CN114435352A - Automatic driving system of unmanned tourist coach for wild zoo stocking area - Google Patents

Automatic driving system of unmanned tourist coach for wild zoo stocking area Download PDF

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Publication number
CN114435352A
CN114435352A CN202011193427.XA CN202011193427A CN114435352A CN 114435352 A CN114435352 A CN 114435352A CN 202011193427 A CN202011193427 A CN 202011193427A CN 114435352 A CN114435352 A CN 114435352A
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unmanned
driving
unit
obstacle
tourist coach
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CN202011193427.XA
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Chinese (zh)
Inventor
王文涛
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Continental Zhixing Technology Shanghai Co ltd
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Continental Tamic Automotive Systems Shanghai Co ltd
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Priority to CN202011193427.XA priority Critical patent/CN114435352A/en
Publication of CN114435352A publication Critical patent/CN114435352A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides an automatic driving system of an unmanned tourist coach for a wild zoo stocking area, which comprises a driving module and a central control module, wherein the driving module comprises: the sensing unit is provided with a first sensor for detecting obstacles around the unmanned tourist coach and a second sensor for detecting whether the vehicle bottom has the obstacles or not before the unmanned tourist coach is started; a positioning unit for positioning the current position of the unmanned tourist coach; a driving control unit which plans the driving path of the unmanned tourist coach and controls based on the condition detected by the sensing unit; and a communication unit for communicating with the central control module, the central control module comprising: a receiving unit for receiving the position information and the driving information of the unmanned tourist car; a monitoring unit for monitoring the conditions inside and outside the vehicle; and a remote control unit for remotely controlling the unmanned tourist coach by an administrator.

