CN112224129A - Unmanned vehicle whistling control method and device and unmanned vehicle remote control system - Google Patents
Unmanned vehicle whistling control method and device and unmanned vehicle remote control system Download PDFInfo
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- CN112224129A CN112224129A CN202010982522.1A CN202010982522A CN112224129A CN 112224129 A CN112224129 A CN 112224129A CN 202010982522 A CN202010982522 A CN 202010982522A CN 112224129 A CN112224129 A CN 112224129A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
Abstract
The invention provides a method and a device for controlling whistle of an unmanned vehicle and a remote control system of the unmanned vehicle, and relates to the technical field of unmanned vehicles, wherein the method for controlling whistle of the unmanned vehicle comprises the following steps: receiving a whistle signal sent by a remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user; acquiring a use scene of the unmanned vehicle, and determining a whistling mode according to the use scene; and controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode. The invention enables the unmanned vehicle to whistle according to the whistle information input by the user, thereby simulating the whistle scene of artificially pressing the whistle key; through the road conditions automatic determination mode of whistling according to unmanned to based on the signal of whistling and the mode of whistling, promoted unmanned vehicle's warning effect of whistling, and then promoted unmanned or autopilot's security.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a whistle control method and device for an unmanned vehicle and a remote control system for the unmanned vehicle.
Background
In the remote driving process of the unmanned vehicle, a driver controls the unmanned vehicle to travel through a steering wheel in a remote driving cabin. In the existing remote driving scheme of the unmanned vehicle, a fixed audio is usually stored at the vehicle end, when a horn button is triggered by a steering wheel of a cockpit, the cockpit sends a horn command to the vehicle end, and the vehicle end plays the fixed audio after the unmanned vehicle receives the command. However, the fixed audio stored at the unmanned vehicle end cannot truly simulate the whistling scene of the steering wheel, and the warning effect is low. At present, remote driving or unmanned automatic driving mainly expresses different driving intentions through whistling with different frequencies and volumes, however, under the condition of high road noise, the whistling length and the whistling volume can not be well warned only by adjusting the whistling time and the current of a loudspeaker correspondingly. Therefore, the current unmanned vehicle whistle control technology also has the problem that the unmanned driving safety is low due to the small warning effect.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling whistling of an unmanned vehicle, and a remote control system of the unmanned vehicle, which can improve the warning effect of whistling of the unmanned vehicle, and further improve the safety of unmanned driving.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides an unmanned vehicle whistle control method, which is applied to an unmanned vehicle, and includes: receiving a whistle signal sent by a remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user, wherein the whistle signal comprises whistle time and whistle times; acquiring a use scene of the unmanned vehicle, and determining a whistling mode according to the use scene; the whistling mode comprises a gentle mode and a warning mode; and controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
Further, embodiments of the present invention provide a first possible implementation manner of the first aspect, wherein the whistle device includes a first horn and a second horn; the first loudspeaker and the second loudspeaker are different in tone color; the step of whistling is carried out to the device of whistling who controls unmanned vehicle according to the signal of whistling and the mode of whistling, includes: when the whistling mode is the soft mode, controlling the first loudspeaker to whistle according to the whistling signal; wherein the whistle signal comprises whistle time and whistle frequency; and when the whistle mode is the warning mode, controlling the second loudspeaker to whistle according to the whistle signal.
Further, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the whistle signal is a digital signal; the digital signal is a digital sequence generated by the remote cockpit according to the time and the times of pressing a whistle key by a user; the number sequence comprises a first number and a second number, the number of the first number is determined according to the time and the number of times that the user presses the whistle key, and the number of the second number is determined according to the time interval that the user presses the whistle key twice continuously.
Further, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the blast pattern further includes a standard pattern; the step of whistling is carried out to the device of whistling who controls unmanned vehicle according to the signal of whistling and the mode of whistling, includes: and when the whistle mode is the standard mode, controlling the first horn and the second horn to whistle according to the whistle signal.
