CN111343593B - Control method, device, equipment and storage medium of unmanned running tool - Google Patents
Control method, device, equipment and storage medium of unmanned running tool Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/20—Services signaling; Auxiliary data signalling, i.e. transmitting data via a non-traffic channel
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The application relates to a control method, a control device, control equipment and a storage medium of an unmanned running tool. The method comprises the following steps: sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label; receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation; and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label. The method can improve the accuracy of controlling the unmanned running tool, thereby reducing the risk of driving accidents of the unmanned running tool.
Description
Technical Field
The present application relates to the field of unmanned driving, and in particular, to a method, an apparatus, a device, and a storage medium for controlling an unmanned driving tool.
Background
With the rapid development of the unmanned technology, the unmanned technology has received a wide attention in various fields. In view of the fact that the existing unmanned technology is not mature, unmanned vehicles (such as vehicles, ships, aircrafts and the like) still need to be assisted by a background system to complete various complex tasks, and therefore vehicle-ground communication needs to be carried out between the unmanned vehicles and the background system. The existing vehicle-ground communication is mainly borne on a Wi-Fi network or a mobile cellular network, so that in the driving process of the unmanned driving tool, when a network signal bearing the vehicle-ground communication is unstable, data transmitted between the unmanned driving tool and a background system is lost or invalid, the accuracy of controlling the unmanned driving tool is reduced, and the risk of driving accidents of the unmanned driving tool is further improved.
In the conventional technology, a network carrying vehicle-ground communication is optimized to improve the stability of the network carrying vehicle-ground communication, so that data transmitted between an unmanned running tool and a background system is prevented from being lost or invalid to a certain extent, and the accuracy of controlling the unmanned running tool is improved.
However, the conventional technology cannot completely ensure the stability of a network carrying vehicle-ground communication, and still cannot effectively reduce the risk of driving accidents of the unmanned driving tool.
Disclosure of Invention
Based on this, it is necessary to provide a control method, apparatus, device and storage medium for an unmanned vehicle, aiming at the problem that the risk of driving accidents of the unmanned vehicle cannot be effectively reduced in the conventional mode.
A control method of an unmanned running tool, comprising:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
A control device for an unmanned running vehicle, comprising:
the sending module is used for sending the state information to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
the receiving module is used for receiving the control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and the first processing module is used for executing a preset alternative control mode when the control message is received before the time of the timer is overtime and the control message is determined to be invalid according to the second message label.
An unmanned vehicle comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
According to the control method and device of the unmanned driving tool, the unmanned driving tool and the storage medium provided by the embodiment, when the unmanned driving tool receives the control message sent by the background control device before the timer is overtime and determines that the control message is invalid according to the second message tag, the unmanned driving tool executes the preset alternative control mode. Because the message tag is added in the message format of the communication between the unmanned driving tool and the background control device, the message tag orderly records the sending sequence of the current state information of the unmanned driving tool or the sending sequence of the control information of the unmanned driving tool, after the unmanned driving tool receives the control message sent by the background control device before the timer is overtime, the unmanned driving tool can determine the validity of the control message according to the second message tag in the control message, and execute the preset alternative control mode when the control message is determined to be invalid. Therefore, when a wireless network signal carrying vehicle-ground communication is unstable, the unmanned running tool can acquire the validity of the control message through the message tag and execute a corresponding control mode according to the validity of the control message, so that the accuracy of controlling the unmanned running tool is improved, and the risk of driving accidents of the unmanned running tool is reduced.
