CN114572247A - Vehicle control method, device, system, equipment and medium - Google Patents
Vehicle control method, device, system, equipment and medium Download PDFInfo
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- CN114572247A CN114572247A CN202210232882.9A CN202210232882A CN114572247A CN 114572247 A CN114572247 A CN 114572247A CN 202210232882 A CN202210232882 A CN 202210232882A CN 114572247 A CN114572247 A CN 114572247A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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Abstract
The present disclosure relates to the field of unmanned driving technologies, and in particular, to a vehicle control method, apparatus, system, device, and medium. A vehicle control method is applied to a vehicle and comprises the following steps: when a preset planned route sent by a server is acquired, controlling a vehicle to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations; when the vehicle stops at the target station, judging whether a preset authorization triggering condition is met; and if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule. Through the technical scheme disclosed, a security officer does not need to accompany the vehicle in the whole process, the manpower is saved, the use of software using a tablet personal computer as a carrier by the vehicle is avoided, and the cost is reduced.
Description
Technical Field
The present disclosure relates to the field of unmanned driving technologies, and in particular, to a vehicle control method, apparatus, system, device, and medium.
Background
Currently, during the operation of a logistics system, field personnel will load a vehicle first, and then an in-vehicle security officer plans a route and starts the vehicle through an in-vehicle Human Machine Interface (HMI). The AET will drive to the destination along the planned route. During traveling, a plurality of stations are required to stop, for example, a security guard controls the vehicle to stop traveling through the vehicle HMI when an operation such as loading and unloading is performed at the stations. After the required operation is completed, the safety personnel needs to start the vehicle again through the HMI, and the process is repeated until the vehicle reaches the terminal point, in the process, the safety personnel needs to be in the AET in the whole process, and the operation process is complicated. In addition, the vehicle-mounted HMI is essentially software and needs to be carried with a tablet computer for operation, both the tablet computer and the software consume quite high cost, including computer purchase cost and software development cost, and development and update of the software also need much manpower, so that much labor cost is consumed.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the disclosure provides a vehicle control method, a device, a system, equipment and a medium, which do not require a security guard to accompany the vehicle in the whole course, save manpower, avoid the use of software using a tablet personal computer as a carrier by the vehicle, and reduce cost.
In a first aspect, an embodiment of the present disclosure provides a vehicle control method, applied to a vehicle, including:
when a preset planned route sent by a server is acquired, controlling a vehicle to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations;
when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met;
if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule;
controlling a driving state of the vehicle based on the authorization verification result.
Optionally, the preset authorization trigger condition includes:
the vehicle is non-faulty and the target site is not a terminal site.
Optionally, starting an authorization verification function based on a preset authorization verification rule, including:
starting a card swiping authorization verification function;
after the card swiping authorization verification is determined to pass based on the first verification information, starting a biological characteristic identification verification function;
and after the biometric identification verification is determined to pass based on the second verification information, starting a vehicle starting authorization verification function.
Optionally, the vehicle control method further includes:
when the preset authorization triggering condition is not met or the vehicle runs, closing the authorization verification function; and/or the presence of a gas in the gas,
and after any one of the card swiping authorization verification, the biometric feature identification verification and the vehicle starting authorization verification passes, closing the authorized verification function passing the verification.
Optionally, the vehicle control method further includes:
and when the first verification information is not received within a first preset time threshold of the card swiping authorization verification, or the second verification information is not received within a second preset time threshold of the biometric identification verification, or the third verification information is not received within a third preset time threshold of the vehicle starting authorization verification, the authorization verification function is returned to be executed and started based on the preset authorization verification rule.
Optionally, controlling the driving state of the vehicle based on the authorization verification result includes:
if the authorization passes the verification, starting the vehicle and controlling the vehicle to continue to drive to the next target station along the preset planned route; otherwise, the parking state is maintained.
Optionally, the vehicle control method further includes: determining whether the authorization verification passes;
determining whether the authorization verification passes includes:
if the following conditions are met, the authorization verification is passed; otherwise, the authorization verification fails:
determining that the card swiping authorization verification passes based on the first verification information;
determining that the biometric authentication passes based on the second authentication information;
and determining that the vehicle starting authorization passes the verification based on the third verification information.
In a second aspect, an embodiment of the present disclosure provides a vehicle control apparatus including:
the system comprises a first control module and a second control module, wherein the first control module is used for controlling a vehicle to run along a preset planned route when the preset planned route sent by a server is obtained, and the preset planned route comprises a starting point and one or more target stations;
the authorization triggering condition judging module is used for judging whether a preset authorization triggering condition is met or not when the vehicle automatically stops at the target station;
the authorization verification function starting module is used for starting an authorization verification function based on a preset authorization verification rule if the preset authorization triggering condition is met;
and the second control module is used for controlling the driving state of the vehicle based on the authorization verification result.