Further, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the step of controlling the first horn and the second horn to whistle according to the whistle signal includes: acquiring a digital sequence in the digital signal, and sequentially acquiring each target digit from the digital sequence; when the target number is a first number, supplying power to the first loudspeaker and the second loudspeaker for a first preset time so that the first loudspeaker and the second loudspeaker can simultaneously whistle; when the target number is a second number, stopping supplying power to the first loudspeaker and the second loudspeaker for a second preset time; or when the target number is the first number, supplying power to the first loudspeaker for a third preset time, and supplying power to the second loudspeaker for a fourth preset time, so that the first loudspeaker and the second loudspeaker alternately whistle.
Further, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the usage scenario includes a current time, a travel section, or a travel speed; the step of determining a blast pattern according to the usage scenario includes: acquiring scene setting information input by a user; the scene setting information comprises the priority corresponding to each use scene; determining a blast pattern based on the scene setting information and the usage scene.
Further, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes: detecting whether obstacles exist in all directions of the unmanned vehicle or not; if yes, determining the type and the distance of the obstacle, and generating a corresponding whistle signal according to the type and the distance of the obstacle.
In a second aspect, an embodiment of the present invention further provides an unmanned vehicle whistle control device, which is applied to an unmanned vehicle, and includes: the signal receiving module is used for receiving a whistle signal sent by the remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user, wherein the whistle signal comprises whistle time and whistle times; the mode determining module is used for acquiring the use scene of the unmanned vehicle and determining a whistling mode according to the use scene; the whistling mode comprises a gentle mode and a warning mode; and the whistle control module is used for controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
In a third aspect, an embodiment of the present invention provides an unmanned vehicle remote control system, including: remote cockpit and unmanned car, unmanned car includes: the controller comprises a processor and a storage device; the whistle device comprises a first horn and a second horn; the first loudspeaker and the second loudspeaker are different in tone color; the remote cockpit is used for generating a whistle signal according to whistle information input by a user and sending the whistle signal to the unmanned vehicle; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the first aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method according to any one of the above first aspects.
The embodiment of the invention provides a method and a device for controlling whistle of an unmanned vehicle and a remote control system of the unmanned vehicle, wherein the method can be applied to the unmanned vehicle, and is characterized in that a whistle signal sent by a remote cockpit is received firstly (the whistle signal is generated by the remote cockpit according to whistle information input by a user, and the whistle information comprises whistle time and whistle times); secondly, acquiring a use scene of the unmanned vehicle, and determining a whistle mode (including a soft mode and a warning mode) according to the use scene; and finally, controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode. In the method, the unmanned vehicle can perform whistle according to whistle information input by a user by receiving a whistle signal sent by a remote cockpit and performing whistle according to the whistle signal, so that a whistle scene of manually pressing a whistle key can be simulated; the whistle mode of unmanned car is confirmed through the use scene according to unmanned car, can be at the remote driving in-process of unmanned car, according to unmanned road conditions automatic determination whistle mode, whistling based on whistling signal and the mode of whistling, has promoted the warning effect that unmanned vehicle whistles, and then has promoted unmanned driving or autopilot's security.
Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart illustrating an unmanned vehicle whistle control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating an unmanned vehicle whistle control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another unmanned vehicle whistle control device provided by the embodiment of the invention;
fig. 4 is a schematic diagram illustrating a controller structure provided by an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, not all, embodiments of the present invention.
At present, various road conditions can be met in the remote driving process of the unmanned vehicle, the unmanned vehicle also needs to achieve certain reminding and warning effects through whistling in the same way as the unmanned vehicle is driven by people, and the whistling modes of the unmanned vehicle are different and have the same meaning, such as long-time pressing, click pressing and the like. According to the existing remote driving scheme of the unmanned vehicle, a fixed audio recorded with a whistle sound is usually stored at the unmanned vehicle end, when the remote cockpit triggers a whistle key, the remote cockpit sends a whistle instruction to the unmanned vehicle end, and the unmanned vehicle end plays the fixed audio after receiving the whistle instruction. However, the unmanned vehicle end stores the fixed audio, so that the scene of manually pressing the whistle key to whistle cannot be truly simulated, the fixed audio is played at the unmanned vehicle end no matter the whistle key is pressed for a long time or pressed for a long time, if the stored fixed audio is long in time, the whistle time of the unmanned vehicle is too long, and if the fixed audio is played or the fixed audio is played to a section, a good warning effect cannot be achieved. In order to solve the problem, the unmanned vehicle whistle control method, the unmanned vehicle whistle control device and the unmanned vehicle remote control system provided by the embodiment of the invention can be applied to improve the whistle warning effect of the unmanned vehicle, so that the safety of unmanned driving is improved. The following describes embodiments of the present invention in detail.
