 110930745B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The invention discloses an information prompt system and method of an unmanned vehicle and the unmanned vehicle, which are used for solving the problem that the unmanned vehicle cannot communicate with external personnel or vehicles in the prior art. The system comprises an unmanned control device and an information prompting device which are arranged in an unmanned vehicle; the unmanned control device is used for determining whether the vehicle state, the running state, the driving mode state and/or the task state of the unmanned vehicle are changed or not, and sending the changed vehicle state information, running state information and/or task state information to the information prompt device under the condition that the change is determined; the information prompting device is used for prompting outside personnel or vehicles according to the received information.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an information prompt system and method for an unmanned vehicle and the unmanned vehicle.
Background
Currently in some scenarios, an unmanned vehicle is used to complete a trip or transportation scenario.
For example, in some freight transportation scenarios, such as port areas, mining areas, highway ports, logistics parks, etc., unmanned vehicles are used to transport goods. In these scenarios, the freight management system distributes freight tasks for the unmanned vehicles, and the unmanned control devices in the unmanned vehicles transport the freight from one location to another according to the scene maps, the scene perception data and the freight tasks, and transport and load/unload the freight through some lifting devices. In these scenarios, there are also cases where a manned vehicle and an unmanned vehicle carry out cargo transportation together.
In these scenarios, field personnel manage and maintain the freight site, for example, the field personnel operate the hoisting equipment, and perform field maintenance on a manned vehicle and an unmanned vehicle in driving. Wherein, the communication can be carried out between the field personnel and the vehicle driven by people. The unmanned vehicle can understand the intentions of other vehicles and people through a trained model or algorithm, but field personnel cannot communicate with the unmanned vehicle and cannot understand the behavior intentions of the unmanned vehicle. Therefore, in some existing freight transportation scenes, the problem that the unmanned vehicle cannot communicate with outside people or vehicles exists.
Disclosure of Invention
In view of the above, the present invention provides an information prompting system and method for an unmanned vehicle, and an unmanned vehicle, so as to solve the problem that the unmanned vehicle cannot communicate with external people or vehicles in the prior art.
According to an aspect of an embodiment of the present application, there is provided an information presentation system of an unmanned vehicle, including an unmanned control device, an information analysis device, and an information presentation device provided in the unmanned vehicle;
the unmanned control device is used for determining whether the vehicle state, the running state, the driving mode state and/or the task state of the unmanned vehicle are changed or not, and sending the changed vehicle state information, running state information and/or task state information to the information analysis device under the condition that the change is determined;
the information analysis device is used for analyzing the information from the unmanned control device and determining prompt information according to an analysis result;
and the information prompting device is used for displaying the received prompting information and prompting external personnel or vehicles.
According to an aspect of an embodiment of the present application, there is provided an unmanned vehicle including an information presentation system of the unmanned vehicle disposed therein, the system including an unmanned control device, an information analysis device, and an information presentation device;
the unmanned control device is used for determining whether the vehicle state, the running state, the driving mode state and/or the task state of the unmanned vehicle are changed or not, and sending the changed vehicle state information, running state information and/or task state information to the information analysis device under the condition that the change is determined;
the information analysis device is used for analyzing the information from the unmanned control device and determining prompt information according to an analysis result;
the information prompting device is used for displaying the received prompting information and prompting outside personnel or vehicles.
According to an aspect of an embodiment of the present application, there is provided an information presentation method for an unmanned vehicle, including:
the unmanned vehicle determines whether a vehicle state, a driving mode state, and/or a task state of the vehicle is changed;
under the condition that the change is determined, determining prompt information corresponding to the changed vehicle state information, the changed driving state information and/or the changed task state information;
and displaying the determined prompt information to prompt outside personnel or vehicles.