In a third aspect, the disclosed embodiment provides a vehicle control system, which includes a server and one or more vehicles, wherein the server is in communication connection with the one or more vehicles;
the server is used for: configuring one or more target stations and a preset planning route; setting the preset planned route for the one or more vehicles, and sending the preset planned route to the one or more vehicles, wherein the preset planned route comprises the one or more target stations;
the vehicle is used for: when the preset planned route sent by the server is obtained, controlling the vehicle to run along the preset planned route; when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met; if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule; controlling a driving state of the vehicle based on the authorization verification result.
In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory and one or more processors;
wherein the memory is in communication connection with the one or more processors, and the memory stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is configured to implement the vehicle control method provided by any embodiment of the disclosure.
In a fifth aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer-executable instructions, which, when executed by a computing device, may be used to implement a vehicle control method provided by any of the embodiments of the present disclosure.
According to the vehicle control method provided by the embodiment of the disclosure, when a preset planned route sent by a server is obtained, a vehicle is controlled to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations; when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met; if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule; and controlling the driving state of the vehicle based on the authorization verification result. Therefore, according to the embodiment of the disclosure, the preset planning route is configured at the server side, the preset planning route is set for the vehicle and is sent to the vehicle, when the vehicle acquires the preset planning route, the vehicle is controlled to run along the preset planning route, and the vehicle can automatically stop when reaching the target station, a security guard does not need to accompany the vehicle in the whole process, manpower is saved, software using a tablet computer as a carrier is avoided, both the tablet computer and the software can consume quite high cost, and cost consumption is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the embodiments or technical solutions in the prior art description will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a vehicle control system according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a remote management platform configuration site according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a configuration route of a remote management platform according to an embodiment of the disclosure;
fig. 5 is a schematic diagram of a remote management platform setting a preset planned route for a vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a preset authorization validation rule according to an embodiment of the present disclosure;
fig. 7 is a matrix diagram of the availability status behavior of various authorization verification functions under different scenarios provided by the embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an electronic device suitable for implementing embodiments of the present disclosure, provided in an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present disclosure. The vehicle control method can be executed by the vehicle control device provided by the embodiment of the disclosure, and the vehicle control device can be realized in a software and/or hardware mode. As shown in fig. 1, the vehicle control method includes the steps of:
s101, when a preset planned route sent by a server is obtained, controlling a vehicle to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations.
Fig. 2 is a schematic structural diagram of a vehicle control system according to an embodiment of the present disclosure. As shown in fig. 2, the vehicle control system includes a service 10 and one or more vehicles 20, the service 10 is communicatively connected to the one or more vehicles 20, and fig. 2 exemplarily shows two vehicles 20.
Fig. 3 is a schematic diagram of a remote management platform configuration site according to an embodiment of the disclosure, fig. 4 is a schematic diagram of a remote management platform configuration route according to an embodiment of the disclosure, and fig. 5 is a schematic diagram of a remote management platform setting a preset planned route for a vehicle according to an embodiment of the disclosure. Specifically, an administrator configures a target site and a route at a service end 10 (such as a remote management platform), may configure one or more target sites, the route may set a starting point and pass through the target site, that is, a stop site, the service end 10 configures a preset planned route according to the target site and the route, further, the administrator sets a preset planned route for the vehicle 20 at a monitoring page of the remote management platform, so that the service end 10 sends the preset planned route to the vehicle 20, and the vehicle 20 controls itself to travel along the preset planned route according to the received preset planned route. It should be noted that the preset planned route may include one or more target stations.
S102, when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met. The preset authorization triggering condition is used for judging whether an authorization verification function can be started or not.
Specifically, when the vehicle runs to the target station, the vehicle automatically stops at the target station, and whether the vehicle meets a preset authorization triggering condition is judged.
Alternatively, in the case where the vehicle is parked at the target station, when the vehicle is not out of order and the target station where the vehicle is located is not the terminal, it is determined that the preset authorization trigger condition is satisfied. For example, when the vehicle stops at the target station, the fault detection unit detects the faults of each component in the vehicle and each module in the intelligent driving system. For example, detecting a failure of a vehicle-mounted sensor group; and detecting faults of functional modules such as a perception module, a planning module and a control module of the intelligent driving system. In some embodiments, the failure detection unit may detect a failure by detecting information such as heartbeats of each module or component, and an operating state and data reported by each module or component, and determining whether each module or component fails, so as to determine whether the vehicle fails; and meanwhile, the vehicle determines whether a next target station exists according to the preset planned route, if so, the target station where the vehicle is located is not the terminal station, otherwise, the target station where the vehicle is located is the terminal station. Therefore, if the vehicle is judged to have no fault and the target station where the vehicle is located is not the terminal station, the condition that the preset authorization triggering condition is met is determined; and if the vehicle is judged to be in fault and/or the target station where the vehicle is located is the terminal station, determining that the preset authorization triggering condition is not met.
S103, if the preset authorization triggering condition is met, an authorization verification function is started based on a preset authorization verification rule.
