CN111367265A - Unmanned vehicle control terminal management method and management system - Google Patents
Unmanned vehicle control terminal management method and management system Download PDFInfo
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- CN111367265A CN111367265A CN202010167248.2A CN202010167248A CN111367265A CN 111367265 A CN111367265 A CN 111367265A CN 202010167248 A CN202010167248 A CN 202010167248A CN 111367265 A CN111367265 A CN 111367265A
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- 238000007726 management method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
The invention relates to the technical field of unmanned vehicles, unmanned driving and automatic driving, and discloses a management method and a management system for an unmanned vehicle control terminal, wherein the management method for the unmanned vehicle control terminal comprises the steps of detecting whether the unmanned vehicle is in a current driving mode or not when the unmanned vehicle is controlled to enter a target driving mode; if so, comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode; if so, the unmanned vehicle enters a target driving mode; otherwise, the unmanned vehicle keeps a current driving mode; the unmanned vehicle has at least two driving modes, any driving mode has corresponding control terminals with different priorities, and the target driving mode and a current driving mode are selected from at least two driving modes. According to the invention, different priorities are set for different driving modes, so that the unmanned vehicles are prevented from being controlled simultaneously, and the safety of the unmanned vehicles is improved.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, unmanned driving and automatic driving, in particular to a management method and a management system for an unmanned vehicle control terminal.
Background
With the progress of science and technology, vehicles increasingly enter the lives of people, wherein the unmanned vehicle technology is more and more emphasized and is more and more applied to service industries, such as logistics, catering and the like.
At present, the unmanned vehicle can adopt a plurality of driving modes, such as automatic driving, parallel driving or remote control driving modes, and the like, and different control terminals are used in different driving modes. In the prior art, work division is not clear for various control terminals, so that various control terminals are easy to control an unmanned vehicle at the same time, and the technical problem of poor safety of the unmanned vehicle is caused.
Disclosure of Invention
In order to solve the technical problem, a first aspect of the present invention provides a method for managing a control terminal of an unmanned vehicle, where the unmanned vehicle has at least two driving modes, and any one of the driving modes has a corresponding control terminal, and the control terminal has a priority;
the method comprises the following steps: when the unmanned vehicle is controlled to enter a target driving mode, whether the unmanned vehicle is in a current driving mode is detected;
if so, further comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
if so, controlling the unmanned vehicle to enter the target driving mode;
otherwise, controlling the unmanned vehicle to keep the current driving mode;
the target driving mode, the one current driving mode is selected from the at least two driving modes.
According to the unmanned vehicle control method, when the unmanned vehicle is in the current driving mode, the priority of the target driving mode and the priority of the current driving mode are judged and compared, and when the priority of the target driving mode is higher than the priority of the current driving mode, the unmanned vehicle enters the target driving mode; on the other hand, when the unmanned vehicle meets the priority condition in the running process, the driving modes are freely switched, and the operability of the user on the unmanned vehicle and the working efficiency of the unmanned vehicle are improved.
Further, the at least two driving modes include an automatic driving mode, a parallel driving mode, and a remote control driving mode;
wherein the automatic driving mode has an automatic driving control terminal, the parallel driving mode has a parallel driving control terminal, and the remote driving mode has a remote controller; the priority of the automatic driving control terminal is smaller than that of the parallel driving control terminal and than that of the remote controller.
According to the invention, the priority of the control terminal corresponding to the remote control driving mode is set to be greater than that of the parallel driving control terminal and that of the automatic driving control terminal, so that the safety and reliability of the unmanned vehicle are ensured; on the other hand, the working efficiency of the unmanned vehicle is ensured.
Further, when the target driving mode is the parallel driving mode, the one current driving mode is the automatic driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the parallel driving mode is higher than that of the control terminal corresponding to the automatic driving mode, and if so, controlling the unmanned vehicle to enter the parallel driving mode.
Further, when the target driving mode is the remote control driving mode, the current driving mode is the automatic driving mode or the parallel driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the remote control driving mode is higher than that of the control terminal corresponding to the automatic driving mode or the parallel driving mode, and if so, controlling the unmanned vehicle to enter the remote control driving mode.
Further, the detecting step further comprises: if not, further judging whether the unmanned vehicle is in a ready state and/or whether the target driving mode is barrier-free and/or whether the unmanned vehicle is barrier-free;
and if so, controlling the unmanned vehicle to enter the target driving mode.
According to the invention, when the unmanned vehicle is not in a current driving mode, the unmanned vehicle can enter the target driving mode only when meeting a certain condition, so that the reliability and the safety of the unmanned vehicle are ensured.