According to the technical scheme provided by the embodiment of the application, the unmanned control device, the information analysis device and the information prompt device are arranged in the unmanned vehicle, and under the condition that the unmanned control device determines that the vehicle state, the running state, the driving mode state and/or the task state of the unmanned vehicle are changed, the information prompt device correspondingly displays the changed state information and prompts outside personnel and vehicles, so that the outside personnel or vehicles can know the intention of the unmanned vehicle, relevant information of the unmanned vehicle can be obtained, and the problem that the unmanned vehicle cannot be communicated with the outside personnel or vehicles in the prior art can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is an example of an unmanned vehicle provided by an embodiment of the present application;
fig. 2 is a block diagram illustrating an information presentation system of an unmanned vehicle according to an embodiment of the present disclosure;
fig. 3 is a block diagram showing an example of the structure of the information analysis device 13 in fig. 2;
FIG. 4 is a block diagram illustrating an example of the information presentation device 12 of FIG. 2;
fig. 5 is a processing flow chart of an information prompting method for an unmanned vehicle according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problem that the unmanned vehicle cannot communicate with external personnel or vehicles in the prior art, the embodiment of the application provides an information prompt system and method of the unmanned vehicle and the unmanned vehicle, and aims to solve the problem. According to the technical scheme provided by the embodiment of the application, the unmanned control device and the information prompting device are arranged in the unmanned vehicle, and the information prompting device prompts outside people and vehicles according to the changed state information under the condition that the unmanned control device determines that the vehicle state, the running state, the driving mode state and/or the task state of the unmanned vehicle are changed, so that the outside people or vehicles can know the intention of the unmanned vehicle, the related information of the unmanned vehicle is obtained, and the problem that the unmanned vehicle cannot communicate with the outside people or vehicles in the prior art can be solved.
The foregoing is the core idea of the present invention, and in order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail with reference to the accompanying drawings.
The term "vehicle" is to be interpreted broadly in this application to include any moving object including, for example, aircraft, watercraft, spacecraft, automobiles, trucks, vans, semi-trailers, motorcycles, golf carts, off-road vehicles, warehouse or farm vehicles, and vehicles traveling on rails such as trams or trains and other rail vehicles. The "vehicle" in the present application may generally include: power systems, sensor systems, control systems, peripheral devices, and computer systems. In other embodiments, the vehicle may include more, fewer, or different systems.
Wherein, the driving system is the system for providing power motion for the vehicle, includes: engine/motor, transmission and wheels/tires, power unit.
The control system may comprise a combination of devices controlling the vehicle and its components, such as a steering unit, a throttle, a brake unit.
The peripheral devices may be devices that allow the vehicle to interact with external sensors, other vehicles, external computing devices, and/or users, such as wireless communication systems, touch screens, microphones, and/or speakers.
Based on the vehicle described above, the unmanned vehicle is also provided with a sensor system and an unmanned control device.
The sensor system may include a plurality of sensors for sensing information about the environment in which the vehicle is located, and one or more actuators for changing the position and/or orientation of the sensors. The sensor system may include any combination of sensors such as global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, light detection and ranging (LIDAR) units, and/or acoustic sensors; the sensor system may also include sensors (e.g., O) that monitor the vehicle interior systems2Monitors, fuel gauges, engine thermometers, etc.).
The drone controlling device may include a processor and a memory, the memory having stored therein at least one machine executable instruction, the processor executing the at least one machine executable instruction to implement functions including a map engine, a positioning module, a perception module, a navigation or routing module, and an automatic control module, among others. The map engine and the positioning module are used for providing map information and positioning information. The sensing module is used for sensing things in the environment where the vehicle is located according to the information acquired by the sensor system and the map information provided by the map engine. And the navigation or path module is used for planning a driving path for the vehicle according to the processing results of the map engine, the positioning module and the sensing module. The automatic control module inputs and analyzes decision information of modules such as a navigation module or a path module and the like and converts the decision information into a control command output to a vehicle control system, and sends the control command to a corresponding component in the vehicle control system through a vehicle-mounted network (for example, an electronic network system in the vehicle, which is realized by CAN (controller area network) bus, local area internet, multimedia directional system transmission and the like), so as to realize automatic control of the vehicle; the automatic control module can also acquire information of each component in the vehicle through a vehicle-mounted network.