At present, in order to enhance the safety of unmanned vehicles, security personnel need to perform authorization by swiping an NFC card in vehicle operations such as station selection, route planning, vehicle starting, vehicle stopping, vehicle continuing and journey exiting, but the authorization mode is easy to have the situation of swiping instead, the safety is insufficient, and especially when unknown personnel obtain the card lost by the security personnel, the consequences are difficult to estimate. Therefore, the authorization verification means is added through multiple authorization verification, the authorization mode is enhanced, the situation that unknown personnel swipe cards to obtain authorization due to card loss can be avoided, and the safety is improved. In some embodiments, the starting of the authorization verification function based on the preset authorization verification rule includes: starting a card swiping authorization verification function; after the card swiping authorization verification is determined to pass based on the first verification information, starting a biological characteristic identification verification function; and after the biometric identification verification is determined to pass based on the second verification information, starting a vehicle starting authorization verification function, wherein the vehicle starting authorization verification function is used for verifying whether the vehicle is started or not.
Specifically, fig. 6 is a schematic diagram of a preset authorization verification rule provided in the embodiment of the present disclosure, as shown in fig. 6, when a vehicle reaches a target station and is automatically stopped, and it is determined based on S102 that the vehicle meets a preset authorization trigger condition, the vehicle first starts a card swiping authorization verification function, after a task (such as getting in or getting out of a good) of the vehicle at the current target station is completed, a field operator swipes a card using a card swiper on the vehicle to input first verification information, the vehicle reads the first verification information through the card swiper and verifies the first verification information, and after the verification is successful, the vehicle sends out indication information, which may be set as a voice prompt or a light prompt, to remind the field operator that the first verification information is verified; furthermore, the vehicle starts a biological feature recognition verification function, the biological feature recognition can be set to include face recognition and/or fingerprint recognition, for example, a camera is started to capture face information or the vehicle displays a fingerprint input port, a field operator inputs corresponding biological feature recognition verification information, namely second verification information, and after the verification is successful, the vehicle can send out the same indication information to remind the field operator that the second verification information is verified; further, the vehicle starts a vehicle start authorization verification function, and a start button may be set to implement vehicle start authorization verification, for example, the start button is a vehicle entity button, or an HMI virtual button, or a virtual button of a remote management platform, and after a field operator or a remote administrator presses the start button, the vehicle starts and moves to a next target station along a preset planned path.
It should be noted that the preset authorization verification rule in the embodiment of the present disclosure may not be limited to the authorization verification order and the authorization verification manner.
Optionally, the vehicle control method further comprises: when the preset authorization triggering condition is not met or the vehicle runs, the authorization verification function is closed; and/or after any one of the card swiping authorization verification, the biometric identification verification and the vehicle starting authorization verification passes, closing the authorized verification function passing the verification.
Specifically, when the vehicle malfunctions, or the vehicle stops at a terminal, or the vehicle runs, the authorization verification function is turned off, that is, the authorization verification function is not turned on.
Based on the embodiment, when the authorization verification function is started, the card swiping authorization verification function is closed after the card swiping authorization verification is passed; when the biological characteristic identification passes the verification, the biological characteristic identification verification function is continuously closed; and when the vehicle starting authorization verification passes, continuing to close the vehicle starting authorization verification function. Therefore, when the vehicle breaks down, the authorization verification function is closed, the vehicle can be prevented from running with a fault, and the running safety of the vehicle is improved; the authorization verification function is closed when the vehicle stops at the terminal, unnecessary power consumption of the authorization verification equipment can be avoided, and the vehicle is prevented from being started without a reason; the authorization verification function is closed when the vehicle runs, so that unnecessary power consumption of the authorization verification equipment can be avoided; and the authorization verification function which passes the verification is closed, so that unnecessary power consumption of the authorization verification equipment can be avoided, and misoperation of the authorization verification equipment corresponding to the authorization verification function which passes the verification is prevented.
In some embodiments, the vehicle control method further comprises: and when the first verification information is not received within a first preset time threshold of the card swiping authorization verification, or the second verification information is not received within a second preset time threshold of the biometric identification verification, or the third verification information is not received within a third preset time threshold of the vehicle starting authorization verification, returning to execute the starting of the authorization verification function based on the preset authorization verification rule. Therefore, when any one of the card swiping authorization verification, the biological characteristic identification verification and the vehicle starting authorization verification is overtime, the card swiping authorization verification is returned for re-verification, and the security of the authorization verification is improved.
