CN112462790B - Remote control method and system for unmanned vehicle - Google Patents
Remote control method and system for unmanned vehicle Download PDFInfo
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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 field of artificial intelligence, in particular to a remote control method of an unmanned vehicle. The method comprises the steps of receiving a user order and acquiring target position information in the order; reaching or approaching a target location; receiving a remote control instruction, wherein the remote control instruction comprises expected driving action information; acquiring running condition information of an unmanned vehicle, wherein the running condition can restrict the running action of the unmanned vehicle; and judging whether the driving conditions can meet the requirement that the unmanned vehicle drives according to the expected driving action, if so, driving the unmanned vehicle according to the expected driving action, and if not, generating an actual driving action based on the driving conditions, wherein the actual driving action is similar to the expected driving action. The control method can make the unmanned vehicle, or the unmanned vehicle or the automatic vehicle more close to the requirements of users.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a remote control method and system for an unmanned vehicle.
Background
Currently, there are 3 main ways for controlling the progress of an unmanned vehicle, namely, automatic driving controlled by a vehicle-end program, remote driving controlled by a remote end, and remote driving. When the vehicle is traveling, the control is generally performed in one of the modes depending on the condition of the vehicle. For example, when the automatic driving fails, the remote driving can take over the control, and when the remote driving fails or the network has problems, the vehicle remote controller can be used for carrying out the manual control.
However, the single control method may not meet the use requirements of people, and the position requirement of the user on the vehicle cannot be completely and accurately expressed by a client or the like, so that a vehicle control method capable of more accurately expressing the user requirement is required.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for controlling a vehicle more effectively, accurately and safely, and further improves user experience.
In one aspect, a remote control method for an unmanned vehicle is provided, which comprises the following steps:
receiving a user order and acquiring target position information in the order;
reaching or approaching a target location;
receiving a remote control instruction, wherein the remote control instruction comprises expected driving action information;
acquiring running condition information of an unmanned vehicle, wherein the running condition can restrict the running action of the unmanned vehicle;
and judging whether the driving conditions can meet the requirement that the unmanned vehicle drives according to the expected driving action, if so, driving the unmanned vehicle according to the expected driving action, and if not, generating an actual driving action based on the driving conditions, wherein the actual driving action is similar to the expected driving action.
Further, the running condition information includes: ambient environment information, unmanned vehicle self-state information, safety regulation information or traffic regulation information.
Further, the driving action includes: forward, reverse, left turn, right turn, accelerate, or accelerate.
Further, before receiving the remote control command, establishing a remote control binding relationship with the user terminal.
Furthermore, the remote control command is divided into command units, and the command units contain at least a part of expected running action information.
Further, the determining whether the driving condition can satisfy that the unmanned vehicle drives according to the expected driving action includes:
the unmanned vehicle carries out pre-judgment according to the driving conditions and judges the driving action which can be executed by the unmanned vehicle; when all the command units meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle drives according to the expected driving action; and when at least one instruction unit does not meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle generates the driving action according to the part of instruction units.
Further, the determining whether the driving condition can be satisfied such that the unmanned vehicle drives in accordance with the desired driving action, and if not, the unmanned vehicle generating an actual driving action based on the driving condition includes:
when the running condition meets the execution of all the instruction units, the unmanned vehicle runs according to the expected running action; and when the running condition does not meet the execution of all the instruction units, generating a running action according to at least one instruction unit.
Further, when the driving condition cannot satisfy that the unmanned vehicle drives according to the expected driving action, the user is prompted, and the actual driving action of the unmanned vehicle is displayed.
Further, the remote control instruction comes from the intelligent terminal of the user.
In another aspect, there is provided a remote control system of an unmanned vehicle, including:
the order receiving unit is used for receiving a user order and acquiring the position information in the order;
the positioning unit is used for positioning the unmanned vehicle to reach or approach the target position;
an acquisition unit configured to acquire travel condition information of an unmanned vehicle, wherein the travel condition can restrict a travel action of the unmanned vehicle; (ii) a
The remote control command receiving unit is used for receiving a remote control command, and the remote control command comprises expected driving action information;
and the control unit is used for judging whether the running condition can meet the requirement that the unmanned vehicle runs according to the expected running action, if so, the unmanned vehicle runs according to the expected running action, and if not, the unmanned vehicle generates an actual running action based on the running condition, wherein the actual running action is similar to the expected running action.
According to the remote control method of the unmanned vehicle, when the vehicle approaches the user, the user can control the unmanned vehicle through the remote control command and the automatic driving command, so that the unmanned vehicle can reach the position of the user more accurately and is closer to the requirements of the user.