The information prompting system and method of the unmanned vehicle provided by the embodiment of the application are described by taking an unmanned truck as an example. It can be understood by those skilled in the art that the information prompting system and method for the unmanned vehicle provided by the embodiments of the present application can also be applied to other types of unmanned vehicles, such as unmanned vehicles of passenger cars, unmanned vehicles of golf cars, unmanned vehicles of buses, and other various types of unmanned vehicles.
An example of an unmanned vehicle provided by an embodiment of the present application is shown in fig. 1, and an information prompting system 10 of the unmanned vehicle is included in the unmanned vehicle 1. As shown in fig. 2, the information presentation system 10 of the unmanned vehicle includes an unmanned control device 11, an information analysis device 13, and an information presentation device 12.
The unmanned control means 11 may be decision and control means for operating the vehicle under an unmanned model. The unmanned control device 11 may plan and make decisions on the movement and the driving route of the vehicle through the sensing data acquired by the vehicle-mounted sensor and the map data of the configured driving environment, and control the vehicle to execute corresponding decisions, thereby implementing the function of automatic driving or unmanned driving of the vehicle.
In some embodiments, the drone control device 11 may include a processor and at least one memory, the processor performing the decision making and control of the drone vehicle, and the corresponding processing provided by embodiments of the present application, by executing at least one machine executable instruction stored in the at least one memory.
As shown in fig. 3, information parsing device 13 may include a processor 131, a memory 132, and an interface module 133 with drone controlling device 11 and an interface module 134 with information prompting device 12. The information analysis device 13 may be provided in combination with the unmanned control device 11 as a sub-module of the unmanned control device 11; or may be provided separately as a separate device.
The message prompting device 12 may include a display device 122, a sound device 123, and/or a light device 124, and fig. 4 shows an example where the message prompting device 13 includes both the display device 122, the sound device 123, and the light device 124.
The display device 122 may be an LED display device, an OLED display device, or a liquid crystal display device. The sound generating device 123 may be a speaker, a horn, or the like. The light device 124 may be a single or a group of signal lights, and may also be a light projection device capable of adjusting the light posture. The display device 122, the sound emitting device 123, and the lighting device 124 may be disposed outside the body of the unmanned vehicle 1, such as any one side surface, a plurality of side surfaces, or a top surface of the body, wherein the side surfaces include a front side surface, a rear side surface, and both side surfaces of the body. In other application scenarios, one or more of the display device 122, the sound generating device 123 and the lighting device 124 may be disposed at the bottom of the vehicle body according to the specific requirements of the application scenario.
In a specific application scenario, the display device 122, the sound generating device 123 and the lighting device 124 may be flexibly configured according to application requirements. For example, in a shipping scenario at a port, display device 122 may be provided outside the cab door of an unmanned truck, and display device 122 may be provided outside the cab roof of the unmanned truck, to present relevant information to field maintenance personnel on the ground, operators on shore cranes, or tire cranes. The sound emitting device 123 and the lighting device 124 may be provided on both sides of the vehicle body of the unmanned truck, for example, outside the cab, or on the front side or the rear side of the vehicle body, to provide an indication to a person or vehicle outside the vehicle. It is also possible to specifically select which of the display device 122, the sound generating device 123 and the lighting device 124 is set, and the number of the set devices in a specific application scenario.
The operation of the system shown in fig. 2 is explained below.
In the embodiment of the present application, the unmanned control means 11 determines whether or not the vehicle state, the travel state, the driving mode state, and/or the task state of the unmanned vehicle has changed, and in the case where it is determined that the change has occurred, transmits the changed vehicle state information, travel state information, and/or task state information to the information analysis means 13.
The information analysis device 13 is used for analyzing the information from the unmanned control device and determining prompt information according to the analysis result;
the information presentation device 12 is used to present the received presentation information and present the outside person or vehicle.