Specifically, a first preset time threshold is set for card swiping authorization verification, if the first verification information is not received within the first preset time threshold, first overtime reminding information is sent, for example, a button lamp flashes and/or a horn whistles, and field operators are reminded that card swiping authorization verification is overtime, so that the field operators can conduct card swiping authorization verification again. And setting a second preset time threshold value for the biological characteristic identification verification, and if the second verification information is not received within the second preset time threshold value, sending second overtime reminding information, such as button lamp flashing and/or horn whistle, reminding the field operator that the biological characteristic identification verification is overtime so as to enable the field operator to carry out card swiping authorization verification again. And setting a third preset time threshold value for vehicle starting authorization verification, if the third verification information is not received within the third preset time threshold value, sending third overtime reminding information, such as a button lamp flickering and/or a loudspeaker sending reminding information, reminding field operators of overtime vehicle starting authorization verification, so that the field operators can perform card swiping authorization verification again. It should be noted that, for the time-out of the card swiping authorization verification, the time-out of the biometric feature identification verification and the time-out of the vehicle starting authorization verification, different time-out reminding information can be respectively set, for example, the light-emitting colors or flashing modes of the button lamps are different, and the reminding information sent by the horn is different.
In some embodiments, the camera may be turned on to detect whether there are authorized field operators around when any one of the card swiping authorization verification, the biometric identification verification and the vehicle starting authorization verification is over time. When detecting an authorized field operator, sending out overtime reminding information; and when the site operator who can be authorized is not detected, alarm information is sent to the server, so that the site operator is informed to carry out authorization verification as soon as possible through the server.
And S104, controlling the running state of the vehicle based on the authorization verification result.
Alternatively, referring to fig. 6, controlling the driving state of the vehicle based on the authorization verification result includes: if the authorization passes the verification, starting the vehicle and controlling the vehicle to continue to drive to the next target station along the preset planned route; otherwise, the parking state is maintained.
Specifically, according to the authorization verification result of the step S103, the driving state of the vehicle is further controlled, and if the vehicle passes the authorization verification, the vehicle is started and is controlled to continue to drive to the next target station along the preset planned route; if the vehicle authorization verification is not passed, the vehicle parking state is maintained.
It should be noted that, when the vehicle is started, the vehicle deviates from the region range of the target station, and the vehicle can automatically enter the region range of the target station.
Illustratively, the card swiping authorization verification is determined to pass based on the first verification information, the biometric identification verification is determined to pass based on the second verification information, the vehicle starting authorization verification is determined to pass based on the third verification information, and the vehicle authorization verification can be determined to pass if the card swiping authorization verification, the biometric identification verification and the vehicle starting authorization verification pass; if any of the above-described card swiping authorization verification, biometric identification verification, and vehicle activation authorization verification is not passed, it may be determined that the vehicle authorization verification is not passed.
Based on the above embodiments, in a specific embodiment of the present disclosure, fig. 7 shows a matrix diagram of the availability status behaviors of various authorization verification functions in different scenarios, where in fig. 7, "x" indicates unavailable, i.e. the corresponding authorization verification function is off, and "v" indicates available, i.e. the corresponding authorization verification function is on, and the authorization verification device includes a card reader (for card-swiping authorization verification), a face recognizer and/or a fingerprint recognizer (for biometric verification), and a button (for vehicle-starting authorization verification). With reference to fig. 6 and 7, when the vehicle is traveling, the destination station where the vehicle is located is the destination station (i.e., there is no next station), and the vehicle is in a failure, the card swiping authorization verification function, the biometric feature identification verification function, and the vehicle start authorization verification function are turned off, and accordingly, none of the card swiping device, the face recognizer and/or the fingerprint recognizer, and the button are available; when the vehicle runs, the button lamp is not on, and the horn does not sound; when no next station exists, the button lamp is on, and meanwhile, the horn sends out vehicle arrival reminding information; when the vehicle has a fault, the button lamp is on for a long time, and the horn sends out fault reminding information; wherein the light emitting color of the button lamp may be different for no next stop and no vehicle malfunction. When the vehicle stops at the target station and the target station is not the terminal station (namely, the next station exists), the card swiping authorization verification function is started, the biological characteristic identification verification function and the vehicle starting authorization verification function are closed, correspondingly, the card swiping device is available, the face recognizer, the fingerprint recognizer and the button are unavailable, at the moment, the button lamp is on for a long time, and meanwhile, the horn sends out vehicle arrival reminding information. In the process of carrying out authorization verification, if the card swiping authorization verification is overtime, the on-off state of each authorization verification function at the next station is returned, the card swiping authorization verification is carried out again, at the moment, the button lamp flickers, and meanwhile, the loudspeaker gives out overtime reminding; if the card swiping authorization verification fails, the card swiping authorization verification is carried out again, at the moment, the button lamp flickers, and meanwhile, the loudspeaker is used for reminding the verification failure; if the card swiping authorization verification is successful, the biological characteristic identification verification function is started, the card swiping authorization verification function and the vehicle starting authorization verification function are closed, correspondingly, the face recognizer and/or the fingerprint recognizer are available, the card swiping device and the button are unavailable, at the moment, the button lamp flickers, and meanwhile, the loudspeaker sends out success reminding information; then, if the biological characteristic identification verification is overtime, the switch state of each authorization verification function at the next station is returned, the card swiping authorization verification is carried out again, at the moment, the button lamp flickers, and the loudspeaker gives an overtime prompt; if the biological characteristic identification verification fails, the biological characteristic identification verification is carried out again, at the moment, the button lamp flickers, and meanwhile, the loudspeaker is used for reminding of the failure verification; if the biological characteristic identification verification is successful, the vehicle starts an authorization verification function, the card swiping authorization verification function and the biological characteristic identification verification function are closed, correspondingly, the button is available, the card swiping device and the face recognizer and/or the fingerprint recognizer are unavailable, at the moment, the button lamp flickers, and the loudspeaker sends success reminding information; then, if the vehicle starts the authorization verification overtime, the vehicle returns to the on-off state of each authorization verification function when the vehicle is in the next station, the card swiping authorization verification is carried out again, at the moment, the button lamp flickers, and the loudspeaker gives out an overtime prompt; if the vehicle starts the authorization verification successfully, the card swiping authorization verification function, the biological feature identification verification function and the vehicle starts the authorization verification function to be closed, correspondingly, the card swiping device, the face recognizer and/or the fingerprint recognizer and the button are unavailable, at the moment, the button lamp is not on, and meanwhile, the loudspeaker sends out the success reminding information.