Description

Automatic driving system of unmanned tourist coach for wild zoo stocking area
Technical Field
The invention relates to the technical field of automatic driving in special scenes, in particular to an automatic driving system of an unmanned tourist coach in a wild zoo stocking area.
Background
With the development of the times, artificial intelligence and automatic driving are more and more popular, and the application direction of the system is more and more extensive. The application of technologies such as unmanned taxies, unmanned express delivery vehicles and autonomous parking can improve the life of people to a great extent, reduce traffic accidents, liberate labor force and enable the life to be more efficient and convenient.
Along with the improvement of living standard of people, people begin to pay more and more attention to mental consumption, and each tourist attraction is full of tourists every holiday, so that great pressure is brought to efficient operation management of scenic spots, and the demand of sightseeing vehicles is increased sharply. Because sightseeing vehicles are mostly fixed routes, the sightseeing vehicles can be efficiently managed and operated by adopting an unmanned scheme. Many prior art patents focus on the concept and system design of unmanned sightseeing vehicles on scenic spot pedestrian sightseeing roads, and most of traffic participants are vehicles, pedestrians and the like.
The stocking area of the wild zoo is used as a special area of the zoo, closed management is generally adopted, and some beasts such as tigers, lions, leopards and the like are stocked in the stocking area. Currently, the touring mode of the area is that a zoo is generally sightseeed by a totally-enclosed tourist vehicle-mounted tourist along a fixed route, and the tourist is stopped at a specific place to allow the tourist to feed the beasts. The scene is used as a special application field of automatic driving, and has huge market prospects, such as wild zoos, special national forest parks, natural conservation areas and the like. Since the traffic participants are usually only animals, and special animals may be close to the vehicle during the driving of the vehicle and interact with the tourists, special sensing, obstacle avoidance and planning strategies need to be designed for the automatic driving system under the scene, and the automatic driving strategy is different from the processing mode of the common unmanned tourist car for pedestrians.
Disclosure of Invention
The invention aims to provide an automatic driving system of an unmanned tourist coach suitable for a wild zoo stocking area.
According to one aspect of the present invention, there is provided an automatic driving system for an unmanned tourist coach in a wilderness stocking area, comprising a driving module and a central control module, wherein the driving module comprises: a sensing unit having a first sensor for detecting an obstacle around the unmanned vehicle and a second sensor for detecting whether the obstacle is present at the bottom of the unmanned vehicle before the unmanned vehicle is started; a positioning unit for positioning the current position of the unmanned tourist coach; a driving control unit which plans a driving path of the unmanned tourist coach and controls the unmanned tourist coach based on the condition detected by the sensing unit; and a communication unit for communicating with the central control module, the central control module comprising: a receiving unit that receives position information and travel information of the unmanned tourist car; the monitoring unit is used for monitoring the conditions inside and outside the unmanned tourist coach; and a remote control unit for remotely controlling the unmanned tourist coach by an administrator.
Preferably, during the driving of the unmanned vehicle, if the sensing unit detects that the obstacle is located at a second distance in front of the unmanned vehicle, the driving control unit controls the unmanned vehicle to bypass the obstacle and then continue to drive along the driving path, before the unmanned vehicle is started, if the sensing unit detects that the vehicle bottom of the unmanned vehicle has the obstacle or the obstacle is located within a range less than the second distance in front of the unmanned vehicle, the driving control unit does not start the unmanned vehicle, and the communication unit notifies the central control module of the situation.
Preferably, the driving module further includes an obstacle driving-away unit for driving away the obstacle, wherein during the driving of the unmanned vehicle, if the sensing unit detects that the obstacle is located at a first distance in front of the unmanned vehicle, the driving control unit drives away the obstacle by using the obstacle driving-away unit while controlling the unmanned vehicle to continue driving, and if the obstacle is not successfully driven away at a second distance in front of the unmanned vehicle, the driving control unit controls the unmanned vehicle to bypass the obstacle and then continue driving along the driving path, before the unmanned vehicle is started, if the sensing unit detects that the vehicle bottom of the unmanned vehicle has the obstacle or has the obstacle within a range less than a second distance in front of the unmanned vehicle, the driving control unit does not start the unmanned tourist car and drives away the obstacle using the obstacle driving-away unit, and if the driving-away is not successful for a certain time, the communication unit notifies the central control module of the situation, wherein the second distance is smaller than the first distance.
Preferably, the obstacle evacuation unit evacuates the obstacle by whistling or playing an animal sound.
Preferably, the driving control unit plans the driving path of the unmanned tourist car in a tracking mode.
Preferably, the tourist service module is further provided, and comprises: the voice prompt unit is used for reminding the closing/opening of the door of the tourist coach, the arrival of the tourist bus at a station and the notice by combining the positioning information of the positioning unit and the body information of the unmanned tourist bus; and the intelligent scenic spot explanation unit acquires the current region of the unmanned tourist coach according to the positioning information of the positioning unit and explains the relevant knowledge of animals in the region.
Preferably, the sensing unit identifies which animal the detected obstacle is, and the intelligent scenic spot explaining unit explains the relevant knowledge of the animal based on the animal identified by the sensing unit.
Preferably, the perception unit identifies which animal the obstacle is by training on an animal data set using a YOLO deep learning algorithm.
Preferably, the visitor service module includes a first call unit, the central control module includes a second call unit, and the first call unit and the second call unit communicate with each other, so that the visitor can communicate with the administrator.