In some embodiments, the unmanned control device 11 receives vehicle state information from a vehicle network in the unmanned vehicle; and comparing the currently received vehicle state information with the vehicle state information received last time, and determining that the vehicle state of the unmanned vehicle changes when the comparison results are different.
Wherein the vehicle state information comprises state information of vehicle components, the vehicle components comprising at least one of: a body part of a vehicle, an on-board sensor of a vehicle. The operation condition of the body component obtained through the vehicle-mounted network of the vehicle may be obtained by a method before or after the present application, and the present application is not particularly limited herein. The vehicle-mounted sensors of the vehicle may generally include a vehicle-mounted camera, a laser radar (LIDAR), or the like sensor device that acquires environmental information for unmanned driving. The vehicle-mounted sensor may report its own state information to the unmanned control device 11, and a specific reporting method may be a method before or after the present application, and the present application is not limited specifically here.
In some embodiments, the unmanned control device 11 determines whether the running state of the unmanned vehicle is changed, including: the unmanned control device 11 makes a driving decision, compares the driving state after the driving decision is made with the driving state before the driving decision is made, and determines that the driving state of the unmanned vehicle changes when the comparison results are different.
Wherein the driving state of the unmanned vehicle comprises at least one of: stopping/starting the vehicle, the current running speed of the vehicle, accelerating/decelerating the vehicle and advancing/backing the vehicle; changing lanes and changing directions of vehicles; vehicle turning, turning direction.
In some embodiments, the unmanned control device 11 determines whether a change in the driving mode state of the unmanned vehicle occurs, including: the driverless control means 11 determines that the state of the drive mode of the driverless vehicle has changed when the drive mode of the driverless vehicle is switched.
Wherein the driving model of the unmanned vehicle comprises: unmanned driving mode, manual driving mode, or controlled driving mode.
In the above-described driving mode, when the vehicle is in the controlled driving mode, the driving behavior of the vehicle is performed under the control of an external control device, not under the control of the unmanned control device 11 of the vehicle. In this case, in some embodiments, the unmanned control device 11 of the vehicle determines whether the vehicle running state is changed, including: receiving a running control command from an external control device, wherein the running control command comprises running state information; and comparing the currently received running state information with the last received running state information, and determining that the running state of the unmanned vehicle changes when the comparison result is different.
In some embodiments, the unmanned control device 11 determines whether a task state of the unmanned vehicle has changed, including: the unmanned control device 11 receives task state information from an external task management system; and comparing the currently received task information with the last received task information, and determining that the task state of the unmanned vehicle changes when the comparison results are different.
In some application scenarios, the unmanned vehicle may perform some tasks, such as a transportation task. In these scenarios, a task management system is usually provided, which allocates tasks to the unmanned vehicle, issues the tasks to the unmanned vehicle, monitors the task execution condition of the unmanned vehicle, and confirms task completion to the unmanned vehicle after the unmanned vehicle completes the tasks. During the communication process between the task management system and the unmanned vehicle, the task management system may communicate with the unmanned vehicle about the execution of the task, for example, status information of the task is sent to the unmanned vehicle, and the status information of the task may include: the starting state of the task, the proceeding state of the task, the ending state of the task, and other states set according to the application scene.
In other embodiments, the scheme for determining the change of the vehicle state, the driving mode state and the task state of the unmanned vehicle in the above embodiments may also be combined to meet the requirements of the application scenario.
With the arrangement provided in the above-described embodiment, the unmanned control device 11 can determine that the vehicle state, the travel state, the driving mode state, and/or the task state of the unmanned vehicle have changed, and send the changed state information to the information presentation device 12.
As described above, the message prompting device 12 may include a display device 122, a sound device 123, and/or a light device 124.
In some embodiments, the information parsing means 13 parses the information from the unmanned control device 11, and determines the prompt information according to the parsed result, including: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises characters, patterns and/or symbols;
the information prompting device 12 displays the received prompting information, and comprises: the display device 122 displays the characters, patterns, and/or symbols determined by the information analysis device 13.