Therefore, according to the vehicle control method provided by the embodiment of the disclosure, the preset planned route is configured at the server, the preset planned route is set for the vehicle, and the preset planned route is sent to the vehicle, when the vehicle acquires the preset planned route, the vehicle is controlled to run along the preset planned route, and the vehicle can automatically stop when reaching the target station, a security guard does not need to accompany the vehicle in the whole process, manpower is saved, software using a tablet computer as a carrier is avoided, the tablet computer and the software can consume quite high cost, and further cost consumption is reduced. In addition, the preset authorization verification rule is set, and the preset authorization verification rule comprises card swiping authorization verification, biological feature identification verification and vehicle starting authorization verification, so that authorization verification means are added, the authorization mode is further enhanced, the situation that an unknown person swipes a card to obtain authorization due to card loss can be avoided, and the safety is improved.
The embodiment of the disclosure also provides a vehicle control system. Fig. 2 is a schematic structural diagram of a vehicle control system provided in the implementation of the present disclosure, and as shown in fig. 2, the vehicle control system includes a service end 10 and one or more vehicles 20, and fig. 2 exemplarily shows two vehicles 20, where the service end 10 is in communication connection with the one or more vehicles 20.
The server 10 is configured to: configuring one or more target stations and a preset planning route; a preset planned route is set for one or more vehicles 20, and the preset planned route is sent to the one or more vehicles 20, wherein the preset planned route includes one or more target stations.
The vehicle 20 is used for: when a preset planned route sent by the server 10 is acquired, controlling the vehicle 20 to run along the preset planned route; when the vehicle 20 automatically stops at the target station, judging whether a preset authorization triggering condition is met; if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule; the running state of the vehicle 20 is controlled based on the authorization verification result.
Specifically, as shown in fig. 2, the administrator configures a preset planned route at the service end 10, sets the preset planned route for the vehicle 20, and transmits the preset planned route to the vehicle 20, wherein the preset planned route includes a start point and one or more target stations. When the vehicle 20 acquires the preset planned route sent by the server 10, the vehicle 20 is controlled to travel along the preset planned route, and when the vehicle 20 travels to the target station, the vehicle 20 is controlled to automatically stop at the target station.
Based on the embodiment, when the vehicle automatically stops at the target station, whether the preset authorization triggering condition is met or not is judged. Specifically, if the vehicle judges that the vehicle has no fault and the target station where the vehicle is located is not the terminal station, determining that a preset authorization triggering condition is met; and if the vehicle judges that the vehicle has a fault and/or the target station where the vehicle is located is the terminal station, determining that the preset authorization triggering condition is not met.
Optionally, if a preset authorization trigger condition is met, the vehicle starts an authorization verification function based on a preset authorization verification rule. In some embodiments, the vehicle initiates the card swiping authorization verification function, initiates the biometric authentication function upon determining that the card swiping authorization verification passes based on the first verification information, and initiates the vehicle initiating authorization verification function upon determining that the biometric authentication passes based on the second verification information.
Specifically, when a vehicle automatically stops at a target station and judges that the vehicle meets a preset authorization triggering condition, the vehicle firstly starts a card swiping authorization verification function, after a task (such as getting on or off) of the vehicle at the current target station is completed, a field operator swipes a card by using a card swiping device on the vehicle body to input first verification information, the vehicle reads the first verification information through the card swiping device and verifies the first verification information, and after the verification is successful, the vehicle sends out indication information which can be set as voice prompt or light prompt to remind the field operator that the first verification information is verified; furthermore, the vehicle starts a biological feature recognition verification function, the biological feature recognition can be set to include face recognition and/or fingerprint recognition, for example, a camera is started to capture face information or the vehicle displays a fingerprint input port, a field operator inputs corresponding biological feature recognition verification information, namely second verification information, and after the verification is successful, the vehicle can send out the same indication information to remind the field operator that the second verification information is verified; further, the vehicle starts a vehicle start authorization verification function, and a start button may be set to implement vehicle start authorization verification, for example, the start button is a vehicle entity button, or an HMI virtual button, or a virtual button of a remote management platform, and after a field operator or a remote administrator presses the start button, the vehicle starts and moves to a next target station along a preset planned path.
