CN114771564A

CN114771564A - Unmanned vehicle control method, unmanned vehicle, vehicle-mounted control device and readable medium

Info

Publication number: CN114771564A
Application number: CN202210366150.9A
Authority: CN
Inventors: 曹鹤; 金世亮; 张齐
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-07-22
Also published as: WO2023193500A1

Abstract

The embodiment of the disclosure discloses a control method of an unmanned vehicle, the unmanned vehicle, a vehicle-mounted control device and a readable medium. One embodiment of the method comprises: determining a target parking position according to the acquired scheduling task, wherein the scheduling task comprises information of the parking position and information of parking time; controlling the unmanned vehicle to drive to the target parking position; in response to determining that the target stop location is reached, determining whether a current time reaches an end time of the target stop location; and controlling the unmanned vehicle according to a time determination result. The implementation mode can realize the running control of the unmanned vending vehicle, thereby completing the scheduling task and the article vending task.

Description

Unmanned vehicle control method, unmanned vehicle, vehicle-mounted control device and readable medium

Technical Field

The embodiment of the disclosure relates to the technical field of automatic driving, in particular to a control method of an unmanned vehicle, the unmanned vehicle, a vehicle-mounted control device and a readable medium.

Background

An Autonomous vehicle (Self-driving Autonomous vehicle) is also called an unmanned vehicle, and is generally an intelligent vehicle that can realize unmanned driving through a computer system.

At present, unmanned vehicles (called unmanned vehicles for short) are also injected with a new business form, namely unmanned vending vehicles. The mode not only expands a new selling scene for retail business, but also provides conditions for the automatic driving industry to expand a novel business form.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a control method for an unmanned vehicle, an onboard control device, and a computer-readable medium to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a control method for an unmanned vehicle, comprising: determining a target parking position according to the acquired scheduling task, wherein the scheduling task comprises information of the parking position and information of parking time; controlling the unmanned vehicle to travel to a target parking position; in response to determining that the target parking location is reached, determining whether the current time reaches an end time of the target parking location; and controlling the unmanned vehicle according to the time determination result.

In some embodiments, controlling the unmanned vehicle based on the time determination includes: and in response to determining that the end time is not reached, generating article display information according to the inventory information of the articles loaded by the unmanned vehicle, and displaying the article display information on a display screen of the unmanned vehicle.

In some embodiments, controlling the unmanned vehicle according to the time determination result further includes: in response to the fact that the end time is determined to be reached, determining whether information of the rest parking positions exists in the scheduling task or not, wherein the rest parking positions are the parking positions which are not reached by the unmanned vehicles; in response to determining that the parking position exists, selecting the parking position from the remaining parking positions as a target parking position, and controlling the unmanned vehicle to travel to the target parking position.

In some embodiments, the control method further comprises: in response to determining that the task does not exist, generating task close information, and displaying the task close information on a display screen.

In some embodiments, the control method further comprises: displaying preset information on a display screen in the driving process of the unmanned vehicle; restarting the unmanned vehicle in response to determining that the unmanned vehicle is malfunctioning.

In some embodiments, after the unmanned vehicle is restarted, the control method further includes: determining whether the unmanned vehicle reaches a target parking position; and controlling the unmanned vehicle to continue to drive to the target parking position in response to determining that the target parking point is not reached.

In some embodiments, controlling the unmanned vehicle to travel to the target parking location includes: determining an alternative driving route according to the current position and the target parking position of the unmanned vehicle; selecting a driving route from the alternative driving routes as a target driving route; and controlling the unmanned vehicle to travel to the target parking position according to the target traveling route.

In some embodiments, the scheduling task includes a travel route between the stop locations; and controlling the unmanned vehicle to travel to the target parking position, comprising: and controlling the unmanned vehicle to travel to the target parking position according to the travel route.

In some embodiments, the docking time information includes a start time and/or a docking duration of the docking location; and determining an end time of the target parking location by at least one of: determining the running time between the target parking position and the next parking position, and determining the end time of the target parking position according to the running time and the start time of the next parking position; determining the arrival time of the unmanned vehicle reaching the target parking position, and determining the end time of the target parking position according to the arrival time and the parking time of the target parking position; and determining the end time of the target parking position according to the start time and the parking duration of the target parking position.