In some embodiments, the information parsing means 13 parses the information from the unmanned control device 11, and determines the prompt information according to the parsed result, including: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises a sound sample, sound playing decibel and/or sound playing duration;
the sound generating device 123 plays the sound sample determined by the information analyzing device, or plays the sound sample according to the determined playing decibel and/or sound playing time length.
In some embodiments, the information parsing means 13 parses the information from the unmanned control device 11, and determines the prompt information according to the parsed result, including: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises a light signal and/or a light projection gesture; wherein, the light projection gesture includes at least one of the following: the intensity of the light projection, the projection direction, the projection inclination angle and the projection color;
the displaying of the received prompt information by the information prompt device 12 includes: the lighting device 124 projects the light signal determined by the information analysis device I3, or projects the light signal according to the determined light projection posture.
In the above embodiment, the information analysis device 13 analyzes the information from the unmanned control device, and determines the corresponding text, pattern and/or symbol according to the analysis result, or determines the corresponding sound sample, sound playing decibel and/or sound playing duration, or determines the corresponding light signal and/or light projection gesture, which are determined according to the corresponding relationship between the pre-stored information and the text, pattern and/or symbol, the corresponding relationship between the pre-stored information and the sound sample, sound playing decibel and/or sound playing duration, and the corresponding relationship between the pre-stored information and the light signal and/or light projection gesture. These correspondences may be specifically set and prestored in the memory 132 of the information analysis device 13 according to the needs of a specific application scenario.
In other embodiments, the information prompting device 12 may further combine with the scheme of prompting the outside person or vehicle according to the received information, so as to meet the requirements of the application scenario.
Through the system shown in fig. 2, when the unmanned control device determines that the vehicle state, the driving mode state and/or the task state of the unmanned vehicle are changed, the information prompting device prompts external personnel and vehicles according to the changed state information, so that the external personnel or vehicles can know the intention of the unmanned vehicle, relevant information of the unmanned vehicle can be obtained, and the problem that the unmanned vehicle cannot communicate with the external personnel or vehicles in the prior art can be solved.
Based on the same inventive concept, the embodiment of the application also provides an information prompting method of the unmanned vehicle.
Fig. 5 shows a process flow of an information prompting method for an unmanned vehicle provided by an embodiment of the application, and the method includes:
and 503, displaying the determined prompt information, and prompting external personnel or vehicles.
In some embodiments, the human-driven vehicle determining whether the vehicle state has changed comprises: the method comprises the steps that an unmanned vehicle obtains vehicle state information of a vehicle-mounted network in the vehicle; wherein the vehicle state information comprises state information of vehicle components, the vehicle components comprising at least one of: a body part of a vehicle, an on-board sensor of the vehicle; and comparing the currently acquired vehicle state information with the vehicle state information acquired last time, and determining that the vehicle state of the unmanned vehicle changes when the comparison results are different.
In some embodiments, the unmanned vehicle determines whether a change in a driving state of the vehicle has occurred, including: the unmanned vehicle makes a driving decision, compares the driving state after the driving decision is made with the driving state before the driving decision is made, and determines that the driving state of the unmanned vehicle changes when the comparison results are different; wherein the driving state of the unmanned vehicle comprises at least one of: stopping/starting the vehicle, the current running speed of the vehicle, accelerating/decelerating the vehicle and advancing/backing the vehicle; changing lanes and changing directions of vehicles; vehicle turning, turning direction.
In some embodiments, the unmanned vehicle determines whether a change in a driving mode state of the vehicle has occurred, including: when the driving mode of the unmanned vehicle is converted, determining that the state of the driving mode of the unmanned vehicle changes; wherein the driving model of the unmanned vehicle comprises: unmanned driving mode, manual driving mode, or controlled driving mode.
In some embodiments, in the case where the driving mode is the controlled driving mode, the unmanned vehicle determines whether the vehicle running state is changed, including: the unmanned vehicle receives a running control command from an external control device, wherein the running control command comprises running state information; and comparing the currently received running state information with the last received running state information, and determining that the running state of the unmanned vehicle changes when the comparison result is different.