The present embodiment provides an unmanned vehicle whistle control method, which may be applied to a controller of an unmanned vehicle, and referring to a flowchart of the unmanned vehicle whistle control method shown in fig. 1, the method mainly includes the following steps S102 to S106:
and step S102, receiving a whistle signal sent by the remote cockpit.
The whistle signal is generated by the remote cockpit according to whistle information input by the user, and the whistle information comprises whistle time and whistle times. Above-mentioned remote control cabin can carry out remote communication through wireless network with unmanned car, the automobile body of unmanned car is provided with the sensor all around (including the camera, the radar, laser sensor, one or more among the infrared sensor), detect the road conditions of unmanned car place road through the sensor, the road conditions of unmanned car with place road sends the remote control cabin, whether the user needs to whistle according to the road conditions determination of unmanned car place road, when unmanned car needs whistle warning, the user inputs whistle information at remote control cabin end, remote control cabin generates the whistle signal according to the whistle information of user input, and with this whistle signal transmission to unmanned car end. When the user inputs the whistle information, the whistle information can be input through a whistle key of the remote cockpit, and the whistle information input by the user is obtained according to the time and the frequency of pressing the whistle key by the user.
And step S104, acquiring a use scene of the unmanned vehicle, and determining a whistling mode according to the use scene.
The whistling mode comprises a soft mode and a warning mode. Through the sensor of unmanned vehicle body installation all around and the camera in the unmanned vehicle car, can acquire the use scene of unmanned vehicle, confirm the mode of whistling according to the use scene of unmanned vehicle, the tone quality of whistling is different under the different modes of whistling. When the use scene of the unmanned vehicle is a noisy environment, the tone with the warning effect is used for whistling, so that a good warning effect is achieved, and the safety of unmanned driving is improved; when the use scene of unmanned car is the environment of comparison silence, use the gentle tone quality to whistle to reduce city noise, promote passenger's the experience of taking.
And S106, controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
The whistle device is controlled to whistle according to the whistle signal, so that the whistle time of the whistle device, the whistle times and the whistle volume can be controlled (the volume can be controlled by controlling the power supply voltage of the whistle device); by controlling the whistling mode of the whistling device, the whistling tone of the whistling device can be controlled. When the unmanned vehicle is in the noisy road condition of traffic jam, because the sound of whistling of the vehicle under the normal condition is similar, the sound of whistling is easily covered by the sound of whistling similar around only by controlling the frequency and the volume of whistling, the warning effect is small, and the tone when the unmanned vehicle whistles is different from other vehicles by controlling the whistling mode of the unmanned vehicle, so that the better warning effect is achieved.
According to the method for controlling the whistling of the unmanned vehicle, the whistling signal sent by the remote cockpit is received, and the unmanned vehicle can whistles according to the whistling signal, so that the unmanned vehicle can whistling according to the whistling information input by a user, and a whistling scene of manually pressing a whistling key can be simulated; the whistle mode of the unmanned vehicle is determined according to the use scene of the unmanned vehicle, so that the whistle mode can be automatically determined according to the road condition of the unmanned vehicle in the automatic driving process of the unmanned vehicle, and the whistle mode can also be determined by a driver in a remote cab according to the environment of the unmanned vehicle observed remotely; thereby promote the warning effect that unmanned vehicle whistles, and then promote unmanned driving's security.