Preferably, the first sensor comprises a forward-looking camera and a look-around camera, and the second sensor is a vehicle bottom camera.
According to the automatic driving system for the unmanned tourist coach in the wild zoo stocking area, provided by the invention, not only can obstacles around the unmanned tourist coach be sensed, but also obstacles lying at the bottom of the unmanned tourist coach when the unmanned tourist coach is in a parking state can be sensed, and treatment such as driving away, informing of a manager and the like is performed according to the sensed conditions, so that the automatic driving system is suitable for a special scene of the wild zoo stocking area.
Drawings
Fig. 1 is a schematic view of a scenario of an autopilot system for an unmanned ride in a wilderness stocking area according to an embodiment of the invention.
Fig. 2 is a schematic block diagram showing the structure of an automatic driving system of an unmanned tourist car for a wilderness stocking area according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
Fig. 1 is a schematic view of an automatic driving system of an unmanned tour bus for a wildlife stocking area according to an embodiment of the present invention. Fig. 2 is a schematic block diagram showing the structure of an automatic driving system of an unmanned tourist car for a wilderness stocking area according to an embodiment of the present invention.
The automated driving system 100 of the unmanned tour bus of one embodiment of the present invention is used for the closed wilderness stocking area shown in fig. 1, in which the unmanned tour bus 1 travels along a fixed path from a start point S to an end point E. The unmanned vehicle 1 is also parked briefly throughout the viewing process to allow the visitors to view the nearby area of animals on the vehicle.
As shown in fig. 2, the autopilot system 100 for an unmanned vehicle for a wild zoo stocking area provided in the present embodiment includes a driving module 10, a central control module 20, and a guest service module 30.
The driving module 10 is used to implement an automatic driving function of the unmanned vehicle 1, and since the unmanned vehicle 1 is used in a specific scene of a wild zoo stocking area, the unmanned vehicle has an automatic driving function related to the specific scene in addition to a conventional automatic driving function. In this embodiment, the driving module 10 includes: sensing unit 11, positioning unit 12, obstacle driving-away unit 13, driving control unit 14, and communication unit 15.
The sensing unit 11 has a first sensor 110 for detecting an obstacle (animal) around the unmanned vehicle 1 and a second sensor 111 for detecting whether the obstacle is present at the bottom of the unmanned vehicle 1 before the unmanned vehicle 1 is started.
The first sensor 110 typically includes a forward looking camera that detects obstacles at a greater distance in front of the vehicle and a look around camera that detects obstacles at a closer distance around the vehicle. The second sensor 111 is typically a vehicle bottom camera for detecting whether there is an obstacle under the vehicle, especially in front of the wheels.
Since the unmanned sightseeing bus 1 is parked, when tourists watch animals in the bus, the animals may enter the bottom of the bus and lie in front of the wheels for rest, and therefore the animals need to be sensed and detected before being restarted, so that the animals positioned at the bottom of the bus are prevented from being collided with after the unmanned sightseeing bus 1 starts. Therefore, the vehicle bottom camera is arranged in the invention and is used for sensing the animals (obstacles) lying on the vehicle bottom when the unmanned tourist car 1 stops.
The sensing unit 11 of the present embodiment further has a recognition function, for example, by using a yolo (you only look once) deep learning algorithm, and by training an animal data set, it recognizes which animal the obstacle around the vehicle is. The YOLO deep learning algorithm is a target detection algorithm with high speed and simple structure, and is also a popular image target detection algorithm at present, and is not described herein again.
The positioning unit 12 positions the current position of the unmanned vehicle 1, and can adopt GPS RTK differential positioning, SLAM (simultaneous localization and mapping) positioning, and other methods to realize high-precision positioning.
The SLAM positioning means that the robot starts from an unknown place of an unknown environment, positions the position and the posture of the robot through repeatedly observed map features (such as wall corners, columns and the like) in the movement process, and constructs a map incrementally according to the position of the robot, so that the purposes of positioning and map construction are achieved simultaneously.
The obstacle driving unit 13 is for driving away obstacles. Different from the way of processing the obstacles by the automatic driving vehicle on the ordinary road, the unmanned tourist coach 1 running in the wild zoo stocking area does not process the animals at the rear and two sides of the driving direction of the unmanned tourist coach in the scene, and only processes the obstacles in front of the driving direction of the unmanned tourist coach 1 in the driving process of the unmanned tourist coach. When the unmanned tourist car 1 is in a stopped state and before the unmanned tourist car starts, the obstacle which is located in front of the driving direction of the unmanned tourist car and cannot be bypassed and the obstacle at the bottom of the unmanned tourist car need to be driven away. In the case where the obstacle removing process is required, the obstacle removing unit 13 removes the obstacle by whistling or playing an animal sound.
The driving control unit 14 plans a driving path of the unmanned tourist car 1, and controls driving of the unmanned tourist car 1 based on a detection result of the sensing unit 1 and invokes the obstacle driving-off unit 13 to drive off the obstacle.
Firstly, the driving control unit 14 plans the driving path of the unmanned tourist car 1, and since the wild zoo stocking area is an enclosed area and the driving path is fixed, the driving path can be planned directly in a tracking manner without using a map. That is, the unmanned tourist car 1 is allowed to travel once along the fixed route, and the longitude and latitude information of the route is recorded, and the recorded longitude and latitude information is used as the planned route.
Further, when the sensing unit 11 detects that an obstacle (animal) is present at a first distance (30 m in the present embodiment) ahead of the travel direction of the unmanned vehicle 1 (hereinafter simply referred to as "ahead") while the unmanned vehicle 1 is traveling, the travel control unit 14 drives away the obstacle affecting the travel of the unmanned vehicle 1 by the obstacle drive-away unit 13 while controlling the unmanned vehicle 1 to continue traveling. If the obstacle cannot be successfully driven away until the obstacle reaches a second distance (10m in the present embodiment) from the front of the unmanned rover 1, the driving control unit 14 controls the unmanned rover 1 to bypass the obstacle and then continue to drive along the driving path.