In some embodiments, determining whether the task state of the unmanned vehicle has changed comprises: the unmanned vehicle receives task state information from an external task management system; and comparing the currently received task information with the last received task information, and determining that the task state of the unmanned vehicle changes when the comparison results are different.
In some embodiments, determining prompt information corresponding to the changed vehicle state information, driving state information and/or task state information includes: determining prompt information corresponding to the changed vehicle state information, the changed driving state information and/or the changed task state information according to the preset corresponding relation, wherein the prompt information comprises characters, patterns and/or symbols; displaying the determined prompt message, including: and displaying the determined characters, patterns and/or symbols.
In some embodiments, determining prompt information corresponding to the changed vehicle state information, driving state information and/or task state information includes: determining prompt information corresponding to the changed vehicle state information, the changed driving state information and/or the changed task state information according to the preset corresponding relation, wherein the prompt information comprises a sound sample, a sound playing decibel and/or a sound playing time length; displaying the determined prompt message, including: and playing the determined sound sample, or playing the sound sample according to the determined playing decibel and/or sound playing time length.
In some embodiments, determining prompt information corresponding to the changed vehicle state information, driving state information and/or task state information includes: determining prompt information corresponding to the changed vehicle state information, driving state information and/or task state information according to a preset corresponding relation, wherein the prompt information comprises a light signal and/or a light projection gesture; wherein, the light projection gesture includes at least one of the following: the intensity of the light projection, the projection direction, the projection inclination angle and the projection color; displaying the determined prompt message, including: and projecting the determined light signal, or projecting the light signal according to the determined light projection gesture.
According to the method shown in fig. 5, the unmanned vehicle can prompt external personnel and vehicles according to the changed state information under the condition that the vehicle state, the driving mode state and/or the task state of the vehicle are changed, so that the external personnel or vehicles can know the intention of the unmanned vehicle, relevant information of the unmanned vehicle can be obtained, and the problem that the unmanned vehicle cannot communicate with the external personnel or vehicles in the prior art can be solved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (19)
1. An information presentation system for an unmanned vehicle, comprising an unmanned control device, an information analysis device and an information presentation device provided in the unmanned vehicle;
the unmanned control device is used for determining whether the task state of the unmanned vehicle is changed or not, and sending the changed task state information to the information analysis device under the condition that the task state is determined to be changed, wherein the task state comprises the state of the transportation task of the vehicle;
the information analysis device is used for analyzing the information from the unmanned control device and determining prompt information according to an analysis result;
an information prompting device for displaying the received prompting information and prompting the outside personnel or vehicles,
wherein the unmanned control apparatus determines whether a task state of the unmanned vehicle is changed, including:
the unmanned control device receives task state information from an external task management system;
and comparing the currently received task information with the last received task information, and determining that the task state of the unmanned vehicle changes when the comparison results are different.
2. The system of claim 1, wherein the drone control device is further to determine whether a vehicle state of the drone vehicle has changed,
the unmanned control device determines whether a vehicle state of the unmanned vehicle is changed, including:
the unmanned control device acquires vehicle state information from a vehicle-mounted network in the unmanned vehicle; wherein the vehicle state information comprises state information of vehicle components, the vehicle components comprising at least one of: a body part of a vehicle, an on-board sensor of the vehicle;
and comparing the currently acquired vehicle state information with the vehicle state information received last time, and determining that the vehicle state of the unmanned vehicle changes when the comparison results are different.
3. The system of claim 1, wherein the drone control device is further to determine whether a change in a driving state of the drone vehicle has occurred,
the unmanned control device determines whether a change in a running state of the unmanned vehicle occurs, including:
the unmanned control device makes a driving decision, compares the driving state after the driving decision is made with the driving state before the driving decision is made, and determines that the driving state of the unmanned vehicle changes when the comparison results are different;
wherein the driving state of the unmanned vehicle comprises at least one of: stopping/starting the vehicle, the current running speed of the vehicle, accelerating/decelerating the vehicle and advancing/backing the vehicle; changing lanes and changing directions of vehicles; vehicle turning, turning direction.
