CN113064435B - Wireless virtual guide rail system for unmanned driving - Google Patents
Wireless virtual guide rail system for unmanned driving 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention provides a wireless virtual guide rail system for unmanned driving, comprising: the system comprises a plurality of inductive beacons, an unmanned automobile, a wireless communication network, an edge control center and a global control center, wherein the inductive beacons are laid on a road and used for sending physical position information of the inductive beacons to the unmanned automobile in a wireless signal mode; the unmanned automobile is provided with an induction beacon receiver for receiving wireless signals sent by the induction beacon; the wireless communication network is used for high-speed communication between the unmanned automobile and the edge management and control center and the global management and control center; the edge control center is used for indicating real-time tasks of the unmanned automobile running on the road according to the virtual guide rails issued by the global control center; the global management and control center is used for planning virtual guide rails for the unmanned vehicles and scheduling the whole unmanned vehicles in a quasi-real-time manner.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to the technical field of wireless positioning, in particular to the field of unmanned driving, and in particular relates to a wireless virtual guide rail system for unmanned driving.
Background
Existing unmanned systems can be divided into two categories: the bicycle intelligent system and the network connection intelligent system. The single-vehicle intelligent system is generally focused on the development of unmanned vehicles, environment sensing, vehicle positioning and the like are achieved through vehicle-mounted sensors such as a laser radar, a camera, inertial navigation and a GPS, data are autonomously analyzed and decision is generated through algorithms such as a vehicle-mounted computer system and deep learning, and unmanned driving of the vehicles is controlled. The networked intelligent system is based on a single-vehicle intelligent system, unloads calculation tasks, coordinates vehicle routes and the like by means of various roadside facilities and a cellular communication network, and assists the vehicle to complete perception and decision control by means of peripheral and remote equipment.
In the bicycle intelligent system and the internet intelligent system, the unmanned automobile makes self interest maximization decision according to vehicle-mounted sensor information and peripheral small-range environment information, data interaction is lacked between the automobile and the vehicle, the road traffic network is lacked in unified arrangement, overall planning is difficult to achieve, and the effect is limited in the aspects of reducing traffic accident rate and improving traffic operation efficiency.
Disclosure of Invention
To solve the above-mentioned problems in the prior art, there is provided a wireless virtual guide rail system for unmanned driving, comprising: a plurality of inductive beacons, an unmanned vehicle, a wireless communication network, an edge control center and a global control center, wherein,
the plurality of induction beacons are laid on the road and used for sending the physical position information of the induction beacons to the unmanned automobile in a wireless signal mode;
the unmanned automobile is provided with an induction beacon receiver for receiving wireless signals sent by the induction beacon;
the wireless communication network is used for the unmanned automobile to communicate with the edge management and control center and the global management and control center at a high speed;
the edge control center is used for indicating real-time tasks of the unmanned automobile running on the road according to the virtual guide rails issued by the global control center;
the global management and control center is used for planning virtual guide rails and quasi-real-time tasks of overall dispatching of the unmanned automobile for the unmanned automobile; and
the unmanned vehicle carries out two-way communication with the edge control center, the unmanned vehicle carries out two-way communication with the global control center, the edge control center collects real-time information of all the unmanned vehicles in the jurisdiction area and processes the real-time information to form edge space-time traffic information, the global control center collects the edge space-time traffic information of each jurisdiction area to form full space-time traffic information, the global control center generates a global control instruction according to the full space-time traffic information, the edge control center generates an edge control instruction according to the edge space-time traffic information and the global control instruction, and the unmanned vehicle runs according to the global control instruction and the edge control instruction.
Preferably, the wireless communication network is a 5G/B5G cellular network.
Preferably, the unmanned automobile is further provided with an inertial navigation device for positioning the unmanned automobile.
Preferably, the system includes a global management center and a plurality of edge management centers.
The invention provides a virtual guide rail planning method based on the system, which comprises the following steps:
step 1, the global management and control center receives a destination reported by an unmanned automobile through a 5G/B5G cellular mobile network;
step 2, the global management and control center plans a virtual guide rail for the unmanned vehicle, wherein the virtual guide rail comprises the time when the unmanned vehicle sequentially arrives at the induction beacon along the way, and the speed, the course angle and the front wheel deflection angle when the unmanned vehicle arrives at the induction beacon;
and 3, controlling the unmanned automobile to run by the edge control center according to the planned virtual guide rail.
