CN112249036A

CN112249036A - Unmanned vehicle parking method, control device and storage medium

Info

Publication number: CN112249036A
Application number: CN202011531790.8A
Authority: CN
Inventors: 赵增侠
Original assignee: Neolithic Huiyi Zhixing Zhichi Beijing Technology Co ltd
Current assignee: Neolithic Huicheng (Beijing) Technology Co.,Ltd.
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-01-22
Anticipated expiration: 2040-12-23
Also published as: CN112249036B

Abstract

The present invention relates to the field of unmanned vehicles, i.e., unmanned vehicles and autonomous vehicles, and more particularly, to a method and apparatus for parking an unmanned vehicle, and a storage medium. The method comprises the steps of receiving a user order, wherein the order information comprises first stop point information; reaching the first docking point; acquiring an actual user operation area, wherein the actual user operation area is an area which is near a first stop point of the unmanned vehicle and is nearest to the unmanned vehicle and can be reached by the user; calculating the distance from the actual user operation area to an operation unit of the unmanned vehicle, wherein the operation unit is a unit touched by the user when the unmanned vehicle is operated; and judging whether the distance from the actual user operation area to the operation unit of the unmanned vehicle is greater than or equal to the user operable distance, if so, moving the unmanned vehicle to a second stop point, wherein the user operable distance is the distance from the user to the operation unit of the unmanned vehicle, which is estimated according to the user self factors. The unmanned vehicle parking method fully considers the use experience of the user and improves the experience effect of the user, thereby improving the operation efficiency of the unmanned vehicle.

Description

Unmanned vehicle parking method, control device and storage medium

Technical Field

The present invention relates to the field of unmanned vehicles, and more particularly, to an unmanned vehicle parking method, a control device, and a storage medium.

Background

The unmanned vehicle is an unmanned vehicle, and is a computer-controlled unmanned vehicle for short. The unmanned vehicle can detect the surrounding environment through the sensor equipment arranged on the unmanned vehicle, autonomously complete path planning and finally reach a predetermined destination. Compared with a common automobile, the unmanned automobile can judge and detect the surrounding environment of the unmanned automobile by selectively installing GPS equipment, inertial navigation components, radar equipment, an encoder, a camera and other visual equipment, and finally assist the unmanned automobile to move. However, the existing unmanned vehicle detects the surrounding environment during the moving process, and only detects safety-related information, so that the purpose is also for safety, and the user experience is not considered, which is far insufficient for the unmanned vehicle, especially as an unmanned retail vehicle.

Disclosure of Invention

In order to solve the technical problem, the invention provides an unmanned vehicle parking method, which is characterized by comprising the following steps:

receiving a user order, wherein the order information comprises first stop point information;

reaching the first docking point;

acquiring an actual user operation area, wherein the actual user operation area is an area which is near a first stop point of the unmanned vehicle and is nearest to the unmanned vehicle and can be reached by the user;

calculating the distance from the actual user operation area to an operation unit of the unmanned vehicle, wherein the operation unit is a unit touched by the user when the unmanned vehicle is operated;

and judging whether the distance from the actual user operation area to the operation unit of the unmanned vehicle is greater than or equal to the user operable distance, if so, moving the unmanned vehicle to a second stop point, wherein the user operable distance is the distance from the user to the operation unit of the unmanned vehicle, which is estimated according to the user self factors.

Further, the user operable distance is calculated according to the user information in the order information or is a distance stored in the unmanned vehicle in advance or is obtained by a sensor on the unmanned vehicle.

Further, the acquiring the actual user operation area includes: and acquiring environment information near the unmanned vehicle, and calculating and acquiring an area which is nearest to the unmanned vehicle and can be reached by a user based on the environment information.

Further, the environmental information includes obstacle information that obstructs the user from reaching the unmanned vehicle.

Further, the obstacle information includes puddle information, mud pit information, dirt information, road flatness information, and/or height drop information between the unmanned vehicle and the user.