In some embodiments, the control method further comprises: in response to detecting a vehicle launch operation, determining whether a historical scheduling task exists; responsive to determining that there is, cancelling the historical scheduling task; and acquiring new scheduling tasks and article loading information.

In a second aspect, some embodiments of the present disclosure provide an unmanned vehicle comprising: the vehicle body is provided with a display screen; and a control device configured to control the vehicle body by using the control method described in any one of the implementations of the first aspect.

In a third aspect, some embodiments of the present disclosure provide an in-vehicle control apparatus including: one or more processors; a storage device, on which one or more programs are stored, which, when executed by one or more processors, cause the one or more processors to implement the control method described in any of the implementations of the first aspect.

In a fourth aspect, some embodiments of the disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the control method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following advantages: the control method for the unmanned vehicle of some embodiments of the present disclosure may implement driving control of the unmanned vending vehicle. Specifically, the unmanned vender not only performs a task of traveling to a specified place but also performs a task of selling an article at the specified place, as compared with a conventional unmanned vehicle. That is, there is a difference in control logic. Based on this, the control method for the unmanned vehicle of some embodiments of the present disclosure may control the unmanned vehicle to travel to the target parking position according to the scheduled task. And in case of reaching the target parking location, it may be determined whether the current time reaches the end time of the target parking location. And then the unmanned vehicle is controlled according to the time determination result. Therefore, the unmanned vehicle can be controlled to run and can be controlled to complete the scheduling task. Namely, the running control of the unmanned vehicle is realized according to the scheduling task.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

FIG. 1 is an architectural diagram of an exemplary system in which some embodiments of the present disclosure may be applied;

FIG. 2 is a flow chart of some embodiments of a control method for an unmanned vehicle according to the present disclosure;

FIG. 3 is a flow chart of still further embodiments of a control method for an unmanned vehicle according to the present disclosure;

FIG. 4 is a display page of one embodiment of article display information;

FIG. 5 is a schematic structural diagram of some embodiments of an unmanned vehicle according to the present disclosure;

FIG. 6 is a schematic block diagram of an in-vehicle control device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates an exemplary system architecture 100 for a control method for an unmanned vehicle to which some embodiments of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include an unmanned vehicle 101 and a server 102. The unmanned vehicle 101 here may be an unmanned vehicle having an article carrying function. The unmanned vehicle 101 may have a control device 1011 mounted therein. The control device 1011 can communicate with the server 102 via a network, thereby controlling the unmanned vehicle 101. The network herein may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The server 102 may be a server that provides various services, and may be a background server that provides data support to the control device 1011, for example. The background server may store a scheduling task. The server 102 may be hardware or software. When the server 102 is hardware, it may be implemented as a distributed server cluster composed of multiple servers, or may be implemented as a single server. When the server 102 is software, it may be implemented as multiple pieces of software or software modules, for example, to provide distributed services, or as a single piece of software or software module. And is not particularly limited herein.

The control device 1011 may retrieve the scheduling task from the server 102 and analyze it to determine the target parking location. So that the unmanned vehicle 101 can be controlled to travel to the target parking position. In the case of reaching the target parking location, the current time and the end time of the target parking location may also be analyzed. And further controlling the unmanned vehicle according to the analysis result.

Here, the control device 1011 may be hardware or software. When the control apparatus 1011 is hardware, it may be various in-vehicle control devices. When the control device 1011 is software, it may be installed in the above-described in-vehicle control apparatus. It may be implemented, for example, as multiple software or software modules for providing distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of unmanned vehicles, control devices, and servers in fig. 1 is merely illustrative. There may be any number of unmanned vehicles, control devices, and servers, as desired.

With continued reference to fig. 2, a flow 200 of some embodiments of a control method for an unmanned vehicle according to the present disclosure is shown. The control method comprises the following steps:

step 201, determining a target parking position according to the acquired scheduling task.

In some embodiments, an execution subject of the control method for the unmanned vehicle (e.g., the control device 1011 shown in fig. 1) may acquire the scheduling task by wired connection or wireless connection. The scheduling task may include information of a parking position and parking time information, among others. Here, the information of the parking position may be any information for characterizing the parking position, such as at least one of the following information: coordinates of the parking location, communication address or name, etc. The parking time information may be information related to the parking time, such as may be the end time of each parking location.

