CN114162141A

CN114162141A - Control method, device, system, electronic equipment, storage medium and vehicle

Info

Publication number: CN114162141A
Application number: CN202111498037.8A
Authority: CN
Inventors: 李罗姗竹; 王雅
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-03-11
Anticipated expiration: 2041-12-09
Also published as: CN114162141B

Abstract

The disclosure provides a control method, a control device, a control system, electronic equipment, a storage medium and a vehicle, and relates to the field of artificial intelligence, in particular to the fields of Internet of vehicles, intelligent cabins and the like. The specific implementation scheme is as follows: receiving a target object acquisition task sent by first terminal equipment, and determining starting time and a first driving route based on the target object acquisition task; sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition based on the departure time and the arrival time; controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached; and under the condition of acquiring the target object, determining to finish the target object acquisition task. The method can improve the utilization rate of the vehicle and ensure the overall treatment efficiency.

Description

Control method, device, system, electronic equipment, storage medium and vehicle

Technical Field

The present disclosure relates to the field of computer technology, and more particularly to the field of artificial intelligence techniques for automatic driving, intelligent transportation, and the like.

Background

With the development of computer technology, the technology in the field of artificial intelligence such as intelligent transportation and automatic driving is more and more widely applied, wherein the automatic driving is a function that more and more vehicles have, and the vehicle with the automatic driving function also brings more and more convenient use experience for vehicle owners. However, how to fully utilize the intelligent and efficient processing capability of the vehicle with the automatic driving function and further improve the utilization rate of the vehicle with the automatic driving function becomes a problem to be solved.

Disclosure of Invention

The disclosure provides a control method, a control device, a control system, an electronic device, a storage medium and a vehicle.

According to a first aspect of the present disclosure, there is provided a control method including:

receiving a target object acquisition task sent by first terminal equipment, and determining starting time and a first driving route based on the target object acquisition task; the target object acquisition task comprises a first destination and arrival time;

sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition based on the departure time and the arrival time;

controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached;

and under the condition of acquiring the target object, determining to finish the target object acquisition task. According to a second aspect of the present disclosure, there is provided a control apparatus comprising:

the receiving module is used for receiving a target object acquisition task sent by the first terminal equipment;

the planning module is used for acquiring tasks based on the target object and determining a starting time and a first driving route; the target object acquisition task comprises a first destination and arrival time;

a sending module, configured to send, to the first terminal device, confirmation information of the target object acquisition task;

a determining module, configured to control the sending module to send confirmation information of the target object acquisition task to the first terminal device when it is determined that the vehicle satisfies a travel condition based on the departure time and the arrival time;

a driving module for controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached;

and the task state management module is used for determining to finish the target object acquisition task under the condition of acquiring the target object.

According to a third aspect of the present disclosure, there is provided a control system comprising:

the control device is used for receiving a target object acquisition task sent by the first terminal equipment, and determining a starting time and a first driving route based on the target object acquisition task; the target object acquisition task comprises a first destination and arrival time; sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition based on the departure time and the arrival time; controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached; under the condition of acquiring the target object, determining to finish the task of acquiring the target object;

and the first terminal equipment is used for sending the target object acquisition task to the control device and receiving confirmation information of the target object acquisition task fed back by the control device.

According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the control method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the aforementioned method.

According to a sixth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the control method of the aforementioned first aspect.

According to a seventh aspect of the present disclosure, there is provided a vehicle including the electronic apparatus of the above-described aspect embodiment.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

In the solution provided by this embodiment, after receiving the target object obtaining task, it may be determined whether the vehicle meets a travel condition, and when the vehicle meets the travel condition, the vehicle is controlled to travel to the first destination and obtain the target object. Therefore, the utilization rate of the vehicle is improved, and the overall processing efficiency is ensured by fully utilizing the intelligent processing and controlling capacity.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic flow chart of a control method according to an embodiment of a first aspect of the present disclosure;

FIG. 2 is a schematic flow chart of a processing method for determining an issue time according to an embodiment of the first aspect of the present disclosure;

FIG. 3 is a schematic flow chart of a process for acquiring a target object according to an embodiment of the first aspect of the present disclosure;

fig. 4a is a schematic diagram of style 1 presented by a second display region, according to an embodiment of the first aspect of the present disclosure;

fig. 4b is a schematic diagram of a style 2 presented by the second display region, according to an embodiment of the first aspect of the present disclosure;

FIG. 5 is a schematic diagram of a display effect of a target graphic in a third display area according to an embodiment of the first aspect of the present disclosure;

FIG. 6 is a schematic diagram of a structure of a control device according to an embodiment of a second aspect of the present disclosure;

FIG. 7 is a schematic diagram of another structure of a control device according to an embodiment of the second aspect of the disclosure;

FIG. 8 is a schematic diagram of a component structure of a control system according to an embodiment of a third aspect of the present disclosure;

FIG. 9 is a schematic diagram of another component structure of a control system according to an embodiment of a third aspect of the present disclosure;

FIG. 10 is a schematic view of an exemplary process flow for pick-up and drop-off tasks provided in accordance with the present disclosure;

fig. 11 is a block diagram of an electronic device for implementing a control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

A first aspect of the present disclosure provides a control method, as shown in fig. 1, including:

s101: receiving a target object acquisition task sent by first terminal equipment, and determining starting time and a first driving route based on the target object acquisition task; the target object acquisition task comprises a first destination and arrival time;

s102: sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition based on the departure time and the arrival time;

s103: controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached;

s104: and under the condition of acquiring the target object, determining to finish the target object acquisition task.

The scheme provided by the embodiment can be applied to the control device. The control device may be mounted in a vehicle, that is, the control device may be mounted in the vehicle as a control part in the vehicle; or the control device may communicate with a control component in the vehicle to control the vehicle. The vehicle may be a vehicle with an automatic driving function.

The target object may be an item or a passenger. When the target object is an article, the target object acquisition task may be a pickup task specifically; when the target object is a passenger, the target object acquisition task may be a pick-up task.

The target object acquisition task may include a task purpose, such as picking up goods or receiving people, in addition to the first destination and the arrival time. The target object obtaining task may further include other information besides the above content, for example, a travel notifier and a contact thereof are set, and the travel notifier may be a shipper and a contact thereof or a waiting passenger and a contact thereof, and the like, which is not exhaustive in the embodiment.

The target object obtaining task may be set in the first terminal device, the first terminal device may be an intelligent terminal used by a vehicle owner of the vehicle, and the intelligent terminal may be any one of a mobile phone, a tablet computer, and a desktop computer. More specifically, the target object obtaining task may be set by the vehicle owner through a target application on the first terminal device for controlling the vehicle. For example, the owner of the vehicle newly creates a pickup task in the target application of the mobile phone, sets a pickup location (i.e., the first destination) of the pickup task, and sets a pickup time (i.e., the arrival time). Or, the vehicle owner newly establishes a pick-up task in the target application in the mobile phone, sets a pick-up location (i.e. the first destination) of the pick-up task, and sets pick-up time (i.e. the arrival time).