Further, if the unmanned vehicle is in the current driving mode, before the step of controlling the unmanned vehicle to enter the target driving mode, the method further includes: and controlling the unmanned vehicle to exit the current driving mode and enter a ready state.
According to the invention, before the unmanned vehicle enters the target driving mode from the current price mode, the unmanned vehicle is in the ready state, and the safety of switching the driving modes of the unmanned vehicle is ensured.
Further, if the unmanned vehicle is in the current driving mode, the current driving mode is the automatic driving mode, and when the unmanned vehicle and/or the automatic driving mode have a fault, the unmanned vehicle exits the automatic driving mode;
or the current driving mode is the parallel driving mode, and when the unmanned vehicle and/or the parallel driving mode breaks down, the unmanned vehicle exits the parallel driving mode.
According to the invention, when the unmanned vehicle is in the automatic driving mode or the parallel driving mode and breaks down, the current driving mode is exited, so that the safety of the unmanned vehicle and the pedestrians is ensured.
Further, when the unmanned vehicle collides in the current driving mode, the unmanned vehicle is controlled to enter a collision mode.
Further, when the unmanned vehicle enters the collision mode, the unmanned vehicle cannot enter any of the target driving modes.
A second aspect of the present invention provides an unmanned vehicle control terminal management system, to which any one of the above-described unmanned vehicle control terminal management methods is applied, the system including: the device comprises a control terminal, a detection unit, a judgment unit and a control unit;
the detection unit is used for judging whether the unmanned vehicle is in the current driving mode;
the judging unit is used for comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
the control unit is used for controlling the unmanned vehicle to enter the target driving mode when the priority of the control terminal corresponding to the target driving mode is higher than that of the control terminal corresponding to the current driving mode;
otherwise, the control unit is used for controlling the unmanned vehicle to keep the current driving mode.
Drawings
Fig. 1 is a first flowchart of a management method for an unmanned vehicle control terminal according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a management method of an unmanned vehicle control terminal according to an embodiment of the present invention;
fig. 3 is a third schematic flow chart of a management method of an unmanned vehicle control terminal according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for managing an unmanned vehicle control terminal according to an embodiment of the present invention;
description of reference numerals:
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures 1 to 4 are described in detail below.
Referring to fig. 1, a first aspect of the present invention provides a method for managing control terminals of an unmanned vehicle, where the unmanned vehicle has at least two driving modes, and any one of the driving modes has a corresponding control terminal, and the control terminals have different priorities;
the method comprises the following steps: when the unmanned vehicle is controlled to enter a target driving mode, whether the unmanned vehicle is in a current driving mode is detected;
if so, further comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
if so, controlling the unmanned vehicle to enter the target driving mode; otherwise, controlling the unmanned vehicle to keep the current driving mode;
the target driving mode, the one current driving mode is selected from the at least two driving modes.
It should be noted that, because the unmanned vehicle has at least two driving modes, if the control terminals corresponding to any of the at least two driving modes are not explicitly assigned, it is easy to cause the control terminals corresponding to the at least two driving modes to simultaneously control the unmanned vehicle, which results in unsafe vehicle. If the unmanned vehicle has only one driving mode, for example, only the automatic driving mode, if the control terminal corresponding to the automatic driving mode fails, the unmanned vehicle can only pause to work, and when the control terminal corresponding to the automatic driving mode fails, the unmanned vehicle can continue to work, which may affect the working efficiency of the unmanned vehicle.
Therefore, the priority of the target driving mode and the priority of the current driving mode are judged and compared when the unmanned vehicle is in the current driving mode, and the unmanned vehicle enters the target driving mode when the priority of the target driving mode is higher than the priority of the current driving mode, so that different priorities are set for different driving modes, the unmanned vehicle is prevented from being controlled simultaneously, and the safety and the reliability of the unmanned vehicle are improved; on the other hand, when the unmanned vehicle meets the priority condition in the running process, the driving modes are freely switched, and the operability of the user on the unmanned vehicle and the working efficiency of the unmanned vehicle are improved.
Preferably, the at least two driving modes include an automatic driving mode, a parallel driving mode, and a remote control driving mode;
and the priority of the control terminal corresponding to the automatic driving mode is smaller than that of the control terminal corresponding to the parallel driving mode and is smaller than that of the control terminal corresponding to the remote control driving mode.
It should be noted that the automatic driving mode is to control the unmanned vehicle according to a preset program instruction, and does not require the participation of a user; the parallel driving mode is a remote control driving mode, and the parallel driving mode refers to the parallel driving control terminal establishing a relationship with the unmanned vehicle through a wireless network to remotely control the unmanned vehicle; the remote control driving mode is used for remotely controlling the unmanned vehicle of a user on the running site of the unmanned vehicle through a remote controller.