In some embodiments, the scheduled tasks may be pre-stored in a server (e.g., server 102 shown in FIG. 1). Therefore, when the unmanned vehicle is powered on, the execution main body can acquire the scheduling task from the server. As an example, the scheduled task for each unmanned vehicle may be determined by an association between identification information (e.g., vehicle number) of the unmanned vehicle and the scheduled task. Alternatively, the scheduling task may be stored locally in the execution agent. The executing agent may thus determine the target parking position according to the scheduled task.

In some embodiments, the executive body may select a parking position closest to the current position of the unmanned vehicle from among parking positions in the scheduling task as the target parking position. The distance can be a straight line distance, which is beneficial to simplifying calculation and improving processing efficiency; the running distance can be also used, the complexity of the road environment is considered, and the accuracy of the selected result is improved. It will be appreciated that sometimes, limited by the direction of travel of the road, the distance traveled between the two locations closest in line may not necessarily be the closest. This helps to reduce the overall travel distance and reduce travel time.

It should be noted that, when the unmanned vehicle is initially started, each parking position in the scheduling task is often a position at which the unmanned vehicle is to be parked. That is, these parking positions are positions at which the unmanned vehicle has not been parked. Here, to avoid duplicate computations, the execution subject may order the stop positions in the scheduled task when determining the target stop position for the first time (i.e., determining the first target stop position). Therefore, the parking positions can be sequentially determined as the target parking positions according to the sequence. Thereby contributing to an improvement in the treatment efficiency.

Optionally, the scheduling task may include a list of parking positions. Alternatively, the information of the stop positions may further include sequence tags of the stop positions. At this time, the execution main body may sequentially determine each of the parking positions as the target parking position according to the parking position list or the order label.

In some embodiments, the scheduling task may include a driving route between the parking positions. In this case, the execution body may determine the target stop position according to the order of the travel route. As an example, the starting point of the travel route may be first determined as the target stop position. Thereafter, the next place indicated by the travel route may be determined as the target parking position, and so on.

And step 202, controlling the unmanned vehicle to travel to the target parking position.

In some embodiments, based on the target parking position determined in step 201, the executive agent may control the unmanned vehicle to travel to the target parking position.

In some embodiments, the executive body may determine an alternate travel route for the unmanned vehicle based on the current location of the unmanned vehicle and the target parking location. As an example, the executing agent may utilize a navigation application installed thereon to determine at least one travel route between the current location and the target stop location as an alternative travel route. Thereafter, the execution subject may select a travel route from the alternative travel routes as a target travel route. Further, the unmanned vehicle can be controlled to travel to the target stop position according to the target travel route. Here, the selection manner is not limited. As an example, it may be chosen in accordance with at least one of the following: road condition information such as route length, estimated running time, traffic light quantity, congestion degree, priority of big roads (if the number of lanes reaches two) and the like. Therefore, the driving route can be automatically adjusted according to real-time road conditions, and the flexibility of the unmanned vehicle is improved. In addition, the driving time of the unmanned vehicle is also shortened, so that the parking time of the unmanned vehicle at the target parking position can be ensured or prolonged.

Alternatively, in a case where the travel route between the stop positions is included in the scheduled task, the execution main body may control the unmanned vehicle to travel to the target stop position in accordance with the travel route specified in the scheduled task. Therefore, the stability and controllability of the unmanned vehicle can be ensured.

Step 203, in response to determining that the target parking location is reached, determining whether the current time reaches an end time of the target parking location.

In some embodiments, in the case where the unmanned vehicle reaches the target parking position, the execution main body may determine whether the current time reaches the end time of the target parking position according to the parking time information in the scheduling task. The end time here generally refers to the time at which the unmanned vehicle ends at the parking position, i.e., the time of traveling away from the parking position. It is to be understood that the end time is also indicated in case the current time exceeds the end time.

In some embodiments, the parking time information may include a start time for each parking location. In this case, the execution subject may first determine the travel time period between the target stop position and the next stop position. Then, the end time of the target stop position can be determined according to the running time length and the start time of the next stop position. As an example, the end time may be a time obtained by deducting the travel time period from the start time. For another example, in order to avoid an abnormality of the unmanned vehicle during driving, a certain buffer time (e.g., 5 minutes) may be reserved. In this case, the end time may be a time obtained by subtracting the travel time length and the buffer time length from the start time.