And under the condition that the vehicle owner sets the target object acquisition task after the first terminal equipment finishes, the first terminal equipment sends the target object acquisition task to the control device. The communication method between the first terminal device and the control apparatus may be a wireless communication method, such as a bluetooth communication method, a communication method of a mobile communication network, and the like, which is not exhaustive here.

The first travel route may be: a travel route is predicted from the departure location to the first destination. The predicted departure position may be different according to different actual situations, for example, if there is no other task before the departure time of the target object acquiring task, the current position of the vehicle is the predicted departure position; for another example, before the target object obtaining task is executed, another task that needs to be executed is also executed, and the destination of the last other task is taken as the expected departure position.

After determining the departure time, the method may further include: and judging whether the vehicle meets a travel condition or not based on the departure time and the arrival time.

The determining, based on the departure time and the arrival time, whether the vehicle meets a travel condition may specifically be: and judging whether the predicted state of the vehicle between the departure time and the arrival time meets the travel condition or not. Wherein the predicted state may refer to at least one of a task execution state, a predicted remaining oil amount of the vehicle, a predicted remaining power amount of the vehicle, and the like.

After determining whether the vehicle satisfies a travel condition based on the departure time and the arrival time, the method may include: sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition; or, when it is determined that the vehicle does not satisfy the travel condition, sending rejection information of the target object acquisition task to the first terminal device.

After the rejection information of the target object acquisition task is sent to the first terminal device, the next task sent by the first terminal device may be continuously waited for receiving. The next task may be set by the owner of the vehicle at the first terminal device according to the actual situation. For example, the next task may be a next pick task or a next pick task; or the next task may be another type of task, such as a task going to the location of the owner of the vehicle, or a task going to a charging station, or a task going to a gas station, etc., not all possibilities being exhaustive.

After the confirmation information of the target object acquisition task is sent to the first terminal device, whether the departure time is reached or not can be judged in real time based on the current time, and in the case that the departure time is determined to be reached, the vehicle can be controlled to travel to the first destination according to the first travel route in an automatic driving mode.

In the process of the vehicle traveling to the destination according to the travel route in the automatic driving mode, the method may further include: detecting the current position of the vehicle in real time, and judging whether the vehicle reaches the first destination or not based on the current position of the vehicle.

After the vehicle reaches the first destination, it may be further detected whether the target object is acquired. Wherein the detecting whether the target object is acquired may be: it is not exhaustive to detect whether cargo is placed in the target space or whether passengers enter the target space, etc.

In the case of acquiring the target object, it may be determined that the target object acquisition task is completed.

In the solution provided by this embodiment, after receiving the target object obtaining task, it may be determined whether the vehicle meets a travel condition, and when the vehicle meets the travel condition, the vehicle is controlled to travel to the first destination and obtain the target object. Therefore, the utilization rate of the vehicle is improved, and the overall processing efficiency is ensured by fully utilizing the intelligent processing and control capacity.

In one embodiment, the determining that the vehicle satisfies the travel condition may include one of:

determining that the vehicle meets the travel condition under the condition that no other tasks exist within the time from the departure time to the arrival time;

and under the condition that other tasks exist from the departure time to the arrival time and the priority of the target object acquisition task is higher than that of the other tasks, determining that the vehicle meets the travel condition.

Respectively, one determination method may specifically be:

acquiring starting time and ending time corresponding to all other tasks respectively;

judging whether the starting time or the ending time of at least one other task is included in the time from the starting time to the arrival time; if not, determining that the vehicle is in an idle state from the departure time to the arrival time, and determining that the vehicle meets the travel condition; and if the starting time or the ending time of at least one other task is included in the time from the departure time to the arrival time, determining that the vehicle is not in an idle state in the time from the departure time to the arrival time, and determining that the vehicle does not meet the travel condition.

Wherein the other tasks may be preconfigured by the first terminal device. For example, the other task may be another pick-up task configured by the terminal device, and accordingly, the other pick-up task corresponds to a start time of a predicted departure and an end time of a predicted arrival.

Another determination method may specifically be:

judging whether the starting time or the ending time of N other tasks is included in the time from the starting time to the arrival time, wherein N is an integer greater than or equal to 1;

if not, determining that the vehicle is in an idle state from the departure time to the arrival time, and determining that the vehicle meets the travel condition;

if yes, judging whether the priority of the target object acquisition task is higher than that of the N other tasks;

if the priority of the target object acquisition task is higher than that of the N other tasks, determining that the vehicle meets the travel condition; and if the priority of the target object acquisition task is not higher than any one of the N other tasks, determining that the vehicle does not meet the travel condition.

Therefore, by adopting the scheme, under the condition that no other task exists within the departure time and the arrival time or other tasks exist but the priority of the target object acquisition task is higher than that of the other tasks, the vehicle is determined to meet the travel condition. Therefore, the vehicle can be ensured not to be in an idle state for a long time, so that the vehicle can assist a vehicle owner to complete a specified task in the idle period, the intelligentization degree of the vehicle is higher, and the utilization rate of the vehicle is also improved; in addition, the driving resources of the vehicle can be intelligently distributed based on the priority of the tasks, so that the completion efficiency of the tasks with high priority is ensured.

In one embodiment, the determining that the vehicle satisfies the travel condition in the absence of other tasks within the departure time to the arrival time includes:

determining a driving range corresponding to the predicted residual driving energy of the vehicle at the departure time under the condition that no other tasks exist within the departure time and the arrival time, and determining that the vehicle meets the travel condition under the condition that the driving range is greater than the length of the first travel route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

The method for determining the predicted residual driving energy of the vehicle at the departure time may include:

detecting whether the vehicle has other tasks before the departure time;

if the other tasks do not exist before the departure time, taking the current residual driving energy as the predicted residual driving energy;

if M other tasks exist before the departure time, determining the driving energy required to be consumed by the M other tasks based on the total length of the driving routes of the M other tasks; subtracting the driving energy required to be consumed by the M other tasks from the current residual driving energy of the vehicle to obtain the predicted residual driving energy; m is an integer of 1 or more.

The M other tasks may be all tasks between the current time and the departure time of the target object acquisition task; the total length of the travel routes for the M other tasks may be: and adding the lengths of the driving routes of each other task in the M other tasks to obtain the total length of the driving routes of the M other tasks.

For example, if the vehicle is a fuel-powered vehicle, the determination manner of the predicted remaining driving energy of the vehicle at the departure time is specifically as follows: detecting whether the vehicle has other tasks before the departure time; if the other tasks do not exist, taking the current residual oil quantity as the estimated residual oil quantity; if M other tasks exist, determining the oil quantity required to be consumed by the M other tasks based on the total length of the driving routes of the M other tasks; and subtracting the oil quantity required to be consumed by the M other tasks from the current remaining oil quantity of the vehicle to obtain the predicted remaining oil quantity.

For another example, if the vehicle is an electrically driven vehicle, the determination manner of the predicted remaining driving energy of the vehicle at the departure time is specifically as follows: detecting whether the vehicle has other tasks before the departure time; if the other tasks do not exist, taking the current residual capacity as the predicted residual capacity; if M other tasks exist, determining the electric quantity required to be consumed by the M other tasks based on the total length of the driving routes of the M other tasks; and subtracting the electric quantity required to be consumed by the M other tasks from the current residual electric quantity of the vehicle to obtain the predicted residual electric quantity.