4. The system of claim 1, wherein the drone control device is further to determine whether a change in a driving mode state of the drone vehicle has occurred,
the unmanned control apparatus determines whether a driving mode state of the unmanned vehicle is changed, including:
the unmanned control device determines that the driving mode state of the unmanned vehicle changes when the driving mode of the unmanned vehicle is converted;
wherein the driving model of the unmanned vehicle comprises: unmanned driving mode, manual driving mode, or controlled driving mode.
5. The system according to claim 4, wherein the unmanned control means determines whether the vehicle running state is changed in a case where the driving mode is the controlled driving mode, including:
receiving a running control command from an external control device, wherein the running control command comprises running state information;
and comparing the currently received running state information with the last received running state information, and determining that the running state of the unmanned vehicle changes when the comparison result is different.
6. The system of claim 1, wherein the information-prompting device is located at least one location on the unmanned vehicle: one side of the body, the roof.
7. The system of claim 6, wherein the message prompting device is located outside a cab door or a cab roof of the unmanned vehicle.
8. The system of claim 1, wherein the information prompting device includes a display device, the display device including one of: LED display device, OLED display device, liquid crystal display device;
the information analysis device analyzes information from the unmanned control device and determines prompt information according to an analysis result, and the information analysis device comprises: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises characters, patterns and/or symbols;
the information prompting device displays and receives the prompting information and comprises: the display device displays the text, the pattern and/or the symbol determined by the information interpretation device.
9. The system of claim 1, wherein the message prompting device includes a sound generating device;
the information analysis device analyzes information from the unmanned control device and determines prompt information according to an analysis result, and the information analysis device comprises: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises a sound sample, sound playing decibel and/or sound playing duration;
the information prompting device displays and receives the prompting information and comprises: and the sound generating device plays the sound sample determined by the information analysis device, or plays the sound sample according to the determined playing decibel and/or sound playing time length.
10. The system of claim 1, wherein the information prompting device includes a light device;
the information analysis device analyzes information from the unmanned control device and determines prompt information according to an analysis result, and the information analysis device comprises: analyzing the received information, and determining prompt information corresponding to the received information according to a preset corresponding relation, wherein the prompt information comprises a light signal and/or a light projection gesture; wherein, the light projection gesture includes at least one of the following: the intensity of the light projection, the projection direction, the projection inclination angle and the projection color;
the information prompting device displays the received prompting information, and comprises: and the lighting device projects the lighting signal determined by the information analysis device or projects the lighting signal according to the determined lighting projection gesture.
11. An unmanned vehicle is characterized in that the unmanned vehicle comprises an information prompting system of the unmanned vehicle arranged in the unmanned vehicle, and the system comprises an unmanned control device, an information analysis device and an information prompting device;
the unmanned control device is used for determining whether the task state of the unmanned vehicle is changed or not, and sending the changed task state information to the information analysis device under the condition that the task state is determined to be changed, wherein the task state comprises the state of the transportation task of the vehicle;
the information analysis device is used for analyzing the information from the unmanned control device and determining prompt information according to an analysis result;
the information prompting device is used for displaying the received prompting information and prompting the outside personnel or vehicles,
wherein the unmanned control apparatus determines whether a task state of the unmanned vehicle is changed, including:
the unmanned control device receives task state information from an external task management system;
and comparing the currently received task information with the last received task information, and determining that the task state of the unmanned vehicle changes when the comparison results are different.
12. An information presentation method for an unmanned vehicle, comprising:
the unmanned vehicle determines whether a task state of the vehicle changes, wherein the task state comprises a state of a transportation task of the vehicle;
under the condition that the change is determined, determining prompt information corresponding to the changed task state information;
displaying the determined prompt information to prompt external personnel or vehicles,
wherein determining whether a task state of the vehicle has changed comprises:
the unmanned vehicle receives task state information from an external task management system;
and comparing the currently received task information with the last received task information, and determining that the task state of the unmanned vehicle changes when the comparison results are different.