When the unmanned vehicle 1 is in a stopped state and ready to depart, it is necessary to detect whether or not there is an obstacle that cannot be bypassed in a short distance in front of the unmanned vehicle 1 and whether or not there is an obstacle at the bottom of the vehicle.
Specifically, if the sensing unit 11 detects that there is an obstacle at the bottom of the unmanned vehicle 1 or an obstacle (belonging to an obstacle that cannot be bypassed) in a range less than a second distance (<10m) from the front of the unmanned vehicle 1, the driving control unit 14 does not start the unmanned vehicle 1 and calls the obstacle driving unit 13 to drive away the obstacle, and if the driving is not successful for a certain time, the driving is notified to the central control module 15 by the communication unit 15, and the manager goes to the central control module 15 for processing.
If the obstacle is equal to the second distance from the front of the unmanned rover 1, the travel control unit 14 starts the unmanned rover 1 and controls the unmanned rover 1 to bypass the obstacle and then continue traveling along the travel path.
If the obstacle is more than the second distance from the front of the unmanned rover 1, the driving control unit 14 starts the unmanned rover 1 and calls the obstacle driving unit 13 to drive away the obstacle, and the subsequent processing is the same as the driving process of the unmanned rover 1, that is, if the obstacle cannot be successfully driven away at the second distance (10m) from the front of the unmanned rover 1 when the unmanned rover 1 is driven, the driving control unit 14 controls the unmanned rover 1 to bypass the obstacle, and then the unmanned rover continues to drive according to the driving path.
The communication unit 15 is used for communication with the central control module 20.
The central control module 20 includes a receiving unit 21, a monitoring unit 22, a remote control unit 23 and a second communication unit 24.
The receiving unit 21 is used to receive the position information, the travel information, and the like of the unmanned tourist car 1. The monitoring unit 22 includes an in-vehicle camera and an out-vehicle camera, and is configured to monitor in-vehicle and out-vehicle scenes of the unmanned tourist coach 1. The remote control unit 23 is used for remote control of the vehicle by an administrator in an emergency. The second call ticket unit 24 is used for the administrator to communicate with the personnel in the vehicle of the unmanned tourist coach 1 under special conditions.
The tourist service module 30 includes a voice prompt unit 31, an intelligent scenic spot explanation unit 32 and a first communication unit 33.
The voice prompt unit 31 combines the positioning information of the positioning unit 12 and the body information of the unmanned tourist car 1 to remind the closing/opening of the door of the tourist coach, the arrival at the station and the notice. For example, when the unmanned tourist coach 1 departs from the starting point S, the tourist coach is reminded that the door is closed, and when entering the wild zoo stocking area, the tourist is reminded that the tourist will enter the stocking area, so that the safety is noticed, and the rules of the garden are complied with.
The intelligent scenic spot explanation unit 32 acquires the current region of the unmanned tourist car 1 according to the positioning information of the positioning unit 12, and explains the relevant knowledge of the animals in the region. For example, when the unmanned vehicle 1 travels to a cheetah area shown in fig. 1, the intelligent scenic spot explaining unit 32 knows that the vehicle enters the cheetah area through the positioning information at that time, and then explains the knowledge about the cheetah.
In addition, when the sensing unit 11 detects that there is an obstacle in front of or on both sides of the unmanned vehicle 1 and identifies which animal the obstacle is, the intelligent scenic spot explaining unit 32 can also inform the guest of which animal the surroundings are based on the animal information identified by the sensing unit 11. For example, when the unmanned vehicle 1 travels in the lion area shown in fig. 1, one lion walks on the right side of the unmanned vehicle 1, and at this time, the intelligent scenic spot explanation unit 32 can also call up corresponding voice explanation according to the information of the "lion" recognized by the sensing unit 11.
The first communication unit 33 is in communication with the second communication unit 24, and is used for allowing an administrator to communicate with the personnel in the unmanned tourist car 1 under special conditions.
The automatic driving system for the unmanned vehicle in the wilderness stocking area according to the embodiment of the present invention includes the guest service module 30, but the present invention is not limited thereto, and the automatic driving system for the unmanned vehicle may be configured by only the driving module 10 and the central control module 20 without providing the guest service module 30, and in this case, the central control module 20 may not be provided with the second communication unit 24.
In the automatic driving system for the unmanned tourist coach in the wilderness park, which is described in this embodiment, the driving module 10 includes the obstacle-driving-away unit 13, and when the obstacle affecting the driving of the unmanned tourist coach 1 is found around the unmanned tourist coach, the obstacle-driving-away unit 13 is called to drive away the obstacle (animal), but the present invention is not limited to this, and the obstacle-driving-away unit 13 may not be provided, and when the obstacle affecting the driving of the unmanned tourist coach 1 is found around the unmanned tourist coach 1, the unmanned tourist coach directly bypasses the obstacle, and then continues to drive along the driving route, and if the obstacle cannot be bypassed, the central control module 20 is notified of the situation, and the administrator processes the obstacle.
In the present embodiment, the first distance is set to 30m and the second distance is set to 10m, but the present invention is not limited to this, and the first distance and the second distance may be set to other values.
In this embodiment, the sensing unit identifies which animal the obstacle is by using the YOLO deep learning algorithm, but the present invention is not limited thereto, and other identification algorithms may be used.
In this embodiment, the driving control unit plans the driving path of the unmanned tourist car in a tracking manner, but the invention is not limited thereto, and a map may be used.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes and substitutions may be made without departing from the spirit of the invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.