Further, it is characterized in that,

the obtaining the user operable distance by the sensor on the unmanned vehicle includes: acquiring the characteristics of the height and/or the movement mode of the user through the sensor, and calculating the operable distance of the user according to the characteristics of the height and/or the movement mode;

and/or the step of calculating the operable distance of the user according to the user information in the order information comprises the steps of obtaining a purchase list and habits of the user through the order information, estimating the characteristics of the user according to the purchase list and the habits, and calling the operable distance according to the characteristics of the user.

Further, the operation unit is an operation unit which is used for predicting the articles purchased by the user according to the order information.

Further, the calculating the distance from the actual user operation area to the operation unit of the unmanned vehicle is the sum of L1 and L3; the L1 is the distance from the actual user operation area to the unmanned vehicle, and the L3 is the depth of the operation unit to be used. In another aspect, there is provided an unmanned vehicle parking control apparatus including:

the receiving unit is used for receiving the order of the user;

the acquisition unit is used for acquiring the operable distance of a user and acquiring the distance from the user to the unmanned vehicle operation unit at a first stop point to be parked according to the order information;

the processing unit is used for judging whether the first point to be parked meets the parking condition or not according to the operable distance and the distance from the user to the unmanned vehicle operation unit;

and if the first point to be parked meets the parking condition, controlling the unmanned vehicle to park at the first point to be parked, and if the first point to be parked does not meet the parking condition, acquiring a second point to be parked meeting the parking condition, and controlling the unmanned vehicle to park at the second point to be parked.

In another aspect, a computer-readable storage medium is provided, which stores a program or instructions that causes a computer to perform the steps of the above-described method.

The unmanned vehicle parking method fully considers the use experience of the user and improves the experience effect of the user, thereby improving the operation efficiency of the unmanned vehicle.

Additional features and advantages 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 the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a flow diagram of a method of one embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

The unmanned vehicle may include an unmanned vending vehicle, an unmanned delivery vehicle or an unmanned taxi, and is not specifically limited herein as long as the user needs to perform actual operation interaction with the unmanned vehicle. For ease of understanding, the following embodiments are all exemplified by an unmanned vending vehicle.

Fig. 1 shows a flowchart of a method for parking an unmanned vehicle according to the embodiment, and the method includes:

s100: and receiving a user order, wherein the order information comprises first stop point information.

Specifically, the user can send information that shopping needs to be performed, namely an order, to the unmanned vehicle through app, recruiting hands or voice and the like, but specific purchasing information at this time can be operated on a client side or directly operated on a screen of the unmanned vehicle through code scanning after the vehicle stops, and if the user stands at a point a and recruits hands to the unmanned vehicle, the order is considered to be only a purchasing offer and also one of the orders; or the user directly places an order through the app, and the order can contain information of the user's location, the user's purchased items, the location of the user, and the like.

S200: to the first stop point

And according to the first stop point information in the order information, reaching the first stop point.

S300: acquiring an actual user operation area, wherein the actual user operation area is an area which is near a first stop point of the unmanned vehicle and is closest to the unmanned vehicle and can be reached by the user

Specifically, when an order user takes a hand (i.e., orders) at point a, point a (including the point infinitely close to the periphery of point a) is considered as a first point to be docked; if the user inputs a north gate of a certain market in an order placed by the App, the north gate is a first stop point to be parked; or the user does not input a place, and the place is the first point to be stopped according to the positioning position of the user in the APP order.

Further, according to order information, the user can reach the vicinity of the first stop point (as long as the surrounding environment of the first stop point can be known, such as whether a puddle or a puddle exists), an actual user operation area is obtained according to the nearby situation, the actual user operation area is an area, which is close to the first stop point, of the unmanned vehicle and is nearest to the unmanned vehicle, and the puddle or the puddle can be avoided by predicting how far the user needs to be away from the unmanned vehicle. That is to say, there are places that inconvenient user trampled such as pool, puddle in the first berth point surrounding environment, when unmanned vehicle stopped at first berth point, the user can keep away from unmanned vehicle in order to avoid this pool or puddle etc. that the user can be to unmanned vehicle, namely user to unmanned vehicle operating unit's distance can change. When there are no obstacles like puddles, it is considered that the user can approach the unmanned vehicle indefinitely.