Optionally, the parking time information may include a parking duration for each parking location. Here, the parking time periods of the respective parking positions may be the same or different. Which can be adjusted according to the actual situation. In this case, the execution subject may determine and record the arrival time when the unmanned vehicle arrives at the target parking position. Then, the end time of the target parking position can be determined according to the arrival time and the parking duration of the target parking position.

In some embodiments, the parking time information may include a start time and a parking duration for each parking location. In this case, the execution subject may determine the end time of the target stop position according to the start time and the stop time length of the target stop position.

And step 204, controlling the unmanned vehicle according to the time determination result.

In some embodiments, the executive agent may control the unmanned vehicle based on the time determination of step 203. As an example, if it is determined that the end time of the target stop position is not reached, the execution subject may generate the article presentation information from inventory information of the article loaded in the unmanned vehicle. And the article display information can be displayed on the display screen of the unmanned vehicle.

Here, the article display information may be related information for displaying the article. For example, as shown in fig. 4, the display page of the article display information may include at least one of the following items: the position of the article (such as a No. 1 cabinet door and a No. 2 cabinet door), the article number (such as A, B, C, D), the article picture, the description information (such as name, stock, price and the like) of the article and the like. This information may be displayed in the 401 region of the page. Thus, the user can purchase the goods loaded on the unmanned vehicle according to the goods display information. The execution subject may update the inventory information in real time according to the purchase of the item.

In addition, in order to facilitate the user to purchase and timely feed back and process problems, the display page may further include purchase mode information (such as a two-dimensional code) and problem feedback information (such as a license plate number and a customer service telephone number). This information may be displayed in the 402 and 403 regions of the page, respectively. Here, the above-mentioned page can also be provided with the manual opening controlling part of cabinet door. When the user pays, and the cabinet door cannot be opened, the control can be triggered (e.g. clicked) to open the cabinet door and take out the purchased articles. Therefore, the problem feedback method is beneficial to quickly solving the problem, simplifies the problem feedback process and the problem solving period, and improves the use experience of the user.

In some embodiments, if it is determined that the end time of the target parking location is reached, the execution principal may determine whether there is information of the remaining parking locations in the scheduling task. Wherein, the rest parking positions are the parking positions which are not reached by the unmanned vehicle. Here, the execution body may record a parking position that the unmanned vehicle has arrived at. Thus, by comparing and analyzing the scheduling task and the record, whether the rest parking positions exist can be determined. Alternatively, the execution subject may mark a parking position that the unmanned vehicle has arrived at. In this way, unmarked parking positions can be determined as remaining parking positions.

Further, if it is determined that there is information of the remaining parking positions, the execution main body may select a parking position from the remaining parking positions as a target parking position. The selection manner can be referred to the above description, and is not described herein again. In this way, the execution body can control the unmanned vehicle to travel to the target parking position. Namely, the unmanned vehicle is controlled to drive to the next parking position.

Here, if it is determined that there is no information on the remaining stop position, it is indicated that the scheduling task and the article selling task are completed. At this time, the execution principal may generate task closing information (e.g., apology, business is now suspended), and may display the task closing information on the display screen. Like this, can be convenient for the user to know the current state of unmanned car, article selling state promptly.

As apparent from the above description, the control method of some embodiments of the present disclosure may implement driving control of the unmanned vend vehicle. And the unmanned selling vehicle can be controlled to finish the selling task of the articles according to the scheduling task. Namely, the driving process of the unmanned vending vehicle is formulated and perfected.

Continuing to refer to fig. 3, a flow 300 of further embodiments of a control method for an unmanned vehicle according to the present disclosure is shown. The control method comprises the following steps:

step 301, determining a target parking position according to the acquired scheduling task. See the relevant description in step 201, and are not described in detail here.

And step 302, controlling the unmanned vehicle to drive to the target parking position, and displaying preset information on a display screen.

In some embodiments, the executive body may control the drone vehicle to travel to the target parking location. And in the process of driving the unmanned vehicle, preset information can be displayed on a display screen of the unmanned vehicle. The preset information may be any information, such as brand advertising information or advertisement information. For a specific control process, reference may be made to the related description in step 202, and details are not described here.

Step 303, in response to determining that the unmanned vehicle is malfunctioning, restarting the unmanned vehicle.