A control method of an unmanned running tool, comprising:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
A control device for an unmanned running vehicle, comprising:
the receiving module is used for receiving the state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
the sending module is used for sending a control message to the unmanned running tool, wherein the control message is used for indicating the unmanned running tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
A background control apparatus comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
According to the control method and device of the unmanned driving tool, the background control device and the storage medium provided by the embodiment, after the background control device receives the state message sent by the unmanned driving tool, the background control device can send the control message to the unmanned driving tool according to the state message so as to instruct the unmanned driving tool to execute the preset alternative control mode when the control message is determined to be invalid. Because the message tag is added in the message format of the communication between the unmanned driving tool and the background control device, the message tag orderly records the sending sequence of the current state information of the unmanned driving tool or the sending sequence of the control information of the unmanned driving tool, after the unmanned driving tool receives the control message sent by the background control device before the timer is overtime, the unmanned driving tool can determine the validity of the control message according to the second message tag in the control message, and execute the preset alternative control mode when the control message is determined to be invalid. Therefore, when a wireless network signal carrying vehicle-ground communication is unstable, the unmanned running tool can acquire the validity of the control message through the message tag and execute a corresponding control mode according to the validity of the control message, so that the accuracy of controlling the unmanned running tool is improved, and the risk of driving accidents of the unmanned running tool is reduced.
Drawings
Fig. 1 is a system architecture diagram of an application of a control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a control method of an unmanned aerial vehicle according to an embodiment;
fig. 3 is a schematic flowchart of a control method for an unmanned aerial vehicle according to another embodiment;
fig. 4 is a schematic flowchart of a control method for an unmanned aerial vehicle according to another embodiment;
fig. 5 is a flowchart illustrating a control method of an unmanned aerial vehicle according to another embodiment;
fig. 6 is a schematic structural diagram of a control device of the unmanned aerial vehicle according to an embodiment;
fig. 7 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment;
fig. 8 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment;
fig. 9 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment;
fig. 10 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment;
fig. 11 is a schematic internal structural diagram of an apparatus according to an embodiment.
Detailed Description
The control method of the unmanned driving tool provided by the embodiment of the application can be applied to a system as shown in fig. 1, and the system comprises at least one unmanned driving tool 10 and a background control device 11. The unmanned driving tool 10 and the background control device 11 can communicate with each other through a wireless network. The unmanned driving tool 10 reports its current state information to the background control device 11 in real time or periodically, and the background control device 11 sends control information to the unmanned driving tool 10 according to the current state information reported by the unmanned driving tool 10, so as to control the unmanned driving tool 10, thereby assisting the unmanned driving tool 10 to complete various complex tasks. Alternatively, the unmanned vehicle 10 may be an unmanned vehicle, an unmanned ship, an unmanned aerial vehicle, or the like. The background control device 11 may be a control terminal, or may be a server, where the server may be an independent server, or may be a server cluster formed by multiple servers. Optionally, the Wireless network may be a Wireless Fidelity (WIFI) network, or may be a mobile cellular network of any system, and the specific form of the unmanned aerial vehicle 10, the specific form of the background control device 11, and the communication mode between the unmanned aerial vehicle 10 and the background control device 11 are not limited in this embodiment of the application.
At present, vehicle-ground communication between an unmanned running tool and background control equipment is mainly borne on a wireless network, and when signals of the wireless network are unstable, data transmitted between the unmanned running tool and a background system can be lost or invalid, so that the accuracy of controlling the unmanned running tool is reduced, and the risk of driving accidents of the unmanned running tool is further improved. In the conventional technology, the stability of the wireless network is improved as much as possible by continuously optimizing the network quality of the wireless network carrying the vehicle-ground communication. However, the conventional technology cannot completely ensure the stability of a network carrying vehicle-ground communication, and still cannot effectively reduce the risk of driving accidents of the unmanned driving tool. Therefore, the control method, device, equipment and storage medium of the unmanned driving tool provided by the embodiment of the application aim to solve the technical problems in the conventional technology.
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application are further described in detail by the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
According to the control method of the unmanned driving tool provided by the embodiment of the application, the execution main body can be a control device of the unmanned driving tool, the device can be realized to be a part or all of the unmanned driving tool in a software, hardware or software and hardware combined mode, and can also be realized to be a part or all of the background control equipment in a software, hardware or software and hardware combined mode.
The following method embodiments are introduced by taking an execution subject as an unmanned running tool, specifically:
fig. 2 is a flowchart illustrating a control method of the unmanned aerial vehicle according to an embodiment. The embodiment relates to how to realize the control process of the unmanned running tool according to the control message sent by the background control equipment. As shown in fig. 2, the method may include:
s101, sending a state message to background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label.