The determining the driving range corresponding to the predicted remaining driving energy of the vehicle at the departure time may specifically include: and calculating the driving range corresponding to the predicted residual driving energy based on the hundred-kilometer average energy consumption value of the vehicle and the predicted residual driving energy. The hundred kilometer average energy consumption value can be determined according to actual conditions, and can refer to hundred kilometer average oil consumption or hundred kilometer average electricity consumption.

Therefore, by adopting the scheme, when it is determined that the vehicle can finish the traveling of the first traveling route by further combining the predicted residual driving energy of the vehicle under the condition that no other tasks exist between the departure time and the arrival time, it is determined that the vehicle meets the traveling condition, so that the utilization rate of the vehicle is improved, and the task completion rate is also ensured.

In one embodiment, the determining that the vehicle satisfies the travel condition in a case where there is another task from the departure time to the arrival time and the target object acquiring task has a higher priority than the other task includes:

determining a driving range corresponding to the predicted residual driving energy of the vehicle at the departure time under the condition that other tasks exist within the departure time and the arrival time and the priority of the target object acquisition task is higher than that of the other tasks, and determining that the vehicle meets the travel condition under the condition that the driving range is larger than the length of the first driving route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

The manner of determining the predicted remaining driving energy of the vehicle at the departure time is the same as in the foregoing embodiment, and therefore, a repetitive description will not be given.

Therefore, by adopting the scheme, under the condition that no other task exists from the departure time to the arrival time and the priority of the target object acquisition task is higher than that of the other task, the vehicle is determined to meet the travel condition when the vehicle is determined to be capable of completing the travel of the first travel route by further combining the predicted state of the vehicle, so that the utilization rate of the vehicle is improved and the task completion rate is guaranteed.

Whether the vehicle satisfies the travel condition may be determined through the above process; and further sending confirmation information of the target object acquisition task to the terminal device when it is determined that the vehicle satisfies a travel condition based on the departure time and the arrival time. It should be understood that, after sending the confirmation information of the target object obtaining task to the terminal device, it is also possible to obtain a new task until the departure time of the target object obtaining task is reached, and therefore, this embodiment may further include:

if the starting time corresponding to the new task is after the arrival time of the target object acquisition task, the target object acquisition task may not be adjusted.

If the end time corresponding to the new task is before the departure time of the target object acquisition task, determining new predicted remaining driving energy of the vehicle at the departure time of the target object acquisition task based on the new task again, and replanning a new first driving route of the target object acquisition task based on the destination of the new task; when the driving range corresponding to the new estimated residual driving energy is not greater than the length of the new first driving route, initiating that the target object cannot be executed to acquire task information to the terminal device; the target object acquisition task information which cannot be executed can also remind the vehicle owner of new predicted residual driving energy. Correspondingly, the vehicle owner can determine to control the vehicle to be refueled or charged according to the received information that the target object acquisition task cannot be executed, or can cancel the target object acquisition task.

If the starting time or the ending time corresponding to the new task is between the departure time and the arrival time of the target object acquisition task, whether to execute the new task can be judged again based on the priority of the new task and the priority of the target object acquisition task, and if the new task is determined not to be executed, rejection information of the new task can be sent to the terminal equipment; if the new task is determined to be executed and the target object acquisition task is not executed, the rejection information of the target object acquisition task can be sent to the terminal equipment again.

Therefore, the task which is received currently can be adjusted flexibly by adopting the mode, so that the vehicle can be controlled more intelligently, the utilization rate of the vehicle is ensured, and the completion rate of the task with higher priority can be ensured.

In one embodiment, the determining a departure time and a first travel route based on the target object retrieval task, as shown in fig. 2, includes:

s201: determining at least one candidate route from which to determine the first travel route based on an expected departure location and the first destination;

s202: determining the departure time based on road condition prediction information, the first travel route, and the arrival time.

Wherein, the predicted departure position may be different according to different actual situations, specifically:

the predicted departure position is the current position of the vehicle when no other task exists between the current time and the departure time of the target object acquisition task;

and when other tasks exist between the current time and the starting time of the target object acquisition task, taking the destination of the last other task before the starting time of the target object acquisition task as the expected starting position.

The determining at least one candidate route based on the predicted departure location and the first destination, the determining the first travel route from the at least one candidate route, may include: determining the at least one candidate route from which the first travel route is determined based on the expected departure location, the first destination, and road information included in a high-precision map.

The determining of the first driving route from the at least one candidate route may be performed by the control device, and specifically may include one of:

selecting a candidate route which takes the shortest time from the at least one candidate route as the first traveling route;

selecting a candidate route with the lowest congestion index from the at least one candidate route as the first driving route;

selecting a candidate route with the shortest length from the at least one candidate route as the first driving route;

and randomly selecting one candidate route from the at least one candidate route to the first running route.

It should be understood that the above description is only an exemplary illustration, and other routing strategies may be preset in the actual process, but the present embodiment is not exhaustive.

Alternatively, the determining the first travel route from the at least one candidate route may be performed by the first terminal device, and may include: sending the at least one candidate route and its related information to the first terminal device; the first terminal device presents the at least one candidate route and the related information thereof, and responds to a click operation of any one candidate route in the at least one candidate route, and sends the candidate route serving as the first running route to the control device; the control device receives the first driving route fed back by the first terminal equipment. Wherein the related information of each candidate route in the at least one candidate route may include: the specific path of each candidate route, the expected travel time of each candidate route, and the like.

The determination method of the traffic prediction information may be: and determining road condition prediction information from the departure time to the arrival time based on historical road condition data. The historical traffic data may include historical traffic data of the same time period, or may include historical traffic data of the same time period on the same day.

The determining of the traffic prediction information from the departure time to the arrival time based on the historical traffic data may specifically be: and calculating the average value of the congestion indexes at the same time for all historical road condition data at the same time period, and taking the average value of the congestion indexes at the same time as the road condition prediction information of each road section from the departure time to the arrival time. Or calculating the average value of the congestion indexes at the same time for all historical road condition data at the same day and the same time period, and taking the average value of the congestion indexes at the same time as the road condition prediction information of each road section from the departure time to the arrival time.

The determining the departure time based on the traffic condition prediction information, the first driving route, and the arrival time may include:

determining a congestion index corresponding to the first driving route based on the road condition prediction information; determining a travel time period required for the first travel route based on the congestion index and a maximum speed per hour of the vehicle; and subtracting the driving time required by the first driving route from the arrival time to obtain the departure time.

Therefore, by adopting the scheme, the first driving route can be determined based on the predicted starting position and the first destination, and the starting time can be determined based on the road condition prediction information and the first driving route, so that the vehicle can be more intelligently scheduled to travel, the accuracy of the starting time of the vehicle is improved, and the punctuality of reaching the first destination is further ensured. In addition, since the control device can select the first travel route from at least one candidate route, human involvement is reduced, control of the vehicle can be performed more intelligently, and processing efficiency is ensured.