The invention provides an unmanned automobile control method based on the system, which comprises the following steps:
step 1, the global management and control center plans a virtual guide rail for the unmanned automobile according to a destination and a sensing beacon map reported by the unmanned automobile of the unmanned automobile and sends the virtual guide rail to the edge management and control center;
step 2, the edge control center controls the unmanned vehicle to run along the planned virtual guide rail and report the pose, the course angle and the speed in real time according to the virtual guide rail issued by the global control center; when the edge control center judges that the unmanned vehicle is separated from the virtual guide rail, the unmanned vehicle is controlled to change the speed and the deflection angle of the front wheel, and the unmanned vehicle is guided to return to the virtual guide rail;
and 3, when the edge management and control center judges that the unmanned automobile cannot run according to the pre-planned virtual guide rail according to the running state information and the virtual guide rail information of the unmanned automobile, planning a temporary virtual guide rail for the unmanned automobile, and controlling the unmanned automobile to run according to the planned temporary virtual guide rail.
Preferably, the method for controlling an unmanned vehicle further includes:
step 4, when the unmanned vehicle drives into the area under jurisdiction of the second edge control center from the area under jurisdiction of the first edge control center, the first edge control center and the second edge control center take over the unmanned vehicle at the same time, and share the state information and the control information of the unmanned vehicle; and after the fact that the second edge control center can control the unmanned automobile to safely drive is ensured, the first edge control center disconnects the wireless control link of the unmanned automobile and hands over the control right of the unmanned automobile to the second edge control center.
The invention provides an unmanned automobile positioning method based on the system, which comprises the following steps:
step 1, the unmanned automobile identifies the physical position of the induction beacon according to the signal receiver, and obtains the position information of the unmanned automobile according to the detected direction and signal intensity of the induction beacon;
step 2, when the induction beacon is not detected, the unmanned automobile is positioned by using the inertial navigation device;
and 3, correcting the inertial navigation positioning by the unmanned automobile according to the positioning result of the induction beacon.
The invention provides a computer-readable storage medium, on which a computer program is stored, wherein the program realizes the steps of the above-mentioned method when executed by a processor.
The invention provides a computer device comprising a memory and a processor, a computer program being stored on said memory and being executable on said processor, characterized in that said processor implements the steps of the above method when executing said program.
The invention has the following characteristics and beneficial effects: under the cooperative coordination of the vehicle network and the cloud, the wireless virtual guide rail system plans a virtual guide rail for the unmanned vehicle, references information such as high-precision position and posture, and wirelessly controls the unmanned vehicle to strictly run according to the virtual guide rail plan in a multistage control mode, so that the running safety and the overall traffic operation efficiency are integrally improved.
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Figure 1 illustrates the inductive beacon location philosophy according to one embodiment of the present invention.
FIG. 2 illustrates a wireless virtual rail system according to one embodiment of the present invention.
Fig. 3 illustrates a multi-level collaborative unmanned vehicle management method according to an embodiment of the present invention.
Detailed Description
The invention is described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The existing unmanned system endows the unmanned automobile with stronger autonomous flexibility, but lacks the capability of uniformly planning and dispatching the unmanned automobile, and has limited effect on reducing the traffic accident rate and improving the traffic operation efficiency. The rail transit systems such as high-speed rails and the like adopt special physical rails to guide trains to run, totally-enclosed management is carried out, all the trains are scheduled strictly according to a schedule, the safety and the high efficiency of the trains can be effectively guaranteed, and the driving flexibility is low.
When the inventor carries out research in the field of unmanned driving, the advantages and the disadvantages of the existing unmanned system and rail transit are comprehensively considered so as to ensure that the unmanned automobile has certain autonomy and the unmanned automobile is integrally safe and efficient to operate as a target, and the wireless virtual guide rail system for unmanned driving is provided. The system creates a vehicle network cloud integrated unmanned driving based on information infrastructures such as smart roads, vehicle-mounted sensing equipment, a 5G/B5G cellular communication network, a data center and the like, acquires global traffic information in real time, plans a dynamic virtual track, namely a wireless virtual guide rail, and guides and controls the guide rail type driving of an unmanned vehicle through a low-delay high-reliability 5G/B5G cellular communication network so as to approach the safe and efficient operation of rail traffic, and solves the pain points of frequent urban traffic accidents, serious congestion and low operation efficiency.