Specifically, the maturity of the existing unmanned driving technology is not enough, and the unmanned driving tool still needs to be assisted by background control equipment in the driving process to assist the unmanned driving tool to complete various complex tasks. Therefore, the unmanned driving tool needs to send a status message to the background control device, so that the background control device can control the unmanned driving tool according to the status message sent by the unmanned driving tool. Optionally, the unmanned vehicle may send the status message to the background control device in real time, or may send the status message to the background control device periodically, which is not limited in this embodiment.
The state information sent by the unmanned driving tool comprises the current state information of the unmanned driving tool and a first message label. Alternatively, the current state information of the unmanned vehicle may include a current driving speed of the unmanned vehicle, a current remaining energy amount, a distance to the unmanned vehicle ahead, current position information of the unmanned vehicle, and the like. Optionally, the first message tag may include at least one of a timestamp field and a sequence number field. When the first message tag is a timestamp field, the unmanned running tool can print the timestamp field on the current state information when reporting the current state information of the unmanned running tool to the background control equipment, package the timestamp field and the current state information into the state message, and send the packaged state message to the background control equipment. Optionally, the timestamp field may be an absolute time for sending the current state information, or may also be a relative time for sending the current state information, which is not limited in this embodiment. For example, the absolute time is based on GPS time, and when the timestamp field is the absolute time at which the current state information is transmitted and the GPS time at which the unmanned running vehicle transmits the current state information is 8:00, the content in the first message tag is 8: 00. The relative time is a time delayed or advanced by a certain time period based on a certain time point, and taking the certain time point as 6:00 and the delayed certain time period as 1min as an example, when the timestamp field is the relative time for sending the current state information, the content in the first message tag is 6: 01. When the first message label is a serial number field, the unmanned running tool can number the current state information when reporting the current state information of the unmanned running tool to the background control equipment, wherein the number is the serial number, the serial number field and the current state information are packaged into the state information, and then the packaged state information is sent to the background control equipment. When the first message tag is a timestamp field and a sequence number field, the unmanned driving tool encapsulates the timestamp field, the sequence number field and the current state information into a state message, and sends the encapsulated state message to the background control device. After the background control device receives the status message, the background control device may optionally use one of the timestamp field or the sequence number field to generate the second message tag. Of course, the first message tag may also be in other forms as long as the order of transmission of the current state information of the unmanned driving vehicle can be characterized by the first message tag.
S102, receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
Specifically, the control information is information for controlling the travel of the unmanned travel tool, and is determined based on the current state information of the unmanned travel tool. Taking the current state information as the remaining energy amount as an example, the unmanned running tool reports the current remaining energy amount of the unmanned running tool to the background control device, and the background control device determines whether the current remaining energy amount can support the unmanned running tool to reach the destination or not by combining the current remaining energy amount of the unmanned running tool, the running route and the running destination. When the background control device determines that the current residual energy amount of the unmanned driving tool cannot support the unmanned driving tool to reach the destination, the background control device sends specific position information of the nearest energy station to the unmanned driving tool according to the position distribution of the energy stations in the driving route so as to control the unmanned driving tool to drive to the nearest energy station to increase energy for the unmanned driving tool. Of course, in practical applications, the control information is determined according to a plurality of current state information of the unmanned driving vehicle, and this embodiment only takes the case that the control information is determined according to the remaining energy amount of the unmanned driving vehicle as an example, and the specific process of determining the control information is not specifically limited in this embodiment.