In some embodiments, the vehicle turns off the authorization verification function when a preset authorization trigger condition is not satisfied or the vehicle is running; and/or the vehicle closes the authenticated authorization verification function after any one of the card swiping authorization verification, the biometric identification verification and the vehicle starting authorization verification passes.
Specifically, when the vehicle malfunctions, or the vehicle stops at a terminal, or the vehicle runs, the vehicle turns off the authorization verification function, that is, does not turn on the authorization verification function.
Based on the embodiment, when the vehicle starts the authorization verification function, the card swiping authorization verification function is closed after the card swiping authorization verification passes; when the biological characteristic identification passes, continuing to close the biological characteristic identification verification function; when the vehicle start authorization verification passes, the vehicle 20 is continuously turned off to start the authorization verification function. Therefore, when the vehicle breaks down, the authorization verification function is closed, the vehicle can be prevented from running with the fault, and the running safety of the vehicle is improved; the authorization verification function is closed when the vehicle stops at the terminal, unnecessary power consumption of the authorization verification equipment can be avoided, and the vehicle is prevented from being started without a reason; the authorization verification function is closed when the vehicle runs, so that unnecessary power consumption of the authorization verification equipment can be avoided; and the authorization verification function which passes the verification is closed, so that unnecessary power consumption of the authorization verification equipment can be avoided, and misoperation of the authorization verification equipment corresponding to the authorization verification function which passes the verification is prevented.
In some embodiments, the vehicle returns to perform the start of the authorization verification function based on the preset authorization verification rules when the first verification information is not received within a first preset time threshold of the card swiping authorization verification, the second verification information is not received within a second preset time threshold of the biometric verification, or the third verification information is not received within a third preset time threshold of the vehicle start authorization verification. Therefore, when any one of the card swiping authorization verification, the biological characteristic identification verification and the vehicle starting authorization verification is overtime, the card swiping authorization verification is returned for re-verification, and the security of the authorization verification is improved.
Specifically, a first preset time threshold is set for card swiping authorization verification, if the vehicle does not receive the first verification information within the first preset time threshold, first overtime reminding information can be sent, for example, a button lamp flashes and/or a horn whistles, and field operators are reminded that card swiping authorization verification is overtime, so that the field operators can conduct card swiping authorization verification again. And setting a second preset time threshold value for the biological characteristic identification verification, if the vehicle does not receive second verification information within the second preset time threshold value, sending second overtime reminding information, such as button lamp flashing and/or horn whistle, reminding field operators that the biological characteristic identification verification is overtime, so that the field operators perform card swiping authorization verification again. And setting a third preset time threshold value for the vehicle starting authorization verification, if the vehicle does not receive the third verification information within the third preset time threshold value, sending third overtime reminding information, such as a button lamp flickering and/or a loudspeaker sending reminding information, reminding field operators that the vehicle starts the authorization verification and is overtime, so that the field operators can perform card swiping authorization verification again. It should be noted that, for the time-out of the card swiping authorization verification, the time-out of the biometric feature identification verification and the time-out of the vehicle starting authorization verification, different time-out reminding information can be respectively set, for example, the light-emitting colors or flashing modes of the button lamps are different, and the reminding information sent by the horn is different.
In some embodiments, the vehicle may turn on the camera to detect whether there are authorized field operators around the vehicle upon expiration of any of the card swipe authorization verification, the biometric identification verification, and the vehicle activation authorization verification. When an authorized field operator is detected, the vehicle sends out overtime reminding information; when the site operator who can be authorized is not detected, the vehicle sends alarm information to the server side so as to inform the site operator to carry out authorization verification as soon as possible through the server side.
In some embodiments, if the authorization verification passes, starting the vehicle and controlling the vehicle to continue to travel along the preset planned route to the next target station; if the vehicle authorization verification is not passed, the vehicle parking state is maintained.
Illustratively, the vehicle determines that the card swiping authorization verification passes based on the first verification information, the biometric identification verification passes based on the second verification information, and the vehicle starting authorization verification passes based on the third verification information, and if the card swiping authorization verification, the biometric identification verification, and the vehicle starting authorization verification pass, the vehicle authorization verification can be determined to pass; if any one of the card swiping authorization verification, the biometric identification verification and the vehicle starting authorization verification is not passed, the vehicle authorization verification can be judged to be not passed.