In some embodiments, the execution subject may restart the unmanned vehicle if the unmanned vehicle has a fault or abnormality during traveling. The fault or abnormal condition can be set according to the actual condition, such as data update abnormality, image acquisition card pause, and the like.

Step 304, determining whether the unmanned vehicle reaches the target parking position.

In some embodiments, after the unmanned vehicle is restarted, the execution agent may determine whether the scheduled task is finished. Specifically, the execution subject may determine whether the unmanned vehicle reaches the target parking position. As an example, the executive may locate the current location of the unmanned vehicle for comparative analysis against the target parking location to determine whether the target parking location has been reached. Here, if it is determined that the target parking position is not reached, step 302 may be performed. Namely, the unmanned vehicle is controlled to continue to drive to the target parking position. If it is determined that the target parking location is reached, step 305 may be performed.

Step 305, determining whether the current time reaches the end time of the target parking position.

In some embodiments, reference may be made to the related description in step 203, which is not described herein again. If it is determined that the end time has not been reached, step 306 may be performed. If it is determined that the end time is reached, the next target parking location may be determined and step 302 is performed. If the scheduled task is completed, i.e., there is no next target stop location, then task close information may be generated and displayed. Refer to the related description in fig. 2 embodiment, which is not repeated herein.

Step 306, generating and displaying the article display information. Referring to the description of the embodiment in fig. 2, the description is omitted here.

And 307, restarting the unmanned vehicle in response to determining that the unmanned vehicle has the fault.

In some embodiments, the executive body may restart the unmanned vehicle if the unmanned vehicle malfunctions or is abnormal during the display and vending of the items. The fault or abnormal condition can also be set according to the actual condition, such as the page can not be displayed, the card pause occurs in the selling process or the abnormal condition occurs in the data updating, and the like. After the unmanned vehicle is restarted, the executive agent may continue to determine whether the scheduled task is finished. Step 304 is performed as described above.

The control method of some embodiments of the present disclosure increases the processing flow of the fault or abnormal condition, and improves and perfects the control flow of the unmanned vending vehicle.

It can be understood that the control method of the present disclosure may determine whether there is a historical scheduling task when the unmanned vehicle is powered on for the first time, i.e., when a vehicle start operation (e.g., a start switch is triggered) is detected. If it is determined to exist, the historical scheduling task may be cancelled. Such as deleting information from the historically scheduled tasks or marking them. In addition, the executing agent may obtain the current day (new) scheduling task and item loading information.

Here, for safety reasons, the unmanned vehicle may further be provided with a departure control for controlling initial rotation of the wheels. For example, may be provided on a display screen. Therefore, when the departure control is triggered, the unmanned vehicle can really start to move. In addition, the execution main body can also detect the operation times of triggering the departure control component. I.e. to determine whether the number of operations is greater than a preset value (e.g. 1). If not, the steps of the control method can be executed. If the value is larger than the preset value, operation prompt information (such as repeated operation) can be generated and displayed. Therefore, the triggering operation of the departure control can be ensured to be performed for each scheduling task only for a limited number of times. Thereby ensuring smooth execution of the control flow.

Some embodiments of the present disclosure also provide an unmanned vehicle. As shown in fig. 5, the unmanned vehicle may include a vehicle body 51 and a control device (not shown in fig. 5). The vehicle body 51 may constitute a main framework of the unmanned vehicle. To which other devices, equipment and articles, including control devices, may be secured and mounted. Meanwhile, a display screen 52 may be installed on the exterior of the vehicle body. Thus, when the vehicle body is started, the control device can adopt the control method described in the embodiment of fig. 2 and 3 to control the vehicle body, so that the selling of the articles is completed according to the scheduling task.

Referring now to FIG. 6, a block diagram of an in-vehicle control apparatus (e.g., the control device of FIG. 1) 600 suitable for implementing some embodiments of the present disclosure is shown. The in-vehicle control apparatus shown in fig. 6 is only an example, and should not bring any limitation to the functions and the range of use of the embodiment of the present disclosure.