After the unmanned driving tool sends the state information to the background control device, the background control device determines the control information of the unmanned driving tool according to the current state information of the unmanned driving tool included in the state information, and generates a second message label according to a preset rule by combining the first message label in the state information, wherein a relative sequence relation exists between the second message label and the first message label. In this way, when the unmanned driving tool receives the control message sent by the background control device, the unmanned driving tool learns that the control message is the control message for the state message including the first message tag according to the preset rule and the second message tag in the control message. When the first message tag is a timestamp field, the second message tag is also a timestamp field. When the first message label is a sequence number field, the second message label is also a sequence number field. Taking the first message tag and the second message tag as timestamp fields and the preset rule as the absolute time of message sending as an example, after the state message received by the background control device, the background control device determines the control information of the unmanned driving tool according to the current state information of the unmanned driving tool, takes the current time as the second message tag, and then packages the second message tag and the control information of the unmanned driving tool into the control message to be sent to the unmanned driving tool.
S103, when the control message is received before the timer is overtime and the control message is determined to be invalid according to the second message label, executing a preset alternative control mode.
Specifically, after the unmanned driving tool sends a state message to the background control device, a timer is started, and when the control message sent by the background control device is received before the timer is overtime and the unmanned driving tool determines that the control message is invalid according to a second message tag in the control message, the unmanned driving tool executes a preset alternative control mode. Optionally, the preset alternative control mode may be automatic stopping, automatic returning, driving according to a navigation route, giving an alarm, and the like.
Optionally, the process of determining that the control message is invalid by the unmanned driving tool according to the second message tag in the control message may be: and the unmanned driving tool compares the value of the second message tag with a preset threshold value, and determines that the control message is invalid when the value of the second message tag is greater than the threshold value.
For example, the second message tag is used as a timestamp field, and the timestamp is used as an absolute time, the preset threshold may be a certain specific time point, since the second message tag in the control message received by the unmanned vehicle carries the absolute time of sending the control message, the unmanned vehicle compares the time point carried in the second message tag with the preset time point, and when the time point in the second message tag exceeds the preset time point (that is, the time point in the second message tag is greater than the preset time point), the unmanned vehicle determines that the received control message is invalid.
As an optional implementation manner, when receiving a control message sent by the background control device after the timer expires, the unmanned aerial vehicle driving device determines that the received control message is invalid, and executes a preset alternative control manner.
As another alternative, when the unmanned driving vehicle determines that the control message is valid according to the second message tag in the control message, the control mode indicated by the control information is executed.
For example, continuing to use the second message tag as a timestamp field and taking the timestamp as an absolute time as an example, the preset threshold may be a specific time point, since the second message tag in the control message received by the unmanned vehicle carries the absolute time of sending the control message, the unmanned vehicle compares the time point carried in the second message tag with the preset time point, and when the time point in the second message tag does not exceed the preset time point (that is, the time point in the second message tag is less than or equal to the preset time point), the unmanned vehicle determines that the received control message is valid and executes the control mode indicated by the control information in the control message.
In the control method of the unmanned driving tool provided in this embodiment, when the unmanned driving tool receives the control message sent by the background control device before the timer expires and determines that the control message is invalid according to the second message tag, a preset alternative control mode is executed. Because the message tag is added in the message format of the communication between the unmanned driving tool and the background control device, the message tag orderly records the sending sequence of the current state information of the unmanned driving tool or the sending sequence of the control information of the unmanned driving tool, after the unmanned driving tool receives the control message sent by the background control device before the timer is overtime, the unmanned driving tool can determine the validity of the control message according to the second message tag in the control message, and execute the preset alternative control mode when the control message is determined to be invalid. Therefore, when a wireless network signal carrying vehicle-ground communication is unstable, the unmanned running tool can acquire the validity of the control message through the message tag and execute a corresponding control mode according to the validity of the control message, so that the accuracy of controlling the unmanned running tool is improved, and the risk of driving accidents of the unmanned running tool is reduced.
In practical applications, in order to improve the reliability of signal transmission, the unmanned vehicle may establish a connection with a plurality of wireless base stations, that is, there are a plurality of communication connections between the unmanned vehicle and the background control device. For this case, the control of the unmanned driving vehicle may be implemented according to the process shown in fig. 3, and the following S204 is taken as an optional implementation of S103, and specifically, the method may include:
s201, sending a state message to background control equipment through a plurality of communication connections; the state information comprises the current state information of the unmanned driving tool and a first message label.