Therefore, the technical problems to be solved by the invention are as follows: the method realizes unified planning and scheduling of the unmanned vehicles under the condition of ensuring that the unmanned vehicles have certain autonomy, and improves driving safety and overall traffic operation efficiency.
In order to solve the technical problems, the positioning problem of the unmanned automobile is firstly solved. According to an embodiment of the present invention, the present invention provides a method for positioning an unmanned vehicle, which uses an intelligent road and a vehicle-mounted sensor to cooperate to perform positioning of the unmanned vehicle, and can achieve the effects of high positioning accuracy and low implementation cost, the method for positioning the unmanned vehicle comprises the following steps:
step 1, laying low-cost induction beacons on a road according to a certain rule.
According to an embodiment of the present invention, as shown in fig. 1, inductive beacons 1011 are laid out on a road at intervals of 20 to 80 meters, and an inertial navigation device 1022 and a beacon signal receiver 1021 for receiving the inductive beacons are installed on an unmanned vehicle. Each inductive beacon 1011 has unique physical location information (x) ref ,y ref ) When the drone vehicle 102 approaches the inductive beacon 1011, the unique physical location of the inductive beacon 1011 may be identified by the beacon signal receiver 1021. Meanwhile, the beacon signal receiver 1021 can detect the signal strength of the sensing beacon 1011, and inversely deduce the distance d between the beacon signal receiver and the sensing beacon according to the channel fading model. The signal intensity variation trend can be obtained through the signal intensity collected at a high frequency, and the azimuth theta of the beacon signal receiver 1021 relative to the sensing beacon 1011 can be obtained by combining the variation trends of the heading angle, the speed and the like of the unmanned vehicle collected by the inertial navigation device 1022. In summary, the absolute position (x, y) of the beacon receiver 1021 can be obtained as shown in equation (1).
And 2, when the sensing range of the sensing beacon 1011 is limited and the unmanned automobile 102 does not detect the sensing beacon 1011, positioning by means of the inertial navigation device 1022. The sensor of the inertial navigation device 1022 measures information such as the speed, the acceleration, the course angle, etc. of the unmanned vehicle in real time, and after processing such as integration, the position information of the unmanned vehicle 102 can be obtained.
And 3, correcting the inertial navigation positioning according to the positioning result of the induction beacon, and eliminating the error accumulated along with the travel distance of the inertial navigation positioning.
The invention solves the positioning problem of the unmanned automobile by the method, and the wireless virtual guide rail system is introduced below.
According to one embodiment of the present invention, as shown in fig. 2, the wireless virtual guideway system 100 is composed of five parts, which are an intelligent road 101, an unmanned vehicle 102, a 5G/B5G cellular communication network 103, an edge management center 104 and a global management center 105. A plurality of low-cost inductive beacons 1011 are laid on a lane of the intelligent road 101 according to a certain rule, each inductive beacon 1011 has unique physical position information, the physical position information of the inductive beacon 1011 can be sent to the unmanned automobile 102 through wireless signals, and high-precision positioning information is provided for the unmanned automobile 102. The physical location information of all inductive beacons on the road constitutes an inductive beacon map. The unmanned vehicle 102 carries a beacon signal receiver, an inertial navigation device, a radar and other sensors on the basis of a traditional vehicle, and can collect and process key vehicle condition information such as pose, speed and the like and road condition information. Meanwhile, the state quantities of the unmanned vehicle, such as the front wheel deflection angle, the speed and the like, can be dynamically adjusted according to a control instruction of a local vehicle control unit or an edge control center 104, and the unmanned vehicle is kept to run according to a virtual guide rail, wherein the virtual guide rail is a dynamic virtual track planned for the vehicle by the system and is used for indicating which inductive beacons the unmanned vehicle sequentially arrives at, when the unmanned vehicle arrives at each inductive beacon and the state quantities, such as the speed, the course angle, the front wheel deflection angle and the like, which should be kept when the unmanned vehicle arrives at. The intelligent road 101 is deployed with a 5G/B5G base station 103, and the unmanned automobile 102, the edge control center 104 and the global control center 105 can exchange information at a high speed and with low time delay through a 5G/B5G cellular mobile network 103. Geographically, the edge control center 104 is closer to the unmanned vehicle 102 and is mainly responsible for real-time control tasks and the like, and the global control center 105 is farther from the unmanned vehicle 102 and is mainly responsible for quasi-real-time virtual guide rail planning tasks and the like.