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 control step 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.
FIG. 1 illustrates steps of a method for remotely controlling an unmanned vehicle, receiving a user order, and acquiring target location information in the order; reaching or approaching a target location; receiving a remote control instruction, wherein the remote control instruction comprises expected driving action information; acquiring running condition information of an unmanned vehicle, wherein the running condition can restrict the running action of the unmanned vehicle; and judging whether the driving conditions can meet the requirement that the unmanned vehicle drives according to the expected driving action, if so, driving the unmanned vehicle according to the expected driving action, and if not, generating an actual driving action based on the driving conditions, wherein the actual driving action is similar to the expected driving action.
The unmanned vehicle plans a path according to the position information in the order and goes to the position in the order, and at the moment, the unmanned vehicle travels in an automatic driving or remote driving mode, preferably automatic driving; when the unmanned vehicle reaches or approaches the target position, the approach target position may be a certain distance, such as 5 meters, 10 meters, etc., from the user position, that is, the distance between the unmanned vehicle and the user is relatively short, and the user can clearly see the unmanned vehicle and the road conditions around the unmanned vehicle. When the unmanned vehicle can receive the remote control command, the user can be reminded, and the user is reminded to carry out remote control command on the unmanned vehicle.
Further, before receiving the remote control instruction, the method also comprises the step of establishing a remote control binding relationship with the user terminal, wherein the establishment of the binding relationship has a specific identification code, namely, only when the unmanned vehicle can be remotely controlled, the unique connection can be established with the unmanned vehicle receiving the order only by the client side placing the order through identification code identification if the user receives the specific sequence code and by inputting the specific sequence code, and the specific connection channel can be in a Bluetooth or wifi mode as long as the unique connection can be determined.
The remote control instruction of the user can be sent through intelligent terminals such as a mobile phone, a watch, wearable equipment and a computer, the driving action can comprise forward movement, backward movement, left rotation, right rotation, acceleration or acceleration and the like, and the driving action information can be realized through virtual buttons on a display screen of the terminal and can also be realized through certain keys on a keyboard. The specific straight-going and turning degree can be realized by the pressing time of a virtual button or a key or specific guiding parameters such as left-turning 15 degrees, 2-meter-forward and the like.
Because each user is different in proficiency degree of vehicle control, for example, different drivers are different in driving technology, for example, if the user establishes a remote control channel with the unmanned vehicle, the user sends an advancing instruction to the unmanned vehicle and continuously presses an advancing key to continuously advance the vehicle, however, a barrier exists in the position 1 m in front of the unmanned vehicle to block the advancing of the unmanned vehicle, and if the barrier is continuously advanced and impacted according to the instruction of the user, the unmanned vehicle is controlled only by the remote control instruction of the user, and potential safety hazards often exist. Meanwhile, because the positioning of the map used by the user is not accurate enough, errors of several meters or even dozens of meters often exist, and the user sometimes has requirements on the direction of the head of the unmanned vehicle, the distance from the user to the user and the like, for example, an unmanned taxi has no help of a driver, sometimes the user carries heavy luggage, is inconvenient to move, and hopes that the luggage box of the vehicle is close to the user; or the user does not carry luggage, but carries a baby, and wants the door at the back row of the vehicle to be close to the user, etc., the precise requirements cannot be met by the unmanned vehicle, namely, the unmanned vehicle cannot meet the requirements of the user if the unmanned vehicle is only parked according to the position in the user order. The remote control method of the method controls the unmanned vehicle by combining the instruction of the user and the driving condition of the unmanned vehicle, so that the running safety of the unmanned vehicle can be ensured, and the unmanned vehicle can be stopped to be closer to the requirement of the user.
In another embodiment of the present invention, the running condition information includes: ambient environment information, unmanned vehicle self-state information, safety regulation information or traffic regulation information.
The driving condition of the unmanned vehicle can be known through a radar, a camera, vcu, a server and the like on the unmanned vehicle.
In another embodiment of the invention, the remote control command is divided into command units, and the command units contain at least a part of expected driving action information.
Specifically, if the remote control command sent by the user comprises a left turn of 30 degrees, the remote control command can be divided according to degrees, for example, one unit is divided every 5 degrees or 2 degrees, and the remote control command is divided into a plurality of command units. When the control is comprehensively performed by combining the driving condition information and the remote control command in a split manner and when the remote control command cannot be executed, whether one or a plurality of command units can be executed or not can be further judged according to the command units, if so, at least one command unit can be executed, the command units are preferentially executed as much as possible, if 5 command units can be executed at most, 5 command units (if each command unit is 5 degrees), namely 25 degrees turn left, are executed, and therefore the command of the user can be executed as much as possible.