In order to make the whistle sound of the unmanned vehicle approximate to the whistle sound of manually pressing a whistle key, the whistle signal provided by the embodiment is a digital signal, and the digital signal is a digital sequence generated by the remote cockpit according to the time and the frequency of pressing the whistle key by the user; the number sequence includes a first number and a second number, the number of the first number is determined according to the time and the number of times that the user presses the whistle key, and the number of the second number is determined according to the time interval that the user presses the whistle key twice in succession. The remote cockpit can receive the road conditions that unmanned car sent, and the driver whistles according to the demand of traveling, and when the driver in the remote cockpit pressed the whistling key, the time according to the driver pressed the whistling key generated corresponding quantity's first digit, because whistling sound can include once or many times whistling, when whistling sound was many times, according to the actual interval of the twice pressed whistling key of driver and generated corresponding quantity's second interval. For example, the first number may be 1, the second number may be 0, the time base may be 100ms, the whistling key is released after being pressed for 1s, and the digital signal generated after being released after being pressed for 1s again after the interval of 1s is: 111111111100000000001111111111. the remote cockpit may transmit a whistle signal to the unmanned vehicle in real time or at a preset time interval after receiving the whistle information input by the driver.
In order to make the whistling mode conform to the driving habits of the user, the embodiment provides an implementation manner of determining the whistling mode according to the usage scenario, and the following steps 1) to 2) may be specifically referred to:
step 1): and acquiring scene setting information input by a user.
The scene setting information includes priorities corresponding to the use scenes, and the use scenes include current time, travel sections or travel speed. The user can set the priority of each use scene according to personal driving habits, and the scene setting information can be sent to the unmanned vehicle by the user through a remote control cabin, or the user directly inputs the scene setting information from the unmanned vehicle end to perform priority sequencing on each use scene.
Step 2): determining a blast pattern based on the scene setting information and the usage scene.
Determining a whistle mode according to a usage scene with higher priority in the scene setting information, such as preferentially determining the whistle mode according to the current time in the usage scene when the priority of the current time in the usage scene is highest, determining the whistle mode of the unmanned vehicle to be a soft mode if the current time is at night time from 20 to 6, determining the whistle mode of the unmanned vehicle to be a warning mode if the current time is at day time from 7 to 19, and determining the whistle mode according to the usage scene with second priority if the whistle mode cannot be determined according to the current time or the current time cannot be acquired; when the priority of the driving road section in the use scene is highest, preferentially determining a whistle mode according to the driving road section in the use scene, when the current driving road section of the unmanned vehicle is a congestion road section (the congestion road section can be determined according to the number of vehicles in the image collected by the external camera of the unmanned vehicle, such as when the number of the vehicles is greater than the preset number, the driving road section is determined to be the congestion road section, when the number of the vehicles is less than the preset number, the driving road section is determined to be an unblocked road section), determining the whistle mode of the unmanned vehicle to be a warning mode, and when the current driving road section of the unmanned vehicle is the unblocked road section, the whistle mode of the unmanned vehicle is determined to be a soft mode; when the priority of the running speed in the use scene is highest, the whistle mode is preferentially determined according to the running speed in the use scene, when the running speed of the unmanned vehicle is smaller than the preset speed (namely, the driving speed of the unmanned vehicle is smaller, a driver likes to drive softly or passengers in the vehicle are old people or children and the like and require safe low-speed driving), the whistle mode of the unmanned vehicle is determined to be a soft mode, and when the running speed of the unmanned vehicle is larger than the preset speed (namely, the running speed of the unmanned vehicle is larger, such as when the passengers take a rush to go to a destination), the whistle mode of the unmanned vehicle is determined to be a warning mode in order to improve the safety of the unmanned vehicle.
The whistle mode is determined according to the priority of the use scene set by the user, so that the whistle mode of the unmanned vehicle can be more suitable for the habit of the user, for example, when the user likes a softer whistle mode, the user can set the driving road section as the highest priority, and the unmanned vehicle only uses the warning mode to whistle on the congested road section; when the user is used to the faster driving speed, in order to promote the driving safety, the user can set the driving speed to the highest priority, and the unmanned vehicle uses the warning mode to whistle when the driving speed is great, so that the determination of the whistling mode of the unmanned vehicle is more reasonable, and the user experience is improved.
In order to control the tone of the whistle of the unmanned vehicle, the whistle device provided by the embodiment comprises a first horn and a second horn; the first loudspeaker and the second loudspeaker have different timbres; in this embodiment, an implementation manner is provided for controlling a whistle device of an unmanned vehicle to whistle according to a whistle signal and a whistle mode, and the following steps (1) to (3) may be specifically referred to:
step (1): and when the whistle mode is a soft mode, controlling the first loudspeaker to whistle according to the whistle signal.