According to one embodiment of the invention, the unmanned vehicle 102 carries a beacon signal receiver, inertial navigation device, radar, high performance processor, memory unit, etc. on a conventional vehicle basis. The beacon signal receiver can identify the physical position information of the induction beacon and collect the signal intensity of the induction beacon at high frequency; the inertial navigation device can acquire a vehicle course angle, acceleration and the like; the radar can collect road condition information; the high-performance processor can process the acquired information to obtain state information such as vehicle pose and the like, and meanwhile, the high-performance processor can respond to control information in time to change state quantities such as vehicle speed, front wheel deflection angle and the like; the memory unit may store a priori information as well as data during driving.
The 5G/B5G base stations are deployed beside the lane, the 5G/B5G base stations are connected with the unmanned automobile in a wireless mode, and the 5G/B5G base stations, the edge management and control center and the global management and control center are connected in a wired mode. By means of the 5G/B5G cellular mobile network, high-speed and low-delay information interaction can be achieved among the unmanned automobile, the edge management and control center and the global management and control center.
There are a plurality of edge management centers 104 and a global management center 105 in the wireless virtual rail system 100. The edge control center 104 is usually closer to the unmanned vehicle 102, can gather local road network information, and is responsible for real-time tasks such as tracking and deviation correction of the unmanned vehicle 102, emergency processing and the like; the global management and control center 105 is usually far from the unmanned vehicle 102, can gather all road network information, and is mainly responsible for quasi-real-time tasks such as virtual guide rail planning and unmanned vehicle overall scheduling. The edge control center is limited in control range and only responsible for controlling the interior of the jurisdiction, and adjacent edge control centers are overlapped and covered in the jurisdiction, so that information can be exchanged, and the control right of the unmanned vehicle is ensured to be seamlessly switched when the unmanned vehicle runs across the jurisdiction.
The unmanned vehicles 102, the edge control center 104 and the global control center 105 adopt a bidirectional closed-loop information interaction mode, the edge control center 104 collects real-time information of all the unmanned vehicles in the jurisdiction area and processes the real-time information to form edge space-time traffic information, and the global control center 105 collects the edge space-time traffic information of each jurisdiction area and processes the full space-time traffic information. The global control center 105 generates a global control instruction according to the full-space-time traffic information, the edge control center 104 generates an edge control instruction according to the edge-space-time traffic information and the global control instruction, and the unmanned automobile 102 travels in order according to the global and edge control instructions.
According to an embodiment of the present invention, the present invention provides a virtual guideway planning method based on the wireless virtual guideway system. The virtual guide rail is a core element of a wireless virtual guide rail system, and is a dynamic virtual track planned for a vehicle based on information infrastructures such as an intelligent road, a vehicle-mounted sensing device, a 5G/B5G cellular communication network, a data center and the like according to real-time acquired global traffic information.
The unmanned automobile strictly runs according to the virtual guide rail planning, so that the driving risk can be reduced, and the overall traffic operation efficiency can be improved. The virtual guide rail planning is generally responsible for a global control center, and the global control center collects space-time traffic information of all jurisdictions and can efficiently optimize the virtual guide rail from the overall perspective.
According to one embodiment of the invention, the planning method comprises the following steps:
step 1, before an unmanned automobile is started, reporting a starting point and a destination to a global management and control center through a 5G/B5G cellular mobile network;
step 2, the global management and control center combines with the information of the virtual guide rails of other unmanned vehicles to ensure driving safety and improve the global traffic operation efficiency, and plans the virtual guide rails for the unmanned vehicles, wherein the virtual guide rails specify which inductive beacons the unmanned vehicles sequentially arrive at, and when the unmanned vehicles arrive at each inductive beacon and the state quantity to be kept when the unmanned vehicles arrive, such as speed, course angle, front wheel deflection angle and the like; the virtual guide rail planning fully considers the driving safety of the unmanned automobile, the unmanned automobile drives according to the virtual guide rail, the situations that two unmanned automobiles reach the same position at the same time, the distances between the front automobile and the rear automobile are too close and the like can not occur, and even if the unmanned automobile does not strictly drive according to the virtual guide rail, the safety threat to other unmanned automobiles can not be caused. Meanwhile, the virtual guide rail planning fully considers the overall traffic operation efficiency, the time consumption of the individual travel of the unmanned automobile is not necessarily the shortest, but the overall operation efficiency of the unmanned automobile can be greatly improved.