S202, receiving a control message sent by the background control equipment through a plurality of communication connections.
S203, the control message with the highest timeliness among the plurality of control messages received through the plurality of communication connections is used as the target control message.
Specifically, the timeliness refers to the time used by the unmanned driving vehicle from the state message transmission to the control message reception, so that the highest timeliness refers to the shortest time used by the unmanned driving vehicle from the state message transmission to the control message reception, that is, the control message with the highest timeliness is the control message received by the unmanned driving vehicle first. The target control message is a finally determined control message for controlling the unmanned running vehicle. After the unmanned running vehicle receives the plurality of control messages, the unmanned running vehicle takes the control message received first as a control message for controlling itself, that is, a target control message.
S204, when the target control message is received before the timer is overtime and the target control message is determined to be invalid according to the second message label in the target control message, executing a preset alternative control mode.
Optionally, when the target control message is received after the timer expires, the unmanned vehicle determines that the target control message is invalid, and executes a preset alternative control mode. Optionally, when the target control message is received before the timer expires and the target control message is determined to be valid according to the second message tag in the target control message, the control mode indicated by the target control message is executed.
It should be noted that, regarding the process of determining that the target control message is invalid in S204, reference may be made to the process of determining that the control message is invalid in S103, which is not described herein again in this embodiment.
In the control method of the unmanned aerial vehicle provided by this embodiment, when there are multiple communication connections between the unmanned aerial vehicle and the background control device, the unmanned aerial vehicle takes a control message with the highest timeliness among multiple control messages received through the multiple communication connections as a target control message, and executes a preset alternative control mode when the target control message is received before the timer expires and the target control message is determined to be invalid according to the second message tag in the target control message. Because a plurality of communication connections exist between the unmanned running tool and the background control equipment, the reliability of communication between the unmanned running tool and the background control equipment is further improved, the loss or failure of data transmitted between the unmanned running tool and the background system can be effectively prevented, and the accuracy of control over the unmanned running tool is improved. Meanwhile, the unmanned driving tool takes the control message with the highest timeliness as the target control message, so that the timeliness of the control of the unmanned driving tool is improved, and the risk of driving accidents of the unmanned driving tool is effectively reduced. In addition, since the message tag is added to the message format of the communication between the unmanned driving tool and the background control device, and the message tag records the sending sequence of the current state information of the unmanned driving tool in order, or records the sending sequence of the control information of the unmanned driving tool, after the unmanned driving tool receives the target control message sent by the background control device before the timer is overtime, the unmanned driving tool can determine the validity of the target control message according to the second message tag in the target control message, and execute the preset alternative control mode when determining that the target control message is invalid. Therefore, when a wireless network signal carrying vehicle-ground communication is unstable, the unmanned running tool can acquire the validity of the target control message through the message tag and execute a corresponding control mode according to the validity of the target control message, so that the accuracy of controlling the unmanned running tool is further improved, and the risk of driving accidents of the unmanned running tool is further reduced.
The following method embodiments are further introduced with the execution subject as the background control device, specifically:
fig. 4 is a flowchart illustrating a control method of the unmanned aerial vehicle according to an embodiment. The embodiment relates to how to realize the control process of the unmanned running tool according to the control message sent by the background control equipment. As shown in fig. 4, the method may include:
s301, receiving the state message sent by the unmanned running tool.
Specifically, the state message received by the background control device includes current state information of the unmanned driving tool and a first message tag. Alternatively, the current state information of the unmanned vehicle may include a current driving speed of the unmanned vehicle, a current remaining energy amount, a distance to the unmanned vehicle ahead, current position information of the unmanned vehicle, and the like. Optionally, the first message tag may include at least one of a timestamp field and a sequence number field.