Further, the division of the command unit can be divided according to the minimum unit executable by the vehicle, such as that the minimum rotation angle of the unmanned vehicle is 5 °, the minimum advancing distance is 0.1 meter, and the like. By means of the division, the action execution of the unmanned vehicle can meet the requirements of the user to the maximum extent.
In another embodiment of the present invention, the determining whether the driving condition can satisfy that the unmanned vehicle drives according to the desired driving action includes:
the unmanned vehicle carries out pre-judgment according to the driving conditions and judges the driving action which can be executed by the unmanned vehicle; when all the command units meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle drives according to the expected driving action; and when at least one instruction unit does not meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle generates the driving action according to the part of instruction units.
Specifically, the unmanned vehicle carries out pre-judgment according to the driving conditions, judges the driving actions which can be executed by the unmanned vehicle, and if the driving actions comprise forward movement, backward movement, right turning and left turning by 1-20 degrees, does not execute the remote control command if the driving actions are right turning, and directly carries out path planning according to the driving conditions; if the remote control command is 15 degrees of left turn, the vehicle can travel according to the remote control command; if the remote command is a left turn of 40, then proceed with a left turn of 20. Of course, the pre-determination here is performed in real time, and once the condition is satisfied, the unmanned vehicle starts to be controlled to travel according to the corresponding condition.
In another embodiment of the present invention, the determining whether the driving condition can be satisfied such that the unmanned vehicle drives in accordance with the desired driving operation, and if not, the unmanned vehicle generating the actual driving operation based on the driving condition includes: when the running condition meets the execution of all the instruction units, the unmanned vehicle runs according to the expected running action; and when the running condition does not meet the execution of all the instruction units, generating a running action according to at least one instruction unit.
Specifically, the driving conditions and the remote control command or command unit are simultaneously used as judgment conditions for judgment, if the driving conditions at least comprise that an obstacle (influencing vehicle passing) is arranged right in front of the unmanned vehicle, the road conditions of left turn and right turn are good, and the remote control command or command unit advances, the execution of the remote control command which is not met by the surrounding environment is comprehensively judged, and path planning is carried out according to the driving conditions; and when the remote control command or command unit turns 30 degrees left, the user moves according to the remote control command or command unit. Similarly, the condition determination is performed in real time, and once the condition is satisfied, the unmanned vehicle is controlled according to the corresponding condition.
In another embodiment of the present invention, when the unmanned vehicle performs path planning according to the driving condition, the driving condition is monitored in real time, and when the remote control command can be executed, the user is asked whether to execute the remote control command.
As described above, although the remote control command cannot be executed due to the objective driving condition, the driving condition is detected in real time, the determination condition is also performed in real time, when the driving condition changes and the execution of the remote control command or the command unit is satisfied, a prompt is sent to the user whether to execute the remote control command, and if the execution is performed, the remote control command or the maximum command unit is satisfied. Of course, if a new remote control command is output, the monitoring and determination can be continued.
In another embodiment of the present invention, when the remote control instruction cannot be executed, the user is prompted, and the planned path of the unmanned vehicle is displayed.
Another embodiment of the present invention provides a control system of an unmanned vehicle, including: the order receiving unit is used for receiving a user order and acquiring the position information in the order;
the positioning unit is used for positioning the unmanned vehicle to reach or approach the target position;
an acquisition unit configured to acquire travel condition information of an unmanned vehicle, wherein the travel condition can restrict a travel action of the unmanned vehicle; (ii) a
The remote control command receiving unit is used for receiving a remote control command, and the remote control command comprises expected driving action information;
and the control unit is used for judging whether the running condition can meet the requirement that the unmanned vehicle runs according to the expected running action, if so, the unmanned vehicle runs according to the expected running action, and if not, the unmanned vehicle generates an actual running action based on the running condition, wherein the actual running action is similar to the expected running action. Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described unmanned vehicle control 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 (10)
1. A remote control method of an unmanned vehicle is characterized by comprising the following steps:
receiving an order of a user, and acquiring target position information in the order;
reaching or approaching a target location;
receiving a remote control instruction sent by a user, wherein the remote control instruction comprises expected driving action information of the user;
acquiring running condition information of an unmanned vehicle, wherein the running condition can restrict the running action of the unmanned vehicle;
judging whether the driving conditions can meet the requirement that the unmanned vehicle drives according to the expected driving action, if so, driving the unmanned vehicle according to the remote control instruction; if the actual driving action is not met, the unmanned vehicle does not execute the remote control command and plans a path based on the driving condition, the planned path is different from the path contained in the remote control command, the unmanned vehicle generates an actual driving action based on the planned path, and the actual driving action can meet the driving condition, wherein the state of the unmanned vehicle after executing the actual driving action is similar to the state of the unmanned vehicle after executing the expected driving action.