Step 3, when the unmanned automobile meets an emergency condition in the driving process and the driving safety is threatened, immediately reporting the emergency condition to a nearest edge control center; the edge control center aims at removing the safety threat, can plan a temporary virtual guide rail for the unmanned automobile, and controls the unmanned automobile to run according to the temporary virtual guide rail information until the safety threat is removed; after the safety threat is relieved, the global management and control center plans the virtual guide rail for the unmanned automobile again by taking the optimization of global traffic efficiency as a target.
In conclusion, the virtual guide rail planning comprehensively considers the individual safety requirement and the overall operation efficiency requirement of the unmanned automobile, and provides safe and efficient unmanned experience for passengers.
According to an embodiment of the invention, a multi-stage cooperative unmanned automobile control method is provided according to the wireless virtual guide rail system. The unmanned automobile management and control is jointly responsible for an edge management and control center and a global management and control center. The control method is shown in fig. 3 and comprises the following steps:
step 1, before an unmanned automobile is started, reporting a starting point and a destination to a global management and control center, wherein the global management and control center comprehensively considers the starting point and the destination of the unmanned automobile, an induction beacon map and other information of virtual guide rails of the unmanned automobile, aims at ensuring driving safety and improving global traffic operation efficiency, and plans the virtual guide rails for the unmanned automobile; and the global management and control center issues the planned virtual guide rail plan to the edge management and control center for real-time control of the unmanned automobile.
And 2, after the edge control center obtains the virtual guide rail of the unmanned automobile, issuing a starting instruction to the unmanned automobile. After the unmanned vehicle is started, reporting the state information such as the pose, the course angle, the speed and the like acquired by the inertial navigation device to an edge control center in real time, checking whether the state information of the unmanned vehicle is consistent with the virtual guide rail or not by the edge control center, and judging whether the unmanned vehicle is separated from the virtual guide rail or not; when the unmanned vehicle is separated from the virtual guide rail, the edge control center starts tracking and correcting, sends a control instruction to the unmanned vehicle, changes the state quantities such as speed, front wheel deflection angle and the like, and guides the unmanned vehicle to return to the positive rail.
Step 3, when the unmanned vehicle encounters an emergency and faces danger during running, the edge control center plans the unmanned vehicle state information and the virtual guide rail information in the overall district to remove the running danger as a target for planning a temporary virtual guide rail for the unmanned vehicle, and controls the unmanned vehicle according to the temporary virtual guide rail; after the driving danger is relieved, the global management and control center plans the virtual guide rail for the unmanned automobile again by taking the improvement of the global traffic operation efficiency as a target.
Step 4, as shown in fig. 2, when the unmanned vehicle drives from the region under jurisdiction of the edge control center a to the region under jurisdiction of the edge control center B, the edge control centers a and B will take over the unmanned vehicle at the same time, and share the unmanned vehicle state information and the control information; after the unmanned vehicle can be controlled by the edge control center B to safely drive, the edge control center A disconnects the wireless control link of the unmanned vehicle, and the control right of the unmanned vehicle is handed over to the edge control center B, so that the cross-region driving safety of the unmanned vehicle is ensured.
The differences between the edge management center and the global management center are shown in table 1.
TABLE 1 comparison of edge management and control centers with Global management and control centers
In conclusion, the edge control center and the global control center jointly complete the control of the unmanned vehicle according to respective characteristics, so that the overall operation efficiency of global traffic is improved while the driving safety is ensured.
Generally, compared with the prior art that a single-layer cloud architecture is adopted to process scheduling tasks, the multi-layer cloud architecture is adopted, layered processing can be performed according to task real-time performance, the edge management and control center processes real-time tasks, the global management and control center processes quasi-real-time tasks, and the unmanned vehicle scheduling task can be better supported. In addition, the global management and control center of the invention collects the full-time and spatial traffic information, can plan the global optimal path, and can improve the whole traffic operation efficiency while reducing the driving danger. The edge control center and the global control center carry out information interaction, and the edge control center and the global control center cooperate to control the safe driving of the unmanned automobile.
It is to be noted and understood that various modifications and improvements can be made to the invention described in detail above without departing from the spirit and scope of the invention as claimed in the appended claims. Accordingly, the scope of the claimed subject matter is not limited by any of the specific exemplary teachings provided.