S302, sending a control message to the unmanned running tool, wherein the control message is used for instructing the unmanned running tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
Specifically, the control information is information for controlling the travel of the unmanned travel tool, and is determined based on the current state information of the unmanned travel tool. After the background control device receives the state information sent by the unmanned running tool, the background control device determines control information of the unmanned running tool according to the current state information of the unmanned running tool included in the state information, and generates a second message label according to a preset rule by combining a first message label in the state information, wherein a relative sequence relation exists between the second message label and the first message label. In this way, after the background control device sends the control message to the unmanned mobile device, the unmanned mobile tool can know that the control message is a control message for a status message including the first message tag according to a preset rule and the second message tag in the control message. Optionally, the second message tag may include at least one of a timestamp field and a sequence number field. When the first message label is the time stamp field, the second message label is also the time stamp field; when the first message label is a sequence number field, the second message label is also a sequence number field. When the first message tag is a timestamp field and a sequence number field, the second message tag may be a timestamp field, a sequence number field, or a timestamp field and a sequence number field. Optionally, the background control device may send the control message to the unmanned driving tool through a single communication connection, or may send the control message to the unmanned driving tool through multiple communication connections, which is not limited in this embodiment.
And when the unmanned driving tool determines that the control message is invalid according to a second message tag in the control message sent by the background control equipment, the unmanned driving tool executes a preset alternative control mode. And when the unmanned driving tool determines that the control message sent by the background control equipment is valid, the unmanned driving tool executes the control mode indicated by the control information in the control message.
In the control method of the unmanned driving tool according to this embodiment, after the background control device receives the status message sent by the unmanned driving tool, the background control device may send a control message to the unmanned driving tool according to the status message, so as to instruct the unmanned driving tool to execute the preset alternative control mode when it is determined that the control message is invalid. Because the message tag is added in the message format of the communication between the unmanned driving tool and the background control device, the message tag orderly records the sending sequence of the current state information of the unmanned driving tool or the sending sequence of the control information of the unmanned driving tool, after the unmanned driving tool receives the control message sent by the background control device before the timer is overtime, the unmanned driving tool can determine the validity of the control message according to the second message tag in the control message, and execute the preset alternative control mode when the control message is determined to be invalid. Therefore, when a wireless network signal carrying vehicle-ground communication is unstable, the unmanned running tool can acquire the validity of the control message through the message tag and execute a corresponding control mode according to the validity of the control message, so that the accuracy of controlling the unmanned running tool is improved, and the risk of driving accidents of the unmanned running tool is reduced.
To facilitate understanding of those skilled in the art, the following method embodiment describes the process of the control method of the unmanned aerial vehicle provided by the present application by taking the interaction between the unmanned aerial vehicle and the background control device as an example. Specifically, as shown in fig. 5, the method may include:
s401, the unmanned running tool sends a state message to the background control equipment.
S402, the background control equipment receives the state information sent by the unmanned running tool.
And S403, the background control equipment sends a control message to the unmanned running tool.
S404, the unmanned running tool receives a control message sent by the background control equipment.
And S405, when the unmanned driving tool receives the control message before the timer is overtime and determines that the control message is invalid according to the second message label, executing a preset alternative control mode.
And S406, when the unmanned driving tool receives the control message after the timer is overtime, determining that the control message is invalid, and executing an alternative control mode.
And S407, when the control message is determined to be valid according to the second message label, executing the control mode indicated by the control information.
In the control method for the unmanned aerial vehicle provided by this embodiment, since the message tag is added in the message format for communication between the unmanned aerial vehicle and the background control device, and the message tag records the sending sequence of the current state information of the unmanned aerial vehicle in order, or records the sending sequence of the control information of the unmanned aerial vehicle, after the unmanned aerial vehicle receives the control message sent by the background control device before the timer expires, the unmanned aerial vehicle may determine the validity of the control message according to the second message tag in the control message, and execute a corresponding control mode according to the validity of the control message. Therefore, when the wireless network signal carrying the vehicle-ground communication is unstable, the accuracy of controlling the unmanned driving tool can be improved, and the risk of driving accidents of the unmanned driving tool is reduced.
It should be understood that, although the steps in the flowcharts of fig. 2 to 5 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
Fig. 6 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment. As shown in fig. 6, the apparatus includes: a sending module 21, a receiving module 22 and a first processing module 23.