In one embodiment, the controlling the vehicle to travel to the first destination according to the first travel route in the automatic driving mode when the departure time is reached may include the following two specific processing manners:

in a first processing mode, when the departure time is reached, the vehicle is directly controlled to travel to the first destination according to the first travel route in an automatic driving mode.

In this processing, as long as it is determined that the current time reaches the departure time, the vehicle may be directly controlled to travel to the first destination according to the first travel route in the autonomous driving mode.

In a second processing mode, when the departure time is up, travel reminding information is sent to the first terminal equipment; and controlling the vehicle to travel to the first destination according to the first travel route in an automatic driving mode under the condition of receiving the confirmed travel information fed back by the first terminal device.

In this processing manner, as long as it is determined that the current time reaches the departure time, the travel reminding information is sent to the first terminal device to prompt the vehicle owner to determine whether to approve execution of the target object acquisition task according to the current self-requirement; and if the vehicle owner determines to agree to execute the target object acquisition task, the confirmed travel information can be sent through the first terminal equipment. Accordingly, the control device controls the vehicle to travel to the first destination according to the first travel route in the automatic driving mode only when the travel confirmation information fed back by the first terminal device is confirmed to be received.

It should be noted that, no matter which processing method is adopted, the scheme provided in this embodiment may further detect the current position of the vehicle in real time, and send the current position of the vehicle to the terminal device, so that the terminal device can show the current position of the vehicle in real time.

By adopting the processing, the vehicle owner can master the current situation of executing the target object acquisition task in real time, and can determine whether to set a new task for the vehicle according to the current task execution situation, so that the utilization rate of the vehicle can be ensured, and convenience is provided for the vehicle owner.

In one embodiment, when the vehicle reaches the first destination, it is further determined whether the vehicle acquires the target object, as shown in fig. 3, which may specifically include:

s301: under the condition that the vehicle is determined to reach the first destination, sending arrival reminding information to second terminal equipment;

s302: in response to acquiring the relevant information of the target object, determining a target space of the vehicle based on the relevant information of the target object; the target space of the vehicle is one of a plurality of available spaces of the vehicle;

s303: controlling to display the indication information of the target space in a first display area of the vehicle, and controlling to start the target space of the vehicle;

s304: determining that the target object is acquired in a case where it is detected that the target object is located within the target space of the vehicle.

The determining manner of the vehicle reaching the first destination may include: detecting the current position of the vehicle in real time, and determining that the vehicle reaches the first destination under the condition that the current position of the vehicle is the first destination.

The second terminal device may be a smart device, such as a mobile phone, a tablet computer, and the like. The second terminal device is specifically the terminal device used by the shipper when the target object acquisition task is the pickup task; and when the target object acquisition task is the pick-up task, the second terminal device is the terminal device used by the passenger.

The arrival reminding information may include: the current location of the vehicle.

It should be understood that, when it is determined that the vehicle reaches the first destination, the arrival reminding information may be further sent to the first terminal device, so that the owner of the vehicle may also know in real time that the vehicle is currently in a state of receiving the target object.

After the arrival reminding information is sent to the second terminal device, the detection component of the vehicle can be controlled to be started, and the relevant information of the target object starts to be detected. Or after the arrival reminding information is sent to the second terminal device, whether confirmation information aiming at the arrival reminding information sent by the second terminal device is received or not can be detected; and when the confirmation information aiming at the arrival reminding information sent by the second terminal equipment is received, controlling to start a detection part of the vehicle and starting to detect the related information of the target object.

Wherein the detection component may comprise a camera; additionally, the detection component may also include a distance sensor, such as at least one of an infrared sensor, radar, depth camera, and the like.

The related information of the target object may include: the overall dimension of the target object; further, the related information of the target object may further include a type of the target object, for example, the target object is goods or the target object is a passenger, and the like.

The detection process of the related information for the target object may include: controlling to start a camera of the vehicle, and acquiring image information of the target object acquired by the camera; and analyzing the image information of the target object to obtain the related information of the target object. The analyzing of the image information of the target object may be performed by using a preset image analysis model, or may be performed by using a preset image analysis algorithm, and as long as the manner of analyzing the acquired image information of the target object to obtain the relevant information of the target object is within the protection scope of the embodiment.

Alternatively, the detection processing of the related information for the target object may include: controlling to start a camera and a distance sensor of the vehicle, acquiring image information of the target object acquired by the camera, and acquiring depth information of the target object detected by the distance sensor; and analyzing based on the image information of the target object and the depth information of the target object to obtain the related information of the target object. The analyzing based on the image information of the target object and the depth information of the target object to obtain the related information of the target object may be performed by using a preset image analysis model, or may be performed by using a preset image analysis algorithm, as long as the manner of obtaining the related information of the target object through analyzing the acquired image information of the target object and the depth information of the target object is within the protection scope of the embodiment.

The determining the target space of the vehicle based on the related information of the target object may specifically include: determining the target space of the vehicle from at least one candidate space of the plurality of available spaces of the vehicle, the size of which is larger than the outer dimension of the target object, based on the sizes of the plurality of available spaces and the outer dimension of the target object.

Wherein the number of the at least one candidate space may be one or more. Respectively, in the case that there is only one candidate space, the determining the target space of the vehicle from the at least one candidate space specifically includes: the candidate space is directly determined to be the target space of the vehicle.

In the case that there are multiple candidate spaces, the determining the target space of the vehicle from the at least one candidate space is specifically: taking any one of the plurality of candidate spaces as the target space of the vehicle; or the smallest one of the plurality of candidate spaces is taken as the target space of the vehicle; or using the largest one of the candidate spaces as the target space of the vehicle.

The first presentation area may be a fixed presentation area outside the vehicle, such as a display screen at the front door of the vehicle. Correspondingly, the controlling of the indication information of the target space displayed in the first display area of the vehicle may specifically include: controlling a fixed display area outside the vehicle to display the indication information of the target space; the indication information of the target space may specifically be a text, such as "please put into a trunk" or "please put into a rear seat" directly displayed in a fixed display area outside the vehicle, which is only an exemplary illustration and is not a limitation on the indication information of the target space.

Or, the first display area may be an external display area of the target space, for example, the target space is a trunk, and the first display area may be a light prompt area on a door of the trunk. Correspondingly, the controlling of the indication information of the target space displayed in the first display area of the vehicle may specifically include: controlling the vehicle to display indication information of the target space in an external display area of the target space; the indication information of the target space may be light indication information, and the display form of the indication information may be set according to actual situations, for example, if the target space is a rear seat, a solid blue dot that flickers, a solid green square that flickers, a yellow light that flickers, or the like may be displayed in the outer display area of the rear door, which is merely an exemplary illustration and is not a limitation to the indication information of the target space.

The control may start the process of the target space of the vehicle at the same time as the control displays the indication information of the target space in the first display area of the vehicle. Alternatively, the control starts the processing of the target space of the vehicle, which may occur after a processing time for the control to present the indication information of the target space in the first presentation area of the vehicle is delayed by a specified time period; the specified time period may be 5 seconds, 1 second, or longer or shorter, and is not exhaustive herein.