The parallel driving control terminal is a simulation pilot, and comprises a display screen and an operation end, wherein the display screen can visually display the parallel driving mode, and the operation end is used for generating a corresponding parallel driving mode instruction based on the operation of a user to control the unmanned vehicle to work in the parallel driving mode.
The remote controller can be a handle or a mobile terminal with a remote control function.
Because when the unmanned vehicle is in an automatic driving mode, if the unmanned vehicle is about to have danger, the field security officer can use the remote controller to control the unmanned vehicle to run, thereby avoiding the danger; or when the automatic driving mode or the parallel driving mode breaks down, the field security personnel can control the unmanned vehicle to run by using the remote controller, so that the working efficiency of the unmanned vehicle is ensured.
Therefore, the priority of the control terminal corresponding to the remote control driving mode is set to be higher than that of the parallel driving control terminal and higher than that of the automatic driving control terminal, so that the safety and reliability of the unmanned vehicle are ensured; on the other hand, the working efficiency of the unmanned vehicle is ensured.
Preferably, referring to fig. 2, when the target driving mode is the parallel driving mode, the one current driving mode is the automatic driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the parallel driving mode is higher than that of the control terminal corresponding to the automatic driving mode, and if so, controlling the unmanned vehicle to enter the parallel driving mode.
Preferably, referring to fig. 3, when the target driving mode is the remote control driving mode, the one current driving mode is the automatic driving mode or the parallel driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the remote control driving mode is higher than that of the control terminal corresponding to the automatic driving mode or the parallel driving mode, and if so, controlling the unmanned vehicle to enter the remote control driving mode.
Referring to fig. 4, the detecting step further includes: when the unmanned vehicle is controlled to enter a target driving mode, whether the unmanned vehicle is in a current driving mode is detected;
if not, further judging whether the unmanned vehicle is in a ready state and/or whether the target driving mode is barrier-free and/or whether the unmanned vehicle is barrier-free;
and if so, controlling the unmanned vehicle to enter the target driving mode.
It should be noted that the fact that the unmanned vehicle does not enter the ready state includes that the unmanned vehicle does not complete power-on, does not complete self-checking, has a fault, and the like, at this time, the unmanned vehicle cannot enter any of the at least two driving modes, and therefore, the unmanned vehicle is in the ready state on the premise that the unmanned vehicle enters the target driving mode.
Therefore, when the unmanned vehicle is not in a current driving mode, the unmanned vehicle can enter the target driving mode only when meeting certain conditions, and therefore reliability and safety of the unmanned vehicle are guaranteed.
Preferably, if the unmanned vehicle is in the current driving mode, before the step of controlling the unmanned vehicle to enter the target driving mode, the method further includes: and controlling the unmanned vehicle to exit the current driving mode and enter a ready state.
Because the unmanned vehicle needs to be ensured to be in the parking condition when entering the target driving mode from the current driving mode, the unmanned vehicle is in the ready state before entering the target driving mode from the current price mode, and the safety of switching the driving modes of the unmanned vehicle is ensured.
Preferably, if the unmanned vehicle is in the current driving mode, the current driving mode is the automatic driving mode, and when the unmanned vehicle and/or the automatic driving mode have a fault, the unmanned vehicle exits the automatic driving mode;
or the current driving mode is the parallel driving mode, and when the unmanned vehicle and/or the parallel driving mode breaks down, the unmanned vehicle exits the parallel driving mode.
It should be noted that the failure of the automatic driving mode may be a program error or a running away and/or a failure of the unmanned vehicle.
The parallel driving mode is failed, and the failure can be caused by wireless network interruption or control middle-end operation failure corresponding to the parallel driving mode and/or failure of the unmanned vehicle.
Therefore, the invention ensures the safety of the unmanned vehicle and the pedestrians by exiting the current driving mode when the unmanned vehicle is in the automatic driving mode or the parallel driving mode and has a fault.
Preferably, when the unmanned vehicle collides in the current driving mode, the unmanned vehicle is controlled to enter a collision mode.
Preferably, when the unmanned vehicle enters the collision mode, the unmanned vehicle cannot enter any one of the target driving modes.