The whistle signal comprises whistle time and whistle frequency. The blast frequency may be a blast number within a preset time, and the blast time may be a time length of each blast, such as twice per 3S blast frequency with 1S blast time. The tone of the first horn is softer than that of the second horn.
When carrying out remote driving to unmanned vehicle, if the mode of whistling of unmanned vehicle is gentle mode, according to the time of whistling and the frequency of whistling of the first loudspeaker of the signal control of whistling, turn into circuit signal with digital signal, when the signal of whistling is 1, for first loudspeaker power supply makes first loudspeaker whistling, when the signal of whistling is 0, stop to supply power for first loudspeaker to the operation of whistling in real time reduction remote cockpit. Because the tone quality of first loudspeaker is softer, when unmanned car was in quiet environment, through controlling first loudspeaker and whistle, can reach the warning effect, can not bring great noise for the environment again, bring better taking experience for the passenger in the car simultaneously.
Step (2): when the whistling mode is the warning mode, the second loudspeaker is controlled to whistle according to the whistling signal.
When the mode of whistling of unmanned car is warning mode, according to the time of whistling and the frequency of whistling of the second loudspeaker of signal control of whistling, turn into circuit signal with digital signal, when the signal of whistling is 1, for the second loudspeaker power supply makes the second loudspeaker whistle, when the signal of whistling is 0, stops to supply power for the second loudspeaker to the operation of whistling in real time reduction remote cockpit. The tone quality of second loudspeaker is comparatively clear and crisp, when unmanned car is in noisy environment, can send the sound of whistling that is different from other vehicles sound tone quality through second loudspeaker, and then can remind pedestrian or vehicle to keep away from unmanned car and go, when vehicle speed is very fast, the sound of whistling that sends clear and crisp tone quality can propagate distance far away, guarantees driving safety.
And (3): and when the whistling mode is the standard mode, controlling the first horn and the second horn to whistling according to the whistling signals.
The whistling mode further comprises a standard mode, the whistling mode is determined to be the standard mode in normal driving road conditions or when the whistling mode is not the soft mode or the warning mode, and the first horn and the second horn are controlled simultaneously according to the whistling signal, so that the unmanned vehicle sends out whistling sounds different from the soft mode and the warning mode.
In one embodiment, a number sequence in the digital signal is obtained, and each target number is obtained from the number sequence in turn; when the target number is a first number, supplying power to the first loudspeaker and the second loudspeaker for a first preset time so that the first loudspeaker and the second loudspeaker can simultaneously whistle; and when the target number is the second number, stopping supplying power to the first loudspeaker and the second loudspeaker for a second preset time (determined according to the number of the second numbers in the digital signals, namely the product of the number of the second numbers and the time base). For example, after receiving a digital signal sent by a remote cockpit, an unmanned vehicle converts the digital signal into a circuit signal, sequentially acquires each target number in the digital signal, and controls a power supply to simultaneously supply power to a first horn and a second horn when the target number in the digital signal is 1, so that the first horn and the second horn whistle simultaneously, and the whistle sound of the unmanned vehicle is different from the tone of the single whistle sound of the first horn or the single whistle of the second horn; and when the target number in the digital signal is 0, controlling the power supply to stop supplying power to the first loudspeaker and the second loudspeaker, so as to perform whistle based on the whistle signal.
In another embodiment, when the target number is the first number, the first horn is powered for a third preset time, and the second horn is powered for a fourth preset time, so that the first horn and the second horn alternately whistle; and when the target number is the second number, stopping supplying power to the first loudspeaker and the second loudspeaker for a second preset time. When the target number in the digital signal is 1, the power supply is controlled to firstly supply power to the first horn, then the power supply is stopped to supply power to the first horn, and then the power supply is supplied to the second horn, so that the whistle sound of the unmanned vehicle is different from the tone of the whistle of the independent first horn or second horn; and when the target number in the digital signal is 0, controlling the power supply to stop supplying power to the first loudspeaker and the second loudspeaker.