2. The remote control method according to claim 1, wherein the driving condition information includes: ambient environment information, unmanned vehicle self-state information, safety regulation information or traffic regulation information.
3. The remote control method according to claim 1, wherein the driving action includes: forward, reverse, left turn, right turn, accelerate, or accelerate.
4. The remote control method according to claim 1, wherein receiving the remote control command further comprises establishing a remote control binding relationship with the user terminal.
5. A remote control method according to claim 1, characterized in that the remote control command is divided into command units containing at least a part of the desired driving action information.
6. The remote control method according to claim 5, wherein the determining whether the driving condition can satisfy that the unmanned vehicle drives according to the desired driving action comprises:
the unmanned vehicle carries out pre-judgment according to the driving conditions and judges the driving action which can be executed by the unmanned vehicle; when all the command units meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle drives according to the expected driving action; and when at least one instruction unit does not meet the driving action which can be executed by the unmanned vehicle, the unmanned vehicle generates the driving action according to a part of instruction units.
7. The remote control method according to claim 5, wherein the determining whether the driving condition can be satisfied that the unmanned vehicle drives in accordance with the desired driving action, and if not, the unmanned vehicle generating the actual driving action based on the driving condition includes:
when the running condition meets the execution of all the instruction units, the unmanned vehicle runs according to the expected running action; and when the running condition does not meet the execution of all the instruction units, generating a running action according to at least one instruction unit.
8. The remote control method according to any one of claims 1 to 7, wherein when the driving condition cannot satisfy that the unmanned vehicle drives in accordance with the desired driving action, the user is prompted and an actual driving action of the unmanned vehicle is displayed.
9. The remote control method according to claim 1, wherein the remote control instruction is from an intelligent terminal of the user.
10. A remote control system for an unmanned vehicle, comprising:
the order receiving unit is used for receiving a user order and acquiring the position information in the order;
the positioning unit is used for positioning the unmanned vehicle to reach or approach the target position;
an acquisition unit configured to acquire travel condition information of an unmanned vehicle, wherein the travel condition can restrict a travel action of the unmanned vehicle;
the remote control instruction receiving unit is used for receiving a remote control instruction sent by a user, and the remote control instruction comprises expected driving action information of the user;
and the control unit is used for judging whether the running condition can meet the requirement that the unmanned vehicle runs according to the expected running action, if so, the unmanned vehicle runs according to the remote control command, if not, the unmanned vehicle does not execute the remote control command and plans a path based on the running condition, the planned path is different from the path contained in the remote control command, the unmanned vehicle generates an actual running action based on the planned path, and the actual running action can meet the running condition, wherein the state of the unmanned vehicle after executing the actual running action is similar to the state of the unmanned vehicle after executing the expected running action.
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| CN114063531B (en) * | 2021-11-29 | 2024-07-19 | 东软睿驰汽车技术（沈阳）有限公司 | Remote driving method, device and system |
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| CN110920888A (en) * | 2019-12-09 | 2020-03-27 | 浙江顿悟科技有限公司 | Automatic express delivery system and application method thereof |
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| US10460279B2 (en) * | 2016-06-28 | 2019-10-29 | Wing Aviation Llc | Interactive transport services provided by unmanned aerial vehicles |
| CN106504155A (en) * | 2016-10-20 | 2017-03-15 | 徐州赛欧电子科技有限公司 | A kind of intelligent medicine fetching system and control method |
| CN107329482A (en) * | 2017-09-04 | 2017-11-07 | 苏州驾驶宝智能科技有限公司 | Automatic Pilot car man-machine coordination drive manner |
| CN107748570A (en) * | 2017-10-09 | 2018-03-02 | 李祖源 | A kind of unmanned plane pickup and delivery system and pickup and send part method |
| CN111784244A (en) * | 2020-06-29 | 2020-10-16 | 济南浪潮高新科技投资发展有限公司 | Intelligent distribution method, device and system based on cloud management |
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| CN106843260A (en) * | 2016-07-04 | 2017-06-13 | 北京京东尚科信息技术有限公司 | Unmanned plane during flying adjustment in direction method, control method and unmanned plane |
| CN110920888A (en) * | 2019-12-09 | 2020-03-27 | 浙江顿悟科技有限公司 | Automatic express delivery system and application method thereof |
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