A second aspect of the present invention provides an unmanned vehicle control terminal management system, to which any one of the above-described unmanned vehicle control terminal management methods is applied, the system including: the device comprises a control terminal, a detection unit, a judgment unit and a control unit;
the detection unit is used for judging whether the unmanned vehicle is in the current driving mode; the judging unit is used for comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
the control unit is used for controlling the unmanned vehicle to enter the target driving mode when the priority of the control terminal corresponding to the target driving mode is higher than that of the control terminal corresponding to the current driving mode;
otherwise, the control unit is used for controlling the unmanned vehicle to keep the current driving mode.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The unmanned vehicle control terminal management method is characterized in that the unmanned vehicle has at least two driving modes, any one driving mode has a corresponding control terminal, and the control terminals have different priorities;
the method comprises the following steps: when the unmanned vehicle is controlled to enter a target driving mode, whether the unmanned vehicle is in a current driving mode is detected;
if so, further comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
if so, controlling the unmanned vehicle to enter the target driving mode; otherwise, controlling the unmanned vehicle to keep the current driving mode;
the target driving mode, the one current driving mode is selected from the at least two driving modes.
2. The unmanned vehicle control terminal management method according to claim 1, wherein the at least two driving modes include an automatic driving mode, a parallel driving mode, and a remote driving mode;
and the priority of the control terminal corresponding to the automatic driving mode is smaller than that of the control terminal corresponding to the parallel driving mode and is smaller than that of the control terminal corresponding to the remote control driving mode.
3. The unmanned vehicle control terminal management method of claim 2, wherein when the target driving mode is the parallel driving mode, the one current driving mode is the automatic driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the parallel driving mode is higher than that of the control terminal corresponding to the automatic driving mode, and if so, controlling the unmanned vehicle to enter the parallel driving mode.
4. The unmanned aerial vehicle control terminal management method of claim 2, wherein when the target driving mode is the remote control driving mode, the one current driving mode is the automatic driving mode or the parallel driving mode,
the comparing and judging step further comprises: and comparing and judging whether the priority of the control terminal corresponding to the remote control driving mode is higher than that of the control terminal corresponding to the automatic driving mode or the parallel driving mode, and if so, controlling the unmanned vehicle to enter the remote control driving mode.
5. The unmanned vehicle control terminal management method according to claim 1, wherein the detecting step further includes: if not, further judging whether the unmanned vehicle is in a ready state and/or whether the target driving mode is barrier-free and/or whether the unmanned vehicle is barrier-free;
and if so, controlling the unmanned vehicle to enter the target driving mode.
6. The method according to claim 1 or 2, wherein, if the unmanned vehicle is in the current driving mode, before the step of controlling the unmanned vehicle to enter the target driving mode, the method further comprises: and controlling the unmanned vehicle to exit the current driving mode and enter a ready state.
7. The unmanned vehicle control terminal management method according to any one of claims 1-6, wherein if the unmanned vehicle is in the current driving mode, the current driving mode is the automatic driving mode, and when the unmanned vehicle and/or the automatic driving mode fails, the unmanned vehicle exits the automatic driving mode;
or the current driving mode is the parallel driving mode, and when the unmanned vehicle and/or the parallel driving mode breaks down, the unmanned vehicle exits the parallel driving mode.
8. The unmanned vehicle control terminal management method of claim 1, wherein when the unmanned vehicle collides in the current driving mode, the unmanned vehicle is controlled to enter a collision mode.
9. The unmanned vehicle control terminal management method of claim 8, wherein when the unmanned vehicle enters the collision mode, the unmanned vehicle cannot enter any of the target driving modes.
10. An unmanned vehicle control terminal management system, characterized in that the unmanned vehicle control terminal management method of any one of claims 1-9 is applied, the system comprising: the device comprises a control terminal, a detection unit, a judgment unit and a control unit;
the detection unit is used for judging whether the unmanned vehicle is in the current driving mode;
the judging unit is used for comparing and judging whether the priority of the control terminal corresponding to the target driving mode is higher than the priority of the control terminal corresponding to the current driving mode;
the control unit is used for controlling the unmanned vehicle to enter the target driving mode when the priority of the control terminal corresponding to the target driving mode is higher than that of the control terminal corresponding to the current driving mode;
otherwise, the control unit is used for controlling the unmanned vehicle to keep the current driving mode.
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Cited By (4)
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| CN111994094A (en) * | 2020-08-10 | 2020-11-27 | 北京三快在线科技有限公司 | Remote control take-over method, device, system, medium and unmanned vehicle |
| CN113110435A (en) * | 2021-04-06 | 2021-07-13 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle driving mode switching method and device, electronic equipment and medium |
| CN113110152A (en) * | 2021-04-06 | 2021-07-13 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle driving state switching method and device, electronic equipment and medium |
| CN113805583A (en) * | 2021-08-26 | 2021-12-17 | 徐工集团工程机械股份有限公司 | Multi-control system and control method and system of control mode unmanned platform |
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