In order to improve the safety of the unmanned vehicle in remote driving, the method for controlling the whistle of the unmanned vehicle provided by the embodiment further comprises: detecting whether obstacles exist in all directions of the unmanned vehicle; if yes, determining the type and the distance of the obstacle, and generating a corresponding whistle signal according to the type and the distance of the obstacle. Because remote cockpit and unmanned car are through wireless communication transmission signal, in order to prevent that communication signal from influencing unmanned car's driving safety when not good, unmanned car self also can be according to the road conditions generation of place road and whistle the signal to control the device of whistling according to whistling signal and the mode of whistling and whistle.
In a specific embodiment, the controller of the unmanned vehicle may determine whether an obstacle exists around the unmanned vehicle according to the front, rear, and side images of the unmanned vehicle acquired by the camera, detect the type and distance of the obstacle (which may be detected by a radar or a laser sensor) if the obstacle exists around the unmanned vehicle, and generate a corresponding whistle signal according to the type, position, and distance of the obstacle. For example, when the unmanned vehicle controller identifies a pedestrian according to the shot front image, whether the pedestrian is positioned in the traffic lane of the current unmanned vehicle is judged, and if the pedestrian is not positioned in the traffic lane of the current unmanned vehicle (namely not positioned in the front of the unmanned vehicle, the pedestrian can be obtained by detecting the position relation between the pedestrian and the unmanned vehicle in the image) and the distance is smaller than the warning distance, a short whistle signal is generated; when the pedestrian is in the current lane of the unmanned vehicle, judging whether the pedestrian is in a warning range according to the vehicle speed and the pedestrian speed of the unmanned vehicle, if the distance between the unmanned vehicle and the pedestrian is larger than the warning distance, generating a long and short whistle signal to prompt the pedestrian to pay attention to the vehicle, and controlling the unmanned vehicle to run at a reduced speed; and if the distance between the unmanned vehicle and the pedestrian is less than the warning distance, generating a whistle signal to warn the pedestrian to pay attention to safety and control the unmanned vehicle to run at a reduced speed.
The method for controlling the whistling of the unmanned vehicle provided by the embodiment can control the whistling time and the whistling volume of the unmanned vehicle, and can control the whistling tone of the unmanned vehicle according to different driving road conditions, so that the whistling sound of the unmanned vehicle is prevented from being covered by other sounds, the whistling requirements under different scenes are met, and the whistling effect can be more accurately expressed; the whistle operation of the whistle button on the steering wheel can be truly restored, and the user experience in the remote driving process is improved.
Corresponding to the unmanned vehicle whistle control method provided by the above embodiment, the embodiment of the present invention provides an unmanned vehicle whistle control device, and referring to the schematic structural diagram of the unmanned vehicle whistle control device shown in fig. 2, the device includes the following modules:
the signal receiving module 21 is used for receiving a whistle signal sent by a remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user, wherein the whistle signal comprises whistle time and whistle times.
The mode determining module 22 is used for acquiring a use scene of the unmanned vehicle and determining a whistling mode according to the use scene; wherein, the whistling mode comprises a gentle mode and a warning mode.
And the whistle control module 23 is used for controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
According to the unmanned vehicle whistle control device provided by the embodiment, the whistle signal sent by the remote cockpit is received, and the whistle is performed according to the whistle signal, so that the unmanned vehicle can whistle according to the whistle information input by a user, and a scene that the whistle key is manually pressed to whistle can be simulated; the whistle mode of unmanned vehicle is confirmed through the use scene according to unmanned vehicle, can be at the automatic driving in-process of unmanned vehicle, according to unmanned road conditions automatic determination whistle mode, promotes the warning effect that unmanned vehicle whistle, and then promotes unmanned driving's security.
In one embodiment, the whistling device includes a first horn and a second horn; the first loudspeaker and the second loudspeaker have different timbres; the whistle control module 23 is further configured to control the first horn to whistle according to the whistle signal when the whistle mode is the soft mode; the whistle signal comprises whistle time and whistle frequency; when the whistling mode is the warning mode, the second loudspeaker is controlled to whistle according to the whistling signal.