The controlling of the target space for turning on the vehicle may specifically be: controlling a door that opens the target space of the vehicle; for example, if the target space is a rear seat, the opening of any one of the rear doors of the vehicle is controlled; and controlling to open a trunk door of the vehicle if the target space is a trunk.

The manner of detecting whether the target object is located within the target space of the vehicle may include: the target object may be determined to be located in the target space of the vehicle by detecting a change in pressure value by a pressure sensor at any one or more of a seat, a floor, and a backrest in the target space.

Alternatively, the manner of detecting whether the target object is located within the target space of the vehicle may include: it may be determined that the target object is detected in the target space of the vehicle by detecting a change in a pressure value by a pressure sensor at any one or more of a seat, a floor, and a backrest in the target space, and switching a door of the target space from an open state to a closed state.

Still alternatively, the manner of detecting whether the target object is located within the target space of the vehicle may include: the target space of the vehicle can be determined to be detected when the pressure sensor at any one or more of the seat, the ground and the backrest in the target space detects the change of the pressure value, the door of the target space is detected to be switched from the open state to the closed state, and the notification information for confirming the delivery sent by the first terminal device is received.

The sending of the receiving confirmation notification information by the first terminal device may specifically be: the shipper sends a notification that the shipment is completed to the first terminal device used by the vehicle owner through the second terminal device used by the shipper; the vehicle owner can send the notification information for confirming the delivery to the control device through the first terminal equipment.

Therefore, by adopting the scheme, the target space for placing the target object can be determined by detecting the related information of the target object, and the target object can be determined to be acquired when the target object is detected to be located in the target space. Therefore, the vehicle can provide a proper target space for the target object more intelligently, relevant adjustment operation caused by the fact that the size or the shape of the target object does not accord with the size of the designated space is avoided, and the overall processing efficiency is improved.

In one embodiment, the method may further include: in the process of controlling the vehicle to travel to the first destination according to the first travel route in the automatic driving mode, controlling a display component in a second display area of the vehicle to display a target pattern based on the current travel state of the vehicle; the target style is one of multiple styles, and different styles in the multiple styles correspond to different driving states.

The second display area and the first display area can be in the same position or different positions. For example, the second display area may be forward of the vehicle bottom and/or rearward of the vehicle bottom. The display element may be formed by at least one signal light and/or at least one display screen.

For example, any one of the driving states may be any one of a driving state in which the vehicle turns left, a driving state in which the vehicle turns right, a driving state in which the vehicle brakes, a driving state in which a distance between the vehicle and a front or rear object is less than a preset distance threshold, a driving state in which a pedestrian passes in front of the vehicle, and the like.

The driving state corresponding to each of the plurality of styles may be preset. For example, the plurality of styles includes style 1, style 2; wherein the pattern 1 corresponds to a driving state in which the vehicle turns left, and the pattern 1 may indicate in gray that a left rear lamp 401 of the vehicle bottom is turned on as shown in fig. 4 a; the pattern 2 corresponds to a driving state in which the distance between the vehicle and the object in front is less than the preset distance threshold, and the pattern 2 may be as shown in fig. 4b, that is, the left front lamp 402 and the right front lamp 403 at the bottom of the vehicle are in an off state, the display screen 404 is on and displays the shape "x" shown in fig. 4b, and the display screen 404 is on in gray in fig. 4 b.

In addition, the scheme provided by this embodiment may further include: determining a target graphic display effect based on the current automatic driving state of the vehicle, and controlling a target graphic in a third display area of the vehicle to be displayed with the target display effect; the target display effect is one of multiple display effects, and different display effects in the multiple display effects correspond to different automatic driving states.

The third display area may be different from the second display area, and the third display area may be a roof of the vehicle. The target pattern may be predetermined, for example, may be annular.

The automatic driving state may be various, and any one of the automatic driving states may include: the automatic driving mode is started, the automatic driving mode is closed, the automatic driving mode works in a normal state, the automatic driving mode works in an abnormal state, the automatic driving mode is used, and the automatic driving mode is in a state of waiting for the target object.

For example, the plurality of display effects includes display effect 1 and display effect 2; the display effect 1 corresponds to a normal working state of the automatic driving mode, for example, referring to fig. 5, the target graph is annular, and the display effect 1 is that the edge of the annular is lighted at intervals, wherein the colors lighted at intervals can be set according to actual conditions, such as blue or cyan, and the like; the display effect 2 corresponds to an abnormal working state of the automatic driving mode, the display effect 2 is that the annular edge is completely lightened, wherein the color of the annular edge which is completely lightened can be set according to actual conditions, such as red.

It should be understood that the above is only an exemplary illustration, and in the actual process, the lights in more different areas of the vehicle may also be controlled to be displayed based on more other states, for example, in the state that the vehicle is started, at least one of the roof light, the window light, the front and rear lights of the vehicle may be controlled to be in the lighting state, or in the state that the vehicle is lighted and the display is flowing, and so on. For another example, when the vehicle is in the automatic driving mode, any one of the roof, the window lamp, and the floor projector of the vehicle may be controlled to be in the on state. It is not exhaustive here.

Therefore, by adopting the scheme, the target style required to be displayed in the second display area can be determined and displayed based on the driving state of the vehicle in the driving process of the vehicle, so that the vehicle can display various driving states more intelligently in the automatic driving mode, the safety of the vehicle can be ensured, and visual prompts can be provided for other vehicles and pedestrians on the road, and the safety of other vehicles or pedestrians on the road can be ensured.

In one embodiment, the method further comprises: receiving the target object transportation task sent by the first terminal device, and determining a second driving route based on the target object transportation task, wherein the target object transportation task comprises a second destination;

after determining that the target object acquisition task is completed, the method further comprises: and controlling the vehicle to travel to the second destination according to the second travel route in the automatic driving mode, and sending notification information for completing the target object transportation task to the terminal equipment.

The time for receiving the target object transportation task sent by the first terminal device may be before the target object acquisition task is executed. For example, after the owner completes the setting of the target object obtaining task, the owner may set the target object transportation task in the terminal device.

Only the second destination may be set in the target object transporting task. Additionally, the target object transportation task may further include a time when the target object arrives at the second destination, and/or a transportation start time. It should be understood that the target object transportation task may also include other contents, and this embodiment is not exhaustive.

As explained in the foregoing embodiments, the target object may be a cargo or a passenger; accordingly, the target object transporting task may be a discharging task or a human sending task.

The determining a second driving route based on the target object transportation task may include: determining a transport starting position, and determining the second driving route based on the transport starting position and the second destination.

Wherein the determining a transport start position may comprise one of:

if the transportation starting time is set in the target object transportation task and is the time for determining to finish the target object acquisition task, the transportation starting position is the first destination;

if the transportation starting time is not set in the target object transportation task and is the time for determining to finish the target object acquisition task, and no other task exists after the target object acquisition task, the transportation starting position is the first destination;

if the transportation starting time is not set in the target object transportation task and is the time for determining the completion of the target object acquisition task, and K other tasks with higher priority than the target object transportation task exist after the target object acquisition task, the transportation starting position is the destination of the last other task in the K other tasks; k is an integer of 1 or more.