Claims (10)
1. A wireless virtual rail system for unmanned driving, comprising: a plurality of inductive beacons, an unmanned vehicle, a wireless communication network, an edge management and control center and a global management and control center, wherein,
the plurality of induction beacons are laid on the road and used for sending the physical position information of the induction beacons to the unmanned automobile in a wireless signal mode;
the unmanned automobile is provided with an induction beacon receiver for receiving wireless signals sent by the induction beacon;
the wireless communication network is used for the unmanned automobile to communicate with the edge management and control center and the global management and control center at a high speed;
the edge control center is used for indicating real-time tasks of the unmanned automobile running on the road according to the virtual guide rails issued by the global control center;
the global management and control center is used for planning virtual guide rails and quasi-real-time tasks of overall dispatching of the unmanned automobile for the unmanned automobile; and
the unmanned vehicle carries out two-way communication with the edge control center, the unmanned vehicle carries out two-way communication with the global control center, the edge control center collects real-time information of all unmanned vehicles in the jurisdiction area and processes the information to form edge space-time traffic information, the global control center collects the edge space-time traffic information of each jurisdiction area to form full space-time traffic information, the global control center generates a global control instruction according to the full space-time traffic information, the edge control center generates an edge control instruction according to the edge space-time traffic information and the global control instruction, and the unmanned vehicle runs according to the global control instruction and the edge control instruction.
2. The system of claim 1, the wireless communication network is a 5G/B5G cellular network.
3. The system of claim 1, the drone vehicle further mounting an inertial navigation device for drone vehicle positioning.
4. The system of claim 1, comprising a global management center and a plurality of said edge management centers.
5. A virtual guide planning method based on the system of one of claims 1 to 4, comprising:
step 1, the global management and control center receives a destination reported by an unmanned automobile through a 5G/B5G cellular mobile network;
step 2, the global management and control center plans a virtual guide rail for the unmanned vehicle, wherein the virtual guide rail comprises the time when the unmanned vehicle sequentially arrives at the induction beacon along the way, and the speed, the course angle and the front wheel deflection angle when the unmanned vehicle arrives at the induction beacon;
and 3, controlling the unmanned automobile to run by the edge control center according to the planned virtual guide rail.
6. A method of controlling an unmanned vehicle based on the system of any one of claims 1-4, comprising:
step 1, the global management and control center plans a virtual guide rail for the unmanned automobile according to a destination and a sensing beacon map reported by the unmanned automobile of the unmanned automobile and sends the virtual guide rail to the edge management and control center;
step 2, the edge control center controls the unmanned vehicle to run along the planned virtual guide rail and report the pose, the course angle and the speed in real time according to the virtual guide rail issued by the global control center; when the edge control center judges that the unmanned vehicle is separated from the virtual guide rail, the unmanned vehicle is controlled to change the speed and the deflection angle of the front wheel, and the unmanned vehicle is guided to return to the virtual guide rail;
and 3, when the edge management and control center judges that the unmanned automobile cannot run according to the pre-planned virtual guide rail according to the running state information and the virtual guide rail information of the unmanned automobile, planning a temporary virtual guide rail for the unmanned automobile, and controlling the unmanned automobile to run according to the planned temporary virtual guide rail.
7. The unmanned vehicle control method of the system of claim 6, further comprising:
step 4, when the unmanned vehicle drives into the area under jurisdiction of the second edge control center from the area under jurisdiction of the first edge control center, the first edge control center and the second edge control center take over the unmanned vehicle at the same time, and share the state information and the control information of the unmanned vehicle; and after the fact that the second edge control center can control the unmanned automobile to safely drive is ensured, the first edge control center disconnects the wireless control link of the unmanned automobile and hands over the control right of the unmanned automobile to the second edge control center.
8. An unmanned vehicle positioning method based on the system of claim 4, comprising:
step 1, the unmanned automobile identifies the physical position of the induction beacon according to the signal receiver, and obtains the position information of the unmanned automobile according to the detected direction and signal intensity of the induction beacon;
step 2, when the induction beacon is not detected, the unmanned automobile is positioned by using the inertial navigation device;
and 3, correcting the inertial navigation positioning by the unmanned automobile according to the positioning result of the induction beacon.
9. 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 claims 5 to 8.
10. A computer device comprising a memory and a processor, on which memory a computer program is stored which is executable on the processor, characterized in that the steps of the method according to any of claims 5 to 8 are implemented when the processor executes the program.
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