In one embodiment, the whistle signal is a digital signal; the digital signal is a digital sequence generated by the remote cockpit according to the time and the times of pressing the whistle key by the user; the number sequence includes a first number and a second number, the number of the first number is determined according to the time and the number of times that the user presses the whistle key, and the number of the second number is determined according to the time interval that the user presses the whistle key twice in succession.
In one embodiment, the blast pattern further includes a standard pattern; the whistle control module 23 is further configured to control the first horn and the second horn to whistle according to the whistle signal when the whistle mode is the standard mode.
In an embodiment, the whistle controlling module 23 is further configured to obtain a number sequence in the digital signal, and sequentially obtain each target number from the number sequence; when the target number is a first number, supplying power to the first loudspeaker and the second loudspeaker for a first preset time so that the first loudspeaker and the second loudspeaker can simultaneously whistle; when the target number is a second number, stopping supplying power to the first loudspeaker and the second loudspeaker for a second preset time; or when the target number is the first number, supplying power for the first loudspeaker for a third preset time, and supplying power for the second loudspeaker for a fourth preset time, so that the first loudspeaker and the second loudspeaker alternately whistle.
In one embodiment, the usage scenario includes a current time, a travel section, or a travel speed; the mode determining module 22 is further configured to obtain scene setting information input by a user; the scene setting information comprises priorities corresponding to all the using scenes; determining a blast pattern based on the scene setting information and the usage scene.
In one embodiment, referring to another schematic structural diagram of the unmanned vehicle whistle control device shown in fig. 3, the device further includes:
the signal determining module 34 is used for detecting whether obstacles exist in all directions of the unmanned vehicle; if yes, determining the type and the distance of the obstacle, and generating a corresponding whistle signal according to the type and the distance of the obstacle.
The unmanned vehicle whistle control device provided by the embodiment can control the whistle time and the whistle volume of the unmanned vehicle, can control the whistle tone of the unmanned vehicle according to different driving road conditions, avoids the whistle sound of the unmanned vehicle being covered by other sounds, realizes the whistle requirements under different scenes, and can more accurately express the whistle effect; the whistle operation of the whistle button on the steering wheel can be truly restored, and the user experience in the remote driving process is improved.
The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.
Corresponding to the method and the device provided by the previous embodiment, the embodiment of the invention also provides an unmanned vehicle remote control system, which comprises: remote cockpit and unmanned car, unmanned car includes: the controller comprises a processor and a storage device; the whistle device comprises a first horn and a second horn, wherein the first horn and the second horn are different in tone color.
The remote cockpit is used for generating a whistle signal according to whistle information input by a user and sending the whistle signal to the unmanned vehicle.
The storage device in the controller of the above unmanned vehicle stores a computer program, and the computer program, when executed by the processor, executes the unmanned vehicle remote control method provided by the above embodiment, as shown in the controller structure schematic diagram of fig. 4, the controller includes a processor 41 and a memory 42, the memory stores the computer program operable on the processor, and the processor executes the computer program to implement the steps of the method provided by the above embodiment.
Referring to fig. 4, the controller further includes: a bus 44 and a communication interface 43, and the processor 41, the communication interface 43 and the memory 42 are connected by the bus 44. The processor 41 is arranged to execute executable modules, such as computer programs, stored in the memory 42.
The Memory 42 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 44 may be an ISA (Industry standard architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry standard architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
The memory 42 is configured to store a program, and the processor 41 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 41, or implemented by the processor 41.
The processor 41 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 41. The Processor 41 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like. The device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 42, and the processor 41 reads the information in the memory 42 and performs the steps of the above method in combination with the hardware thereof.
Embodiments of the present invention provide a computer-readable medium, wherein the computer-readable medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method of the above-mentioned embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing embodiments, and is not described herein again.