The determining the second driving route based on the transportation starting position and the second destination may include: determining at least one transportation candidate route based on the first destination and the second destination, the second travel route being determined from the at least one transportation candidate route.

The determining the second driving route from the at least one transportation candidate route may specifically be: selecting the shortest one from the at least one transportation candidate route as the second driving route; or selecting the second driving route with the least pedestrians from the at least one transportation candidate route; or, selecting the shortest route from the at least one transportation candidate route as the second driving route. It will be appreciated that there may be other selection strategies and are not exhaustive here.

The transportation start time for controlling the vehicle to travel to the second destination according to the second travel route in the automatic driving mode may be: delaying the time of a preset time length at the time of determining to complete the target object acquisition task, where the preset time length may be set according to an actual situation, and may be, for example, 1 minute, or 30 seconds, or longer or shorter;

or after determining that the target object acquisition task is completed, if there are K other tasks with priority higher than the target object transportation task, delaying the time of a preset time length at the time when the last other task of the K other tasks is completed, where the preset time length may be set according to an actual situation, for example, 1 minute, or 30 seconds, or longer or shorter.

In addition, before controlling the vehicle to travel to the second destination according to the second travel route in the automatic driving mode, the method may further include: sending prompt information for executing the target object transportation task to the first terminal equipment; and receiving indication information sent by the first terminal equipment and confirming the execution of the target object transportation task.

After the notification information of completing the target object transportation task is sent to the first terminal device, the vehicle owner may further perform different processing according to a difference in the type of the target object, for example:

the target object is a passenger, the target object transportation task is specifically a people sending task, and when the people sending task is completed, the second destination where the vehicle is located is a place where the passenger gets off; in this case, the vehicle owner may send instruction information for returning to a specified point to the control apparatus through the first terminal device, and the control apparatus may plan a return route based on the instruction information for returning to the specified point and the second destination after receiving the instruction information for returning to the specified point, and control the vehicle to return to the specified point according to the return route in the automatic driving mode.

When the unloading task is completed, the second destination where the vehicle is located may be a stopping point designated by the vehicle owner, and at this time, the stopping point may be a stopping point in an area where the vehicle owner is currently located, so that the vehicle can be controlled to exit the automatic driving mode to enter a waiting or closing state.

It should be further noted that after the vehicle completes the unloading task, a cargo prompt message may be output when the owner of the vehicle is detected to enter the vehicle; the goods prompt message can be used for indicating that the goods are put in and prompting the position of the goods. The goods prompt message may be a voice prompt message and/or a text prompt message, and this embodiment does not exhaust all possible forms of the goods prompt message.

Therefore, by adopting the scheme, the target object transportation task can be completed based on the second driving route after the target object acquisition task is completed, and the first terminal device is informed when the target object transportation task is completed. Therefore, the vehicle can complete the whole processing of acquiring the target object and transporting the target object in the automatic driving mode, the utilization rate of the vehicle is improved, and the whole processing efficiency is also ensured because the influence of human factors is reduced in the whole processing.

A second aspect of the present disclosure provides a control apparatus, as shown in fig. 6, including:

a receiving module 601, configured to receive a target object acquisition task sent by a first terminal device;

a planning module 602, configured to determine a departure time and a first driving route based on the target object acquisition task; the target object acquisition task comprises a first destination and arrival time;

a sending module 603, configured to send, to the first terminal device, confirmation information of the target object acquisition task;

a determining module 604, configured to control the sending module to send confirmation information of the target object obtaining task to the first terminal device when it is determined that the vehicle meets a travel condition based on the departure time and the arrival time;

a driving module 605, configured to control the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached;

and a task state management module 606, configured to determine to complete the target object acquisition task when the target object is acquired.

Wherein the determining module 604 is configured to execute one of the following:

The determining module 604 is configured to determine a driving range corresponding to the predicted remaining driving energy of the vehicle at the departure time when no other task exists within the departure time and the arrival time, and determine that the vehicle meets the trip condition when the driving range is greater than the length of the first driving route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

The determining module 604 is configured to determine a driving range corresponding to the predicted remaining driving energy of the vehicle at the departure time when other tasks exist within the departure time and the arrival time and the priority of the target object obtaining task is higher than that of the other tasks, and determine that the vehicle satisfies the trip condition when the driving range is greater than the length of the first driving route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

The planning module 602 is configured to determine at least one candidate route based on a predicted departure location and the first destination, and determine the first driving route from the at least one candidate route; determining the departure time based on road condition prediction information, the first travel route, and the arrival time.

The driving module 605 is configured to send travel reminding information to the first terminal device through the sending module when the departure time is reached; controlling the vehicle to travel to the first destination according to the first travel route in an automatic driving mode when the confirmed travel information fed back by the first terminal device is received through the receiving module;

the sending module 603 is configured to send trip reminding information to the first terminal device;

the receiving module 601 is configured to receive the identification information fed back by the first terminal device.

On the basis of fig. 6, as shown in fig. 7, the apparatus provided in this embodiment further includes:

the detection module 607 is used for sending arrival reminding information to a second terminal device through the sending module under the condition that the vehicle is determined to arrive at the first destination; in response to acquiring the relevant information of the target object, determining a target space of the vehicle based on the relevant information of the target object; the target space of the vehicle is one of a plurality of available spaces of the vehicle; controlling to display the indication information of the target space in a first display area of the vehicle, and controlling to start the target space of the vehicle; determining to acquire the target object under the condition that the target object is detected to be located in the target space of the vehicle;

the sending module 603 is configured to send the arrival reminding information to the second terminal device.

The device further comprises:

a display control module 608, configured to control a display component in a second display area of the vehicle to display a target style based on a current driving state of the vehicle in a process that the driving module controls the vehicle to travel to the first destination according to the first driving route in an automatic driving mode; the target style is one of multiple styles, and different styles in the multiple styles correspond to different driving states.

The receiving module 601 is configured to receive the target object transportation task sent by the first terminal device, where the target object transportation task includes a second destination;

the planning module 602 is configured to determine a second driving route based on the target object transportation task;

the driving module 605 is configured to, after the target object obtaining task is determined to be completed, control the vehicle to travel to the second destination according to the second driving route in the automatic driving mode, and send notification information of completing the target object transportation task to the first terminal device through the sending module;

the sending module 603 is configured to send notification information of completing the target object transportation task to the first terminal device.

In the solution provided by this embodiment, after receiving the target object obtaining task, it may be determined whether the vehicle meets a travel condition, and when the vehicle meets the travel condition, the vehicle is controlled to travel to the first destination and obtain the target object. Therefore, the target object acquisition task can be automatically executed under the condition that the vehicle can travel, so that the intelligentization degree of the vehicle is higher, and the utilization rate of the vehicle is improved.

A third aspect of the present disclosure provides a control system, as shown in fig. 8, including:

a control device 801, configured to receive a target object obtaining task sent by a first terminal device, and determine a departure time and a first driving route based on the target object obtaining task; the target object acquisition task comprises a first destination and arrival time; sending confirmation information of the target object acquisition task to the first terminal device under the condition that the vehicle is determined to meet the travel condition based on the departure time and the arrival time; controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode if the departure time is reached; under the condition of acquiring the target object, determining to finish the task of acquiring the target object;

the first terminal device 802 is configured to send the target object acquisition task to the control apparatus, and receive confirmation information of the target object acquisition task fed back by the control apparatus.