Specifically, the sending module 21 is configured to send a status message to the background control device; the state information comprises the current state information of the unmanned driving tool and a first message label;
the receiving module 22 is configured to receive a control message sent by the background control device; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
the first processing module 23 is configured to execute a preset alternative control manner when the receiving module 22 receives the control message before the timer expires and determines that the control message is invalid according to the second message tag.
The control device of the unmanned driving tool provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, and are not described herein again.
Fig. 7 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment. On the basis of the above embodiment, optionally, as shown in fig. 7, the apparatus further includes: a second processing module 24.
Specifically, the second processing module 24 is configured to determine that the control message is invalid and execute the alternative control manner when the receiving module 22 receives the control message after the timer expires.
The control device of the unmanned driving tool provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, and are not described herein again.
Fig. 8 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment. On the basis of the above embodiment, optionally, as shown in fig. 8, the apparatus further includes: a third processing module 25.
Specifically, the third processing module 25 is configured to execute the control mode indicated by the control information when it is determined that the control message is valid according to the second message tag.
The control device of the unmanned driving tool provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, and are not described herein again.
Fig. 9 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to another embodiment. On the basis of the above embodiment, optionally, as shown in fig. 9, the apparatus further includes: a module 26 is determined.
Specifically, the determining module 26 is configured to, after the receiving module 22 receives the control message sent by the background control device, when there are multiple communication connections between the unmanned aerial vehicle and the background control device, take a control message with the highest timeliness among the multiple control messages received through the multiple communication connections as a target control message;
the first processing module 23 is specifically configured to execute a preset alternative control manner when the receiving module 22 receives the target control message before the timer expires and determines that the target control message is invalid according to the second message tag in the target control message.
The control device of the unmanned driving tool provided by this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, and are not described herein again.
Optionally, the first processing module 23 is specifically configured to compare the value of the second message tag with a preset threshold, and determine that the control message is invalid when the value of the second message tag is smaller than or equal to the threshold.
Optionally, the first message tag and the second message tag each include at least one of a timestamp field and a sequence number field.
For specific limitations of the control device of the unmanned running vehicle, reference may be made to the above limitations of the control method of the unmanned running vehicle, and details thereof are not repeated here. The modules in the control device of the unmanned running vehicle may be entirely or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the unmanned driving tool, and can also be stored in a memory in the unmanned driving tool in a software form, so that the processor can call and execute the corresponding operations of the modules.
Fig. 10 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment. As shown in fig. 10, the apparatus may include: a receiving module 31 and a transmitting module 32.
Specifically, the receiving module 31 is configured to receive a status message sent by the unmanned running vehicle; the state information comprises the current state information of the unmanned driving tool and a first message label;
the sending module 32 is configured to send a control message to the unmanned driving tool, where the control message is used to instruct the unmanned driving tool to execute a preset alternative control scheme when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
For specific limitations of the control device of the unmanned running vehicle, reference may be made to the above limitations of the control method of the unmanned running vehicle, and details thereof are not repeated here. The modules in the control device of the unmanned running vehicle may be entirely or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the background control device, and can also be stored in a memory in the background control device in a software form, so that the processor can call and execute the corresponding operations of the modules.
In one embodiment, a device is provided, the internal structure of which may be as shown in FIG. 11. The device can be an unmanned driving tool and can also be a background control device. The device may include a processor, memory, a network interface, and a database connected by a system bus. Wherein the processor is configured to provide computational and control capabilities. The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database is used for storing data used in the control process of the unmanned running tool. The network interface is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling an unmanned aerial vehicle.
Those skilled in the art will appreciate that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the devices to which the present application applies, and that a particular device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided an unmanned vehicle comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program implementing the steps of:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the control message is received after the timer is overtime, determining that the control message is invalid and executing the alternative control mode.
In one embodiment, the computer program when executed by the processor further performs the steps of: and executing the control mode indicated by the control information when the control information is determined to be valid according to the second message label.