Claims (10)

1. An automatic driving system of an unmanned tourist coach for a wild zoo stocking area is characterized by comprising a driving module and a central control module,
the driving module includes:
a sensing unit having a first sensor for detecting an obstacle around the unmanned vehicle and a second sensor for detecting whether the obstacle is present at the bottom of the unmanned vehicle before the unmanned vehicle is started;
a positioning unit that positions a current position of the unmanned tourist car;
a driving control unit which plans a driving path of the unmanned tourist coach and controls the unmanned tourist coach based on the condition detected by the sensing unit; and
a communication unit for communicating with the central control module,
the central control module includes:
a receiving unit that receives the position information and the driving information of the unmanned tourist car;
the monitoring unit is used for monitoring the conditions inside and outside the unmanned tourist coach; and
a remote control unit for remote control of the unmanned tourist coach by an administrator.
2. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 1,
in the driving process of the unmanned tourist coach, if the sensing unit detects that the obstacle is arranged at a second distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to bypass the obstacle and then continue to drive according to the driving path,
before the unmanned tourist coach starts, if the sensing unit detects that the vehicle bottom of the unmanned tourist coach has the obstacle or the obstacle is in a range less than a second distance away from the front of the unmanned tourist coach, the driving control unit does not start the unmanned tourist coach, and the communication unit informs the central control module of the situation.
3. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 2,
the driving module further comprises an obstacle driving-off unit for driving off the obstacle,
in the driving process of the unmanned tourist coach, if the sensing unit detects that the obstacle is arranged at a first distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to continue driving and drives the obstacle away by using the obstacle away unit, if the unmanned tourist coach does not successfully drive away the obstacle at a second distance in front of the unmanned tourist coach, the driving control unit controls the unmanned tourist coach to bypass the obstacle, and then the unmanned tourist coach continues to drive according to the driving path,
before the unmanned sightseeing bus is started, if the sensing unit detects that the vehicle bottom of the unmanned sightseeing bus has the obstacle or the obstacle is in a range less than a second distance away from the front of the unmanned sightseeing bus, the driving control unit does not start the unmanned sightseeing bus and drives away the obstacle by the obstacle driving unit, if the unmanned sightseeing bus is not driven away from the obstacle successfully for a certain time, the communication unit informs the central control module of the situation,
wherein the second distance is less than the first distance.
4. The autopilot system for unmanned zoo aquariums of a wildlife habitat according to claim 3,
the barrier driving unit drives the barrier away in a whistling or animal sound playing mode.
5. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,
and the driving control unit plans the driving path of the unmanned tourist car in a tracking mode.
6. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,
also provided is a guest service module, comprising:
the voice prompt unit is used for reminding the closing/opening of the door of the tourist coach, the arrival of the tourist bus at a station and the notice by combining the positioning information of the positioning unit and the body information of the unmanned tourist bus; and
and the intelligent scenic spot explanation unit acquires the current region of the unmanned tourist coach according to the positioning information of the positioning unit and explains the relevant knowledge of animals in the region.
7. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 6,
the sensing unit identifies which animal the detected obstacle is,
the intelligent scenic spot explanation unit explains the relevant knowledge of the animal based on the animal identified by the sensing unit.
8. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 7,
the sensing unit adopts a YOLO deep learning algorithm to identify the animal which the obstacle is through training of an animal data set.
9. The automated driving system for unmanned vehicles for wilderness stocking areas of claim 6,
the guest service module includes a first talk unit,
the central control module comprises a second talking unit,
the first communication unit and the second communication unit are communicated with each other, so that the tourists can communicate with the administrator.
10. The automatic driving system of unmanned tourist coach for wild zoo stocking area according to any of claims 1 to 4,
the first sensor comprises a forward looking camera and a look-around camera,
the second sensor is a vehicle bottom camera.
CN202011193427.XA 2020-10-30 2020-10-30 Automatic driving system of unmanned tourist coach for wild zoo stocking area Pending CN114435352A (en)

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Application Number Priority Date Filing Date Title
CN202011193427.XA CN114435352A (en) 2020-10-30 2020-10-30 Automatic driving system of unmanned tourist coach for wild zoo stocking area

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011193427.XA CN114435352A (en) 2020-10-30 2020-10-30 Automatic driving system of unmanned tourist coach for wild zoo stocking area

Publications (1)

Publication Number Publication Date
CN114435352A true CN114435352A (en) 2022-05-06

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Application Number Title Priority Date Filing Date
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