S400: calculating the distance from the actual user operation area to an operation unit of the unmanned vehicle, wherein the operation unit is a unit touched by the user when the unmanned vehicle is operated

The operation unit includes, but is not limited to, a vehicle operation screen, a shelf, a cargo outlet, and the like, and may be an operation unit as long as the interactive operation involving the user and the unmanned vehicle unit is performed.

When a plurality of operation units are provided, for example, the operation units include a screen, a shelf and the like, the operable distance needs to be satisfied simultaneously to be able to operate all the operation units, so as to avoid that a user cannot operate other operation units such as the shelf and the like although the user can operate the screen, and the use is influenced. For another example, when the order is a situation that the user recruits hands to drive the unmanned vehicle to, since it cannot be determined which operation unit the user specifically wants to operate, in order to avoid the possibility that the user steps on a puddle or a puddle, the operation unit is determined as the operation unit with the largest depth among all the operation units of the unmanned vehicle.

S500: and judging whether the distance from the actual user operation area to the operation unit of the unmanned vehicle is greater than or equal to the user operable distance, if so, moving the unmanned vehicle to a second stop point, wherein the user operable distance is the distance from the user to the operation unit of the unmanned vehicle, which is estimated according to the user self factors.

Specifically, the operable distance is a length that the user can reach the operation unit by himself, and may be an arm length of the user or a distance that the arm length is added by bending over, or the like, that is, a distance that the user can extend by himself's arm. The operable distance is the maximum distance at which the user can operate the unmanned vehicle operation unit, that is, once the operable distance is exceeded, the user cannot operate the unmanned vehicle operation unit.

For example, if the user has an operable distance of 30 cm (i.e., 30 cm at the maximum) after the unmanned vending vehicle stops at the first stop, but the actual user operating area is 35 cm away from the operating unit of the unmanned vehicle (i.e., the user faces the delivery port of the unmanned vehicle and is away from the delivery port), the first stop does not satisfy the stop condition, i.e., the unmanned vehicle stops at the first stop, and the user cannot smoothly pick up the goods, and needs to move to the second stop satisfying the condition. If when unmanned selling vehicle when first waiting to berth the back, user's operating distance is 30 centimetres, and actual user operating area is 25 centimetres to unmanned vehicle shipment mouth distance, the user can be right unmanned vehicle operates, can get goods, then this place is fit for berthing.

The application fully considers order information, particularly the environment around the first stop point, such as the first stop or an obstacle (which may not affect the driving safety of the vehicle) such as a puddle or a mud pool which is not suitable for being stepped on by the user, once the vehicle stops at the position, the obstacle, such as the puddle, may be located between the user and the unmanned vehicle, and may affect the operation of the user on the operation unit, such as the puddle is small, the user has a long arm, and the user can operate without stepping on the puddle, but if the puddle is large or the user has a short arm, the user needs to step on the puddle once the operation unit of the unmanned vehicle needs to be operated, which is not convenient for the user, and may cause danger. By the aid of the parking method, reasonability of an unmanned vehicle operation scene can be guaranteed, and experience and safety of users are improved.

In another embodiment of the present invention, the user operable distance is calculated from the user information in the order information or is a distance previously stored in the unmanned vehicle or is obtained by a sensor on the unmanned vehicle.

Specifically, the unmanned vend vehicle may store an operable distance of one user, such as 50 centimeters, in advance; the height and/or the movement pattern of the user can be obtained by the sensor, and the operable distance of the user can be calculated according to the height and/or the movement pattern (besides the height, the operable distance can also be related to the movement state of the user, such as walking, riding, sitting on a wheelchair, and the like, especially when the user is in the wheelchair, the operable distance can be calculated according to the state, for example, the position of the arm of the user who is wheelchair can be lower than the operating unit, the arm needs to be extended upwards to operate the operating unit, and the achievable operable distance can be different from the operable unit of the standing person); or acquiring a purchase list and habits of the user through order information, inferring characteristics of the user according to the purchase list and the habits, and calling the operability distance according to the characteristics of the user.