Therefore, the vehicle control system provided by the embodiment of the disclosure comprises the server and the vehicle, information such as a vehicle destination and a passing station is defined by the server and then is issued to the vehicle, the vehicle can automatically stop at the station and the end without accompanying by a security officer in the whole vehicle, and the vehicle can directly send a command to the vehicle through rapid operation of the vehicle body by a field operator at the stopping station so as to be driven to the next station/end, so that the operation cost of unmanned logistics can be reduced, and the operation efficiency is improved. In addition, the preset authorization verification rule is set, and the preset authorization verification rule comprises card swiping authorization verification, biological feature identification verification and vehicle starting authorization verification, so that authorization verification means are added, the authorization mode is further enhanced, the situation that an unknown person swipes a card to obtain authorization due to card loss can be avoided, and the safety is improved.
The embodiment of the disclosure also provides a vehicle control device. Fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure, and as shown in fig. 8, the vehicle control device includes: the first control module 801 is configured to control a vehicle to travel along a preset planned route when the preset planned route sent by a server is acquired, where the preset planned route includes a start point and one or more target stations; an authorization trigger condition determining module 802, configured to determine whether a preset authorization trigger condition is met when the vehicle automatically stops at the target station; an authorization verification function starting module 803, configured to start an authorization verification function based on a preset authorization verification rule if a preset authorization trigger condition is met; and a second control module 804 for controlling the driving state of the vehicle based on the authorization verification result.
The vehicle control device disclosed in the above embodiments can execute the vehicle control method disclosed in each of the above embodiments, and has the same or corresponding beneficial effects, and in order to avoid repetition, the details are not repeated herein.
An embodiment of the present disclosure further provides an electronic device, including: a memory and one or more processors; the memory is in communication connection with the one or more processors, and the memory stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is used for implementing the vehicle control method described in any embodiment of the disclosure.
FIG. 9 is a schematic block diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. As shown in fig. 9, the electronic apparatus 900 includes a Central Processing Unit (CPU)901, which can execute various processes in the foregoing embodiments according to a program stored in a Read Only Memory (ROM)902 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 903. In the RAM903, various programs and data necessary for the operation of the electronic apparatus 800 are also stored. The CPU901, ROM902, and RAM903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted into the storage section 908 as necessary.
In particular, the methods described above may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the aforementioned obstacle avoidance method. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 909, and/or installed from the removable medium 911.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.
In addition, the embodiment of the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the foregoing embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer-readable storage medium stores computer-executable instructions that, when executed by a computing device, may be used to implement a vehicle control method as described in any embodiment of the present disclosure.
Scheme 1, a vehicle control method, is applied to a vehicle, includes:
when a preset planned route sent by a server is obtained, controlling a vehicle to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations;
when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met;
if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule;
controlling a driving state of the vehicle based on the authorization verification result.
In the vehicle control method according to claim 1, in scheme 2, the preset authorization trigger condition includes:
the vehicle is non-faulty and the target site is not a terminal site.
Scheme 3, the vehicle control method according to scheme 2, based on the preset authorization verification rule, starts the authorization verification function, including:
starting a card swiping authorization verification function;
after the card swiping authorization verification is determined to pass based on the first verification information, starting a biological characteristic identification verification function;
and after the biometric identification verification is determined to pass based on the second verification information, starting a vehicle starting authorization verification function.
The vehicle control method according to claim 4, to claim 3, further comprising:
when the preset authorization triggering condition is not met or the vehicle runs, closing the authorization verification function; and/or the presence of a gas in the gas,
and after any one of the card swiping authorization verification, the biometric feature identification verification and the vehicle starting authorization verification passes, closing the authorized verification function passing the verification.
The vehicle control method according to claim 5 or 3, further comprising:
and when the first verification information is not received within a first preset time threshold of the card swiping authorization verification, or the second verification information is not received within a second preset time threshold of the biometric identification verification, or the third verification information is not received within a third preset time threshold of the vehicle starting authorization verification, the authorization verification function is returned to be executed and started based on the preset authorization verification rule.
The vehicle control method according to claim 3, which includes:
if the authorization passes the verification, starting the vehicle and controlling the vehicle to continue to drive to the next target station along the preset planned route; otherwise, the parking state is maintained.
The vehicle control method according to claim 7, according to claim 6, further comprising: determining whether the authorization verification passes;
determining whether the authorization verification passes includes:
if the following conditions are met, the authorization verification is passed; otherwise, the authorization verification fails:
determining that the card swiping authorization verification passes based on the first verification information;
determining that the biometric authentication passes based on the second authentication information;
and determining that the vehicle starting authorization passes the verification based on the third verification information.
A vehicle control device according to claim 8, comprising:
the system comprises a first control module and a second control module, wherein the first control module is used for controlling a vehicle to run along a preset planned route when the preset planned route sent by a server is obtained, and the preset planned route comprises a starting point and one or more target stations;
the authorization triggering condition judging module is used for judging whether a preset authorization triggering condition is met or not when the vehicle automatically stops at the target station;
the authorization verification function starting module is used for starting an authorization verification function based on a preset authorization verification rule if the preset authorization trigger condition is met;
and the second control module is used for controlling the driving state of the vehicle based on the authorization verification result.