13. The method of claim 12, wherein the unmanned vehicle further determines whether a vehicle state has changed,
the unmanned vehicle determining whether a vehicle state has changed, comprising:
the method comprises the steps that an unmanned vehicle obtains vehicle state information of a vehicle-mounted network in the vehicle; wherein the vehicle state information comprises state information of vehicle components, the vehicle components comprising at least one of: a body part of a vehicle, an on-board sensor of the vehicle;
and comparing the currently acquired vehicle state information with the vehicle state information acquired last time, and determining that the vehicle state of the unmanned vehicle changes when the comparison results are different.
14. The method of claim 12, wherein the unmanned vehicle further determines whether a change in a driving state of the vehicle has occurred,
the unmanned vehicle determines whether a driving state of the vehicle is changed, including:
the unmanned vehicle makes a driving decision, compares the driving state after the driving decision is made with the driving state before the driving decision is made, and determines that the driving state of the unmanned vehicle changes when the comparison results are different;
wherein the driving state of the unmanned vehicle comprises at least one of: stopping/starting the vehicle, the current running speed of the vehicle, accelerating/decelerating the vehicle and advancing/backing the vehicle; changing lanes and changing directions of vehicles; vehicle turning, turning direction.
15. The method of claim 12, wherein the unmanned vehicle further determines whether a change in a driving mode state of the vehicle has occurred,
the unmanned vehicle determining whether a driving mode state of the vehicle is changed includes:
when the driving mode of the unmanned vehicle is converted, determining that the state of the driving mode of the unmanned vehicle changes;
wherein the driving model of the unmanned vehicle comprises: unmanned driving mode, manual driving mode, or controlled driving mode.
16. The method according to claim 15, wherein in the case where the driving mode is the controlled driving mode, the unmanned vehicle determines whether the vehicle running state is changed, including:
the unmanned vehicle receives a running control command from an external control device, wherein the running control command comprises running state information;
and comparing the currently received running state information with the last received running state information, and determining that the running state of the unmanned vehicle changes when the comparison result is different.
17. The method of claim 12, wherein determining the reminder information corresponding to the changed vehicle mission status information comprises:
determining prompt information corresponding to the changed task state information according to a preset corresponding relation, wherein the prompt information comprises characters, patterns and/or symbols;
displaying the determined prompt message, including: and displaying the determined characters, patterns and/or symbols.
18. The method of claim 12, wherein determining the prompt information corresponding to the changed task state information comprises:
determining prompt information corresponding to the changed task state information according to a preset corresponding relation, wherein the prompt information comprises a sound sample, a sound playing decibel and/or a sound playing time;
displaying the determined prompt message, including: and playing the determined sound sample, or playing the sound sample according to the determined playing decibel and/or sound playing time length.
19. The method of claim 12, wherein determining the prompt information corresponding to the changed task state information comprises:
determining prompt information corresponding to the changed task state information according to a preset corresponding relation, wherein the prompt information comprises a light signal and/or a light projection gesture; wherein, the light projection gesture includes at least one of the following: the intensity of the light projection, the projection direction, the projection inclination angle and the projection color;
displaying the determined prompt message, including: and projecting the determined light signal, or projecting the light signal according to the determined light projection gesture.
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| CN112034752B (en) * | 2020-08-18 | 2023-10-13 | 沃行科技(南京)有限公司 | Unmanned mining truck operation state monitoring method |
| CN112721797A (en) * | 2020-10-27 | 2021-04-30 | 湖南大学 | Information prompt system and method for automatic driving vehicle |
| CN113547979A (en) * | 2021-07-01 | 2021-10-26 | 深圳元戎启行科技有限公司 | Vehicle behavior information prompting method and device, computer equipment and storage medium |
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