Further, as shown in fig. 9, the system further includes:

the second terminal device 803 is configured to receive arrival reminding information sent by the control apparatus;

the control device 801 is configured to send arrival reminding information to the second terminal device when it is determined that the vehicle arrives at the first destination.

The first terminal device 802 is configured to generate a target object transportation task, and send the target object transportation task to the control apparatus; receiving notification information sent by the control device for completing the target object transportation task;

the control device 801 is configured to receive a target object transportation task sent by the first terminal device, and determine a second driving route based on the target object transportation task, where the target object transportation task includes a second destination; after the target object acquisition task is determined to be completed, the vehicle is controlled to run to the second destination according to the second running route in the automatic driving mode, and notification information of completing the target object transportation task is sent to the first terminal device.

The control device may be a control unit or a control member provided in the vehicle.

The interface that the target application in the first terminal device 802 can show includes at least one of the following: default interfaces, settings interfaces, and the like.

Wherein the default interface of the target application may expose at least one of:

the current location and current environment of the vehicle, such as a default display 2D map location; a current state of the vehicle, such as the vehicle is currently in a stationary state, a current vehicle condition of the vehicle, such as a current tire pressure, a current fuel amount, a current electric quantity, a current internal temperature, a current internal air condition, and the like; the vehicle owner account; a function of automatically parking/exiting a parking space; a scene in which the automatic driving mode can be used, and the like.

The setting interface of the target application may also be referred to as an automatic driving scene interface. At least one of the following different interfaces may be presented at the setup interface:

if the current task interface exists, for example, no task exists at present, no task can be displayed;

the target object acquisition task setting interface can set information of a first destination, a task purpose, arrival time, a shipper or a passenger; wherein, the task purpose can be to take a person or an article, etc.; the information of the sender or the passenger can be the contact information of the sender or the passenger. In addition, after the setting of the task acquired by the target object is finished, prompt information of successful task setting can be displayed;

an autopilot scene interface for presenting recent or ongoing tasks performed using an autopilot mode;

the default task display interface is used for displaying the current position of the vehicle and displaying the current driving route and the destination of the vehicle; the destination may be a destination of any task currently executed by the vehicle, and the current driving route is a driving route of any task currently executed by the vehicle.

It should be understood that the first terminal device 802 is further configured to send the target object acquisition task to the second terminal device after completing the setting of the target object acquisition task to notify the delivery person or the passenger to be received; correspondingly, the second terminal device 803 is further configured to receive the target object obtaining task sent by the first terminal device.

The control device 801 is configured to send travel reminding information to the first terminal device when the departure time is reached; correspondingly, the first terminal device is configured to receive and display the trip reminding information, and send the confirmed trip information to the control apparatus 801 in response to receiving the confirmation operation for the trip reminding information.

The control device 801 is further configured to control the vehicle to travel to the first destination according to the first travel route in an automatic driving mode. The specific processing of the control device 801 is the same as that of the control method in the first embodiment, and a description thereof will not be repeated.

The first terminal device 802 is further configured to display, in real time, at least one of the following during the course of the vehicle driving to the first destination according to the first driving route in the automatic driving mode:

the current position of the vehicle, the current environment of the vehicle, the driving route map of the vehicle, the current speed of the vehicle, the current vehicle condition of the vehicle, the license plate number of the vehicle, and the automatic driving scene of the vehicle.

The first terminal device 802 is further configured to display a front view or a top surround view of the vehicle in response to a click operation for a current location of the vehicle or a current environment of the vehicle.

The second terminal device 803 is configured to, after receiving the arrival reminding information sent by the control apparatus, respond to a click operation for the arrival reminding information, and display the current location of the vehicle. That is, the sender or the passenger waiting to receive can view the current position of the vehicle through the second terminal device used by the sender or the passenger. At this time, the control device 801 is further configured to control the display component of the vehicle in the third display area to display in a flowing flashing manner, so that the shipper or the waiting passenger can find the vehicle conveniently.

The second terminal device 803 is further configured to display identity identification information; correspondingly, the control device 801 is further configured to control the camera of the vehicle to scan the identification information, and control the vehicle to open the target space when the identification information is successfully confirmed. How to determine the processing of the target space by the control device has been described in detail in the control method of the embodiment of the first aspect, and is not described herein again.

Wherein, the identification information may be an identification two-dimensional code of the shipper or the passenger.

It should be understood that other processes executed by the control apparatus, the first terminal device, and the second terminal device in this embodiment are the same as those in the control method of the first embodiment described above, and therefore, a repeated description is not given.

Finally, with reference to the first aspect embodiment, the second aspect embodiment, and the third aspect embodiment, taking the target object obtaining task as a goods taking task, and taking the target transporting task as a goods unloading task as an example, the exemplary description will be made, referring to fig. 10, where the method may include:

s1001: and the first terminal equipment responds to the situation that the goods taking place and the goods taking time are obtained in the setting interface of the target application, generates a goods taking task and sends the goods taking task to the control device.

The pick task includes a task type, a pick location (i.e., the first destination in the first embodiment), a pick time (i.e., the arrival time in the first embodiment), and the like. The target application may be an application that controls the vehicle.

S1002: the control device determines a departure time and a first travel route based on the pick-up task.

Wherein the control device is mounted or provided in a vehicle.

S1003: the control device judges whether the vehicle meets travel conditions or not based on the departure time and the pickup time, and if yes, the control device executes S1004; otherwise, sending the rejection information of the goods taking task to the first terminal equipment, and finishing the processing.

S1004: and the control device sends a confirmation notice of the goods taking task to the first terminal equipment.

S1005: and the control device controls the vehicle to travel to the goods picking place according to the first traveling route in an automatic driving mode under the condition of reaching the departure time, and sends arrival reminding information to the second terminal equipment.

The second terminal device can be a mobile phone used by the shipper; the shipper may go to the pickup location where the vehicle is located by checking the arrival reminding information of the second terminal device after receiving the arrival reminding information.

S1006: the control device controls the vehicle to collect the identity recognition information displayed by the second terminal device, and controls the vehicle to start detecting the related information of the target goods under the condition that the identity recognition information is successfully authenticated.

S1007: the control device determines a target space of the vehicle based on the information related to the target cargo in response to detecting the information related to the target cargo, the target space being one of a plurality of available spaces of the vehicle.

In addition, the control device may further control to display indication information of the target space in a first display area of the vehicle, and control to open a door of the target space of the vehicle.

S1008: and under the condition that the control device detects that the target cargo is located in the target space of the vehicle, determining to acquire the target cargo.

S1009: and the control device controls the vehicle to travel to the unloading place according to the second running route of the unloading task in the automatic driving mode.

It should be understood that after performing S1001, the vehicle owner may further set a discharging task corresponding to the picking task, and the discharging task may include at least a discharging location (i.e., the second destination in the foregoing first aspect embodiment). Correspondingly, the terminal equipment can also send the unloading task to the control device; further, the unloading task may also include unloading time.