In one embodiment, the computer program when executed by the processor further performs the steps of: when a plurality of communication connections exist between the unmanned driving tool and the background control equipment, the control message with the highest timeliness in a plurality of control messages received through the plurality of communication connections is used as a target control message;
when the control message is received before the timer is overtime and the control message is determined to be invalid according to the second message label, executing a preset alternative control mode, wherein the preset alternative control mode comprises the following steps:
and executing a preset alternative control mode when the target control message is received before the timer is overtime and the target control message is determined to be invalid according to the second message label in the target control message.
In one embodiment, the computer program when executed by the processor further performs the steps of: and comparing the value of the second message tag with a preset threshold value, and determining that the control message is invalid when the value of the second message tag is greater than the threshold value.
Optionally, the first message tag and the second message tag each include at least one of a timestamp field and a sequence number field.
In one embodiment, a background control device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relationship.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A method for controlling an unmanned vehicle, comprising:
sending a state message to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label; the first message tag includes at least one of a timestamp field and a sequence number field;
receiving a control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation; the second message tag includes at least one of a timestamp field and a sequence number field;
and executing a preset alternative control mode when the control message is received before the time of the timer is out and the control message is determined to be invalid according to the second message label.
2. The method of claim 1, further comprising:
and when the control message is received after the timer is overtime, determining that the control message is invalid and executing the alternative control mode.
3. The method of claim 1, further comprising:
and executing the control mode indicated by the control information when the control information is determined to be valid according to the second message label.
4. The method of claim 1, wherein after the receiving the control message sent by the background control device, the method further comprises:
when a plurality of communication connections exist between the unmanned driving tool and the background control equipment, the control message with the highest timeliness in a plurality of control messages received through the plurality of communication connections is used as a target control message;
when the control message is received before the timer is overtime and the control message is determined to be invalid according to the second message label, executing a preset alternative control mode, wherein the preset alternative control mode comprises the following steps:
and executing a preset alternative control mode when the target control message is received before the timer is overtime and the target control message is determined to be invalid according to the second message label in the target control message.
5. The method of any of claims 1-4, wherein the determining that the control message is invalid according to the second message tag comprises:
and comparing the value of the second message tag with a preset threshold value, and determining that the control message is invalid when the value of the second message tag is greater than the threshold value.
6. The method of any of claims 1-4, wherein the first message tag and the second message tag each comprise at least one of a timestamp field and a sequence number field.
7. A method for controlling an unmanned vehicle, comprising:
receiving a state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label; the first message tag includes at least one of a timestamp field and a sequence number field;
sending a control message to the unmanned driving tool, wherein the control message is used for indicating the unmanned driving tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation; the second message tag includes at least one of a timestamp field and a sequence number field.
8. A control device for an unmanned vehicle, comprising:
the sending module is used for sending the state information to the background control equipment; the state information comprises the current state information of the unmanned driving tool and a first message label; the first message tag includes at least one of a timestamp field and a sequence number field;
the receiving module is used for receiving the control message sent by the background control equipment; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation; the second message tag includes at least one of a timestamp field and a sequence number field;
and the first processing module is used for executing a preset alternative control mode when the control message is received before the time of the timer is overtime and the control message is determined to be invalid according to the second message label.
9. A control device for an unmanned vehicle, comprising:
the receiving module is used for receiving the state message sent by the unmanned running tool; the state information comprises the current state information of the unmanned driving tool and a first message label; the first message tag includes at least one of a timestamp field and a sequence number field;
the sending module is used for sending a control message to the unmanned running tool, wherein the control message is used for indicating the unmanned running tool to execute a preset alternative control mode when the control message is determined to be invalid; the control message comprises control information of the unmanned driving tool and a second message label; the control information is obtained according to the current state information of the unmanned running tool; the second message label and the first message label have a relative order relation; the second message tag includes at least one of a timestamp field and a sequence number field.
10. An unmanned vehicle comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any of claims 1 to 6.
11. A background control device, characterized in that it comprises a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method as claimed in claim 7 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 7.
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