Specifically, the user characteristics can be determined according to information directly acquired by the user through the unmanned vending vehicle, such as image information captured by a sensor such as a camera on the unmanned vending vehicle; the past purchase record or personal information of the user can be called according to the order information, the characteristics of the user are determined, if most skin care products and female products are purchased, the user is inferred to be female, and the operable distance of the user is inferred according to the characteristics of common female. Meanwhile, the operable distances corresponding to different user characteristics can be stored in advance, for example, the operable distance corresponding to a user with a height of 150 and 160cm is 75 cm; the corresponding operable distance of the user with the height of 161 and 170cm is 85 cm; women correspond to an operable distance of 70 cm; the operative distance for males is 80 cm; such as 50cm for the user in the wheelchair. And matching the corresponding operable distance in the database according to the acquired user characteristics.

In another embodiment of the present invention, the acquiring the actual user operation area includes: and acquiring environment information near the unmanned vehicle, and calculating and acquiring an area which is nearest to the unmanned vehicle and can be reached by a user based on the environment information.

The environment information comprises weather conditions, historically stored ground characteristics of the place, road conditions and ground information acquired after the unmanned vending vehicle arrives at the position, particularly, conditions around the position, such as whether puddles and other obstacles preventing the user from arriving at the position near the unmanned vending vehicle (specifically, although some obstacles exist, the obstacles do not prevent the user from approaching the operation unit, if the first stop point to be parked has an obstacle, the obstacle is a turn, and if a person can step on the upper side, the obstacle does not prevent the user from approaching the operation unit, if the obstacle is a wood board, the obstacle does not prevent the user from approaching the operation unit), if yes, the size of the puddle is further detected, and the specific blocking distance (the direction from the side of the operation unit of the unmanned vehicle to the user) is determined.

The obstacle information includes, but is not limited to, puddle information, dirt information, road flatness information, and/or height drop information between the unmanned vehicle and the user, as long as the user is prevented from reaching the vicinity of the unmanned vehicle. For example, the road surface has large concave-convex degree, so that people can fall down when standing on the road surface, and the people cannot stand stably; or the vehicle is low, the user is high, for example, the vehicle is 1 m, and the height of the user can reach 2.5 m due to the steps under the feet and the like, so that the user gets goods and gets goods with obstacles; the road surface has excrement or other garbage which can not be treaded.

In another embodiment of the present invention, the operation unit is an operation unit that predicts the use of the user for the purchased articles obtained by the user according to the order information.

If a user needs to purchase a bottle of water and the water of the unmanned vending vehicle is uniformly taken from the beverage outlet, the operation unit of the user can be predicted to be the outlet; if the order information contains water and food, and the food is taken from the goods shelf by opening the cabinet door of the vending vehicle, the operation units of the user can be predicted to be the beverage outlet and the goods shelf; if the order of the user is a hand-held parking and the user does not include the bought article, the operation unit to be operated by the user is predicted to be the operation unit with the deepest depth, so that the user can reach the operation unit with the deepest depth even if the user operates the unit with the shallower depth.

In another embodiment of the present invention, the calculating the distance from the actual user operation area to the operation unit of the unmanned vehicle is the sum of L1 and L3; the L1 is the distance from the actual user operation area to the unmanned vehicle, and the L3 is the depth of the operation unit to be used.

Specifically, after the vehicle is parked, there may be an obstacle between a person and the vehicle, and the obstacle may be an obstacle that does not affect the driving safety of the vehicle or an obstacle that affects the driving of the vehicle, but the obstacle may affect the user to approach the vehicle. Such as puddles, etc., when it is between the user and the unmanned vehicle, the user cannot directly step on the obstacle, at which point the distance from the actual user operating area to the operating unit of the unmanned vehicle cannot be 0, which at least needs to be added to the width of the obstacle, such as the width of a puddle or puddle. The depth of the operating unit refers to the distance from one side of the vehicle (the side of the vehicle close to the user) to the deepest part of the operating unit, and if the operating unit is a goods shelf, the operating unit needs to reach the goods inside the goods shelf (i.e. the side far away from the goods shelf opening) in addition to the goods at the goods shelf opening, the depth of the goods shelf needs to be considered. If the width of the obstacle between the actual user operation area and the unmanned vehicle (i.e., the direction from the operation unit side of the unmanned vehicle to the user) is 30 cm and the depth of the shelf is 30 cm, the distance from the actual user operation area to the unmanned vehicle operation unit is 60 cm. When the obstacle is not present between the user and the unmanned vehicle, the distance from the actual user operation area to the operation unit of the unmanned vehicle is considered to be only the depth of the operation unit, and the unmanned vehicle is considered to be infinitely close to the operation unit of the unmanned vehicle. For example, when the operation unit is a screen on the outer surface of the unmanned vehicle, that is, the depth is 0, and there is no obstacle between the user and the unmanned vehicle, it is considered that the distance from the actual user operation area to the unmanned vehicle operation unit is 0.