Scheme 9, a vehicle control system, comprising a service end and one or more vehicles, wherein the service end is in communication connection with the one or more vehicles;
the server is used for: configuring one or more target stations and a preset planning route; setting the preset planned route for the one or more vehicles, and sending the preset planned route to the one or more vehicles, wherein the preset planned route comprises the one or more target stations;
the vehicle is used for: when the preset planned route sent by the server is obtained, controlling the vehicle to run along the preset planned route; when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met; if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule; controlling a driving state of the vehicle based on the authorization verification result.
a memory and one or more processors;
wherein the memory is communicatively coupled to the one or more processors, the memory having stored therein instructions executable by the one or more processors, the instructions, when executed by the one or more processors, operable by the electronic device to implement the vehicle control method of any of aspects 1-7.
Solution 11, a computer-readable storage medium having stored thereon computer-executable instructions operable to implement the vehicle control method according to any one of solutions 1-7 when executed by a computing device.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle control method applied to a vehicle, characterized by comprising:
when a preset planned route sent by a server is acquired, controlling a vehicle to run along the preset planned route, wherein the preset planned route comprises a starting point and one or more target stations;
when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met;
if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule;
controlling a driving state of the vehicle based on the authorization verification result.
2. The vehicle control method according to claim 1, wherein the preset authorization trigger condition includes:
the vehicle is non-faulty and the target site is not a terminal site.
3. The vehicle control method according to claim 2, wherein the activation of the authorization verification function based on a preset authorization verification rule includes:
starting a card swiping authorization verification function;
after the card swiping authorization verification is determined to pass based on the first verification information, starting a biological characteristic identification verification function;
and after the biometric identification verification is determined to pass based on the second verification information, starting a vehicle starting authorization verification function.
4. The vehicle control method according to claim 3, characterized by further comprising:
when the preset authorization triggering condition is not met or the vehicle runs, closing the authorization verification function; and/or the presence of a gas in the gas,
and after any one of the card swiping authorization verification, the biometric feature identification verification and the vehicle starting authorization verification passes, closing the authorized verification function passing the verification.
5. The vehicle control method according to claim 3, characterized by further comprising:
and when the first verification information is not received within a first preset time threshold of the card swiping authorization verification, or the second verification information is not received within a second preset time threshold of the biometric identification verification, or the third verification information is not received within a third preset time threshold of the vehicle starting authorization verification, the authorization verification function is returned to be executed and started based on the preset authorization verification rule.
6. The vehicle control method according to claim 3, wherein controlling the running state of the vehicle based on the authorization verification result includes:
if the authorization passes the verification, starting the vehicle and controlling the vehicle to continue to drive to the next target station along the preset planned route; otherwise, the parking state is maintained.
7. A vehicle control apparatus characterized by comprising:
the system comprises a first control module and a second control module, wherein the first control module is used for controlling a vehicle to run along a preset planned route when the preset planned route sent by a server is obtained, and the preset planned route comprises a starting point and one or more target stations;
the authorization triggering condition judging module is used for judging whether a preset authorization triggering condition is met or not when the vehicle automatically stops at the target station;
the authorization verification function starting module is used for starting an authorization verification function based on a preset authorization verification rule if the preset authorization triggering condition is met;
and the second control module is used for controlling the driving state of the vehicle based on the authorization verification result.
8. A vehicle control system is characterized by comprising a service end and one or more vehicles, wherein the service end is in communication connection with the one or more vehicles;
the server is used for: configuring one or more target stations and a preset planning route; setting the preset planned route for the one or more vehicles, and sending the preset planned route to the one or more vehicles, wherein the preset planned route comprises the one or more target stations;
the vehicle is used for: when the preset planned route sent by the server is obtained, controlling the vehicle to run along the preset planned route; when the vehicle automatically stops at the target station, judging whether a preset authorization triggering condition is met; if the preset authorization triggering condition is met, starting an authorization verification function based on a preset authorization verification rule; controlling a driving state of the vehicle based on the authorization verification result.
9. An electronic device, comprising:
a memory and one or more processors;
wherein the memory is communicatively coupled to the one or more processors, the memory having stored therein instructions executable by the one or more processors, the instructions, when executed by the one or more processors, the electronic device to implement the vehicle control method of any of claims 1-6.
10. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed by a computing device, are operable to implement a vehicle control method as claimed in any one of claims 1 to 6.
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| CN202210232882.9A CN114572247A (en) | 2022-03-09 | 2022-03-09 | Vehicle control method, device, system, equipment and medium |
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| CN202210232882.9A CN114572247A (en) | 2022-03-09 | 2022-03-09 | Vehicle control method, device, system, equipment and medium |
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