As shown in fig. 6, in-vehicle control apparatus 600 may include a processing device (e.g., a central processing unit, a graphic processor, etc.) 601 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage device 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the in-vehicle control apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, or the like; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the in-vehicle control apparatus 600 to perform wireless or wired communication with other apparatuses to exchange data. While fig. 6 illustrates an onboard control apparatus 600 having various devices, it is to be understood that not all of the illustrated devices are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The above-mentioned computer-readable medium may be that contained in the above-mentioned in-vehicle control apparatus; or may exist separately without being incorporated into the in-vehicle control apparatus. The above-mentioned computer-readable medium carries one or more programs that, when executed by the in-vehicle control apparatus, cause the in-vehicle control apparatus to: determining a target parking position according to the acquired scheduling task, wherein the scheduling task comprises information of the parking position and information of parking time; controlling the unmanned vehicle to travel to a target parking position; in response to determining that the target stop location is reached, determining whether the current time reaches an end time of the target stop location; and controlling the unmanned vehicle according to the time determination result.

Furthermore, computer program code for carrying out operations for some embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, 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 functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A control method for an unmanned vehicle, comprising:

determining a target parking position according to the acquired scheduling task, wherein the scheduling task comprises information of the parking position and information of parking time;

controlling the unmanned vehicle to drive to the target parking position;

in response to determining that the target parking location is reached, determining whether a current time reaches an end time of the target parking location;

and controlling the unmanned vehicle according to a time determination result.

2. The control method according to claim 1, wherein the controlling the unmanned vehicle according to the time determination result includes:

and responding to the fact that the end time is not reached, generating article display information according to inventory information of articles loaded by the unmanned vehicle, and displaying the article display information on a display screen of the unmanned vehicle.

3. The control method according to claim 1, wherein the controlling the unmanned vehicle according to a time determination result further includes:

in response to determining that the end time is reached, determining whether information of a remaining parking position exists in the scheduling task, wherein the remaining parking position is a parking position which the unmanned vehicle does not reach;

in response to determining that the target parking position exists, selecting a parking position from the remaining parking positions as the target parking position, and controlling the unmanned vehicle to travel to the target parking position.

4. The control method according to claim 3, wherein the control method further comprises:

in response to determining that no task exists, generating task closing information, and displaying the task closing information on the display screen.

5. The control method according to claim 1, wherein the control method further comprises:

displaying preset information on the display screen in the driving process of the unmanned vehicle;

restarting the unmanned vehicle in response to determining that the unmanned vehicle is malfunctioning.

6. The control method according to claim 5, wherein after the unmanned vehicle is restarted, the control method further comprises:

determining whether the unmanned vehicle reaches the target parking location;

controlling the unmanned vehicle to continue traveling toward the target stop location in response to determining that the target stop point is not reached.

7. The control method according to claim 1, wherein the controlling the unmanned vehicle to travel to the target parking position includes:

determining an alternative driving route according to the current position of the unmanned vehicle and the target parking position;

selecting a driving route from the alternative driving routes as a target driving route;

and controlling the unmanned vehicle to travel to the target parking position according to the target travel route.

8. The control method according to claim 1, wherein the scheduling task includes a travel route between the stop positions; and

the control unmanned vehicle to the target parking position traveles includes:

and controlling the unmanned vehicle to travel to the target parking position according to the traveling route.

9. The control method according to claim 1, wherein the docking time information includes a start time and/or a docking duration of a docking location; and

determining an end time of the target parking location by at least one of:

determining the running time between the target parking position and the next parking position, and determining the end time of the target parking position according to the running time and the start time of the next parking position;

determining the arrival time of the unmanned vehicle reaching the target parking position, and determining the end time of the target parking position according to the arrival time and the parking duration of the target parking position;

and determining the end time of the target parking position according to the start time and the parking duration of the target parking position.

10. The control method according to one of claims 1 to 9, wherein the control method further includes:

in response to detecting a vehicle launch operation, determining whether a historical scheduling task exists;

responsive to determining that the historical scheduling task exists, cancelling the historical scheduling task;

and acquiring new scheduling task and article loading information.

11. An unmanned vehicle comprising:

the vehicle body is provided with a display screen;

control means configured to control the vehicle body by using the control method according to any one of claims 1 to 10 when the vehicle body is started.

12. An in-vehicle control apparatus comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, cause the one or more processors to implement the control method of any one of claims 1-10.

13. A computer-readable medium, on which a computer program is stored, wherein the program, when being executed by a processor, carries out the control method according to any one of claims 1-10.