Further, the method further comprises the steps of obtaining a region to be operated of the operation unit, and determining the distance from the actual user operation region to the unmanned vehicle operation unit according to the depth of the region to be operated.

For example, the operating unit is a shelf, the total depth of which is 40cm, 2 rows of goods are placed, when the first row of goods is taken, the first row is the area to be operated, and the operating depth at this time can be defined as 20 cm; when the first row of goods is taken out and the second row of goods is taken and placed, the operation depth is 40 cm. The position of the goods is further acquired in real time, so that the depth of the area to be operated is acquired, and the point to be parked of the vehicle can be determined more accurately.

In another embodiment of the present invention, if it is determined that the first stop point does not satisfy the parking condition, acquiring a second stop point to be parked that satisfies the parking condition, and controlling the unmanned vehicle to park at the second stop point includes: and according to the first stop point to be stopped, obtaining a second stop point which is closest to the first stop point and meets the stop condition for stopping.

Specifically, a second stop point which is closest to the first stop point and meets the stop condition can be found by taking the first stop point as a center of circle. This allows the user to reach the unmanned vehicle without having to move a significant distance.

Another embodiment of the present invention also provides a control apparatus for parking an unmanned vehicle, including:

the receiving unit is used for receiving an order of a user, and the order information comprises first stop point information;

the control unit is used for controlling the unmanned vehicle to reach the first stop point;

the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring an actual user operation area, and the actual user operation area is an area which is close to an unmanned vehicle and can be reached by a user near a first stop point;

the calculation unit is used for calculating the distance from the actual user operation area to an operation unit of the unmanned vehicle, wherein the operation unit is a unit touched by a user when the user operates the unmanned vehicle;

and the processing unit is used for judging whether the distance from the actual user operation area to the operation unit of the unmanned vehicle is greater than or equal to the user operable distance or not, if so, moving the unmanned vehicle to a second stop point, wherein the user operable distance is the distance from the user to the operation unit of the unmanned vehicle, which is estimated according to the user self factors.

Another embodiment of the present invention provides a computer-readable storage medium storing a program or instructions for causing a computer to perform the steps of the above-described method.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. An unmanned vehicle parking method is characterized by comprising the following steps:

reaching the first docking point;

2. The unmanned vehicle parking method of claim 1, wherein the user operable distance is calculated from user information in the order information or is a distance previously stored in the unmanned vehicle or is obtained by a sensor on the unmanned vehicle.

3. The unmanned vehicle parking method of claim 1, wherein the obtaining an actual user operation area comprises: and acquiring environment information near the unmanned vehicle, and calculating and acquiring an area which is nearest to the unmanned vehicle and can be reached by a user based on the environment information.

4. The unmanned vehicle parking method of claim 3, wherein the environmental information includes obstacle information that obstructs the user from reaching the unmanned vehicle.

5. The unmanned vehicle parking method according to claim 4, wherein the obstacle information includes puddle information, mud pit information, dirt information, road flatness information, and/or height drop information between the unmanned vehicle and the user.

6. The unmanned vehicle parking method according to claim 2,

7. The unmanned vehicle parking method according to claim 1, wherein the operation unit is an operation unit that predicts the user's use to be used for obtaining the user's purchased items from the order information.

8. The unmanned vehicle parking method of claim 7, wherein the calculating the distance of the actual user operation area to the operation unit of the unmanned vehicle is a sum of L1 and L3; the L1 is the distance from the actual user operation area to the unmanned vehicle, and the L3 is the depth of the operation unit to be used.

9. An unmanned vehicle parking control device, comprising:

10. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 8.