In addition, when the control device receives the unloading task, a second travel route for unloading may be determined based on the unloading task. When the control device determines that the vehicle has reached the unloading location, the control device transmits notification information indicating that the unloading task is completed to the first terminal device.

S1010: the control device controls the vehicle to output goods prompt information when receiving the condition that the vehicle owner is detected to enter the vehicle sent by the vehicle; the goods prompt message can be a voice prompt message and/or a text prompt message.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 11 shows a schematic block diagram of an example electronic device 1100 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the electronic device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

A number of components in electronic device 1100 connect to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, and the like; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108 such as a magnetic disk, optical disk, or the like; and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1109 allows the electronic device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 1101 can be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1101 performs the respective methods and processes described above. For example, in some embodiments, the various methods described above may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 1100 via the ROM 1102 and/or the communication unit 1109. When loaded into RAM 1103 and executed by computing unit 1101, may perform one or more steps of the respective methods described above. Alternatively, in other embodiments, the computing unit 1101 may be configured by any other suitable means (e.g., by means of firmware) to perform the various methods described above.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method, comprising:

and under the condition of acquiring the target object, determining to finish the target object acquisition task.

2. The method of claim 1, further comprising one of:

3. The method of claim 2, wherein the determining that the vehicle satisfies the travel condition in the absence of other tasks within the departure time to the arrival time comprises:

4. The method of claim 2, wherein the determining that the vehicle satisfies the travel condition if there are other tasks within the departure time to the arrival time and the target object acquisition task is higher in priority than the other tasks comprises:

5. The method of claim 1, wherein the determining a departure time and a first travel route based on the target object acquisition task comprises:

determining at least one candidate route from which to determine the first travel route based on an expected departure location and the first destination;

determining the departure time based on road condition prediction information, the first travel route, and the arrival time.

6. The method of claim 1, wherein said controlling the vehicle to travel to the first destination according to the first travel route in an autonomous driving mode upon reaching the departure time comprises:

sending travel reminding information to the first terminal equipment under the condition that the departure time is reached;

and controlling the vehicle to travel to the first destination according to the first travel route in an automatic driving mode under the condition of receiving the confirmed travel information fed back by the first terminal device.

7. The method of claim 1, further comprising:

under the condition that the vehicle is determined to reach the first destination, sending arrival reminding information to second terminal equipment;

in response to acquiring the relevant information of the target object, determining a target space of the vehicle based on the relevant information of the target object; the target space of the vehicle is one of a plurality of available spaces of the vehicle;

controlling to display the indication information of the target space in a first display area of the vehicle, and controlling to start the target space of the vehicle;

determining that the target object is acquired in a case where it is detected that the target object is located within the target space of the vehicle.

8. The method of claim 1, further comprising:

in the process of controlling the vehicle to travel to the first destination according to the first travel route in the automatic driving mode, controlling a display component in a second display area of the vehicle to display a target pattern based on the current travel state of the vehicle; the target style is one of multiple styles, and different styles in the multiple styles correspond to different driving states.

9. The method of any of claims 1-8, further comprising: receiving a target object transportation task sent by the first terminal device, and determining a second driving route based on the target object transportation task, wherein the target object transportation task comprises a second destination;

after the determining completes the target object acquisition task, the method further comprises:

and controlling the vehicle to travel to the second destination according to the second travel route in the automatic driving mode, and sending notification information for completing the target object transportation task to the first terminal device.

10. A control device, comprising:

11. The apparatus of claim 10, wherein the determining means is configured to perform one of:

12. The device of claim 11, wherein the determining module is configured to determine a driving range corresponding to the predicted remaining driving energy of the vehicle at the departure time when no other task exists within the departure time and the arrival time, and determine that the vehicle satisfies the travel condition when the driving range is greater than the length of the first driving route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

13. The device according to claim 11, wherein the determining module is configured to determine a driving range corresponding to the predicted remaining driving energy of the vehicle at the departure time when other tasks exist within the departure time and the arrival time and the priority of the target object obtaining task is higher than that of the other tasks, and determine that the vehicle satisfies the travel condition when the driving range is greater than the length of the first driving route; the predicted remaining drive energy comprises: an expected remaining oil amount or an expected remaining power amount.

14. The apparatus of claim 10, wherein the planning module is configured to determine at least one candidate route from which to determine the first travel route based on a predicted departure location and the first destination; determining the departure time based on road condition prediction information, the first travel route, and the arrival time.

15. The apparatus according to claim 10, wherein the driving module is configured to send travel reminding information to the first terminal device through the sending module when the departure time is reached; controlling the vehicle to travel to the first destination according to the first travel route in an automatic driving mode when the confirmed travel information fed back by the first terminal device is received through the receiving module;

the sending module is used for sending the trip reminding information to the first terminal equipment;

the receiving module is configured to receive the identification information fed back by the first terminal device.

16. The apparatus of claim 10, further comprising:

the detection module is used for sending arrival reminding information to second terminal equipment through the sending module under the condition that the vehicle is determined to arrive at the first destination; in response to acquiring the relevant information of the target object, determining a target space of the vehicle based on the relevant information of the target object; the target space of the vehicle is one of a plurality of available spaces of the vehicle; controlling to display the indication information of the target space in a first display area of the vehicle, and controlling to start the target space of the vehicle; determining to acquire the target object under the condition that the target object is detected to be located in the target space of the vehicle;

and the sending module is used for sending the arrival reminding information to the second terminal equipment.

17. The apparatus of claim 10, further comprising:

the display control module is used for controlling a display component in a second display area of the vehicle to display a target pattern based on the current driving state of the vehicle in the process that the driving module controls the vehicle to drive to the first destination according to the first driving route in the automatic driving mode; the target style is one of multiple styles, and different styles in the multiple styles correspond to different driving states.

18. The apparatus of any one of claims 10-17,

the receiving module is configured to receive a target object transportation task sent by the first terminal device, where the target object transportation task includes a second destination;

the planning module is used for determining a second driving route based on the target object transportation task;

the driving module is used for controlling the vehicle to run to the second destination according to the second running route in the automatic driving mode after the target object acquisition task is determined to be completed, and sending notification information for completing the target object transportation task to the first terminal equipment through the sending module;

and the sending module is used for sending notification information for completing the target object transportation task to the first terminal equipment.

19. A control system, comprising:

20. The system of claim 19, further comprising:

the second terminal equipment is used for receiving the arrival reminding information sent by the control device;

the control device is used for sending arrival reminding information to the second terminal equipment under the condition that the vehicle is determined to arrive at the first destination.

21. The system of claim 19 or 20,

the first terminal equipment is used for generating a target object transportation task and sending the target object transportation task to the control device; receiving notification information sent by the control device for completing the target object transportation task;

the control device is used for receiving a target object transportation task sent by the first terminal device, and determining a second driving route based on the target object transportation task, wherein the target object transportation task comprises a second destination; after the target object acquisition task is determined to be completed, the vehicle is controlled to run to the second destination according to the second running route in the automatic driving mode, and notification information of completing the target object transportation task is sent to the first terminal device.

22. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

23. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

24. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.

25. A vehicle comprising the electronic device of claim 22.