The method and the device for controlling the whistling of the unmanned vehicle and the computer program product of the remote control system of the unmanned vehicle provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, wherein instructions included in the program codes can be used for executing the method in the previous method embodiment, and specific implementation can be referred to the method embodiment and is not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An unmanned vehicle whistle control method is applied to an unmanned vehicle, and comprises the following steps:
receiving a whistle signal sent by a remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user, wherein the whistle signal comprises whistle time and whistle times;
acquiring a use scene of the unmanned vehicle, and determining a whistling mode according to the use scene; the whistling mode comprises a gentle mode and a warning mode;
and controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
2. The method of claim 1, wherein the whistling device comprises a first horn and a second horn; the first loudspeaker and the second loudspeaker are different in tone color;
the step of whistling is carried out to the device of whistling who controls unmanned vehicle according to the signal of whistling and the mode of whistling, includes:
when the whistling mode is the soft mode, controlling the first loudspeaker to whistle according to the whistling signal; wherein the whistle signal comprises whistle time and whistle frequency;
and when the whistle mode is the warning mode, controlling the second loudspeaker to whistle according to the whistle signal.
3. The method of claim 2, wherein the blast signal is a digital signal;
the digital signal is a digital sequence generated by the remote cockpit according to the time and the times of pressing a whistle key by a user;
the number sequence comprises a first number and a second number, the number of the first number is determined according to the time and the number of times that the user presses the whistle key, and the number of the second number is determined according to the time interval that the user presses the whistle key twice continuously.
4. The method of claim 2, wherein the blast pattern further comprises a standard pattern;
the step of whistling is carried out to the device of whistling who controls unmanned vehicle according to the signal of whistling and the mode of whistling, includes:
and when the whistle mode is the standard mode, controlling the first horn and the second horn to whistle according to the whistle signal.
5. The method of claim 4, wherein the step of controlling the first and second horns to blast in accordance with the blast signal comprises:
acquiring a digital sequence in the digital signal, and sequentially acquiring each target digit from the digital sequence;
when the target number is a first number, supplying power to the first loudspeaker and the second loudspeaker for a first preset time so that the first loudspeaker and the second loudspeaker can simultaneously whistle;
when the target number is a second number, stopping supplying power to the first loudspeaker and the second loudspeaker for a second preset time;
alternatively, the first and second electrodes may be,
and when the target number is the first number, supplying power to the first loudspeaker for a third preset time, and supplying power to the second loudspeaker for a fourth preset time, so that the first loudspeaker and the second loudspeaker alternately whistle.
6. The method according to any one of claims 1 to 5, wherein the usage scenario includes at least a current time, a travel section, or a travel speed;
the step of determining a blast pattern according to the usage scenario includes:
acquiring scene setting information input by a user; the scene setting information comprises the priority corresponding to each use scene;
determining a blast pattern based on the scene setting information and the usage scene.
7. The method according to any one of claims 1-6, further comprising:
detecting whether obstacles exist in all directions of the unmanned vehicle or not;
if yes, determining the type and the distance of the obstacle, and generating a corresponding whistle signal according to the type and the distance of the obstacle.
8. The utility model provides an unmanned vehicle control device that whistles, its characterized in that is applied to unmanned vehicle, the device includes:
the signal receiving module is used for receiving a whistle signal sent by the remote cockpit; the remote control cabin generates a whistle signal according to whistle information input by a user, wherein the whistle signal comprises whistle time and whistle times;
the mode determining module is used for acquiring the use scene of the unmanned vehicle and determining a whistling mode according to the use scene; the whistling mode comprises a gentle mode and a warning mode;
and the whistle control module is used for controlling a whistle device of the unmanned vehicle to whistle according to the whistle signal and the whistle mode.
9. An unmanned vehicle remote control system, comprising: remote cockpit and unmanned car, unmanned car includes: the controller comprises a processor and a storage device; the whistle device comprises a first horn and a second horn; the first loudspeaker and the second loudspeaker are different in tone color;
the remote cockpit is used for generating a whistle signal according to whistle information input by a user and sending the whistle signal to the unmanned vehicle;
the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of claims 1 to 7.
10. 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 according to any one of the claims 1 to 7.
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| CN202010982522.1A CN112224129A (en) | 2020-09-17 | 2020-09-17 | Unmanned vehicle whistling control method and device and unmanned vehicle remote control system |
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| CN202010982522.1A CN112224129A (en) | 2020-09-17 | 2020-09-17 | Unmanned vehicle whistling control method and device and unmanned vehicle remote control system |
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