CN115841762A

CN115841762A - Unmanned vehicle control method, unmanned vehicle control system and unmanned vehicle

Info

Publication number: CN115841762A
Application number: CN202211406106.2A
Authority: CN
Inventors: 王维; 夏循龙; 梁桥; 蔡思佳; 丁玮; 邓兵
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-03-24

Abstract

The embodiment of the specification provides an unmanned vehicle control method, an unmanned vehicle control system and an unmanned vehicle, wherein the unmanned vehicle control method comprises the following steps: the road condition acquisition equipment responds to a road condition acquisition request, acquires current road condition data in the target area, and uploads the current road condition data to the unmanned vehicle dispatching platform; the unmanned vehicle sends vehicle end data to the unmanned vehicle dispatching platform through a first service transmission link; the unmanned vehicle dispatching platform generates an unmanned vehicle dispatching instruction aiming at the target unmanned vehicle based on a target service algorithm, each vehicle end data and the current road condition data, and sends the unmanned vehicle dispatching instruction to the target unmanned vehicle; and the target unmanned vehicle receives and executes the unmanned vehicle scheduling instruction through a second service transmission link.

Description

Unmanned vehicle control method, unmanned vehicle control system and unmanned vehicle

Technical Field

The embodiment of the specification relates to the technical field of computers, in particular to an unmanned vehicle control method, an unmanned vehicle control system and an unmanned vehicle.

Background

With the continuous development of the automatic driving technology, the transportation demand of unmanned vehicles in industrial parks, airports, ports and other scenes is greater and greater. At present, in order to realize logistics transportation of unmanned vehicles, intelligent devices are usually added on each unmanned vehicle, so that each unmanned vehicle can avoid obstacles and correctly navigate a route based on vehicle-mounted devices.

However, the sensor on each unmanned vehicle is easily affected by buildings, obstacles and the like, which causes a problem in the judgment of the current road, and further causes a high risk of related accidents, so that manual intervention is usually required to operate the unmanned vehicle, and the operation efficiency of the unmanned vehicle is seriously affected. In order to solve the above problems, it is usually possible to modify the equipment of each unmanned vehicle, but this approach usually results in higher costs for modifying the unmanned vehicle.

Therefore, how to improve the operation accuracy, reduce the operation risk, and improve the operation efficiency of the unmanned vehicle becomes a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of this, the embodiments of the present specification provide an unmanned vehicle control method. One or more embodiments of the present specification also relate to an unmanned vehicle control apparatus, an unmanned vehicle control system, a computing device, a computer-readable storage medium, and a computer program to solve technical drawbacks of the related art.

According to a first aspect of embodiments of the present specification, there is provided an unmanned vehicle control method applied to an unmanned vehicle control system, where the unmanned vehicle control system includes an unmanned vehicle scheduling platform, at least one unmanned vehicle, and at least one road condition acquisition device, and the at least one unmanned vehicle and the at least one road condition acquisition device are located in a target area, where:

the at least one road condition acquisition device responds to a road condition acquisition request, acquires current road condition data in the target area, and uploads the current road condition data to the unmanned vehicle dispatching platform;

the at least one unmanned vehicle sends vehicle end data to the unmanned vehicle dispatching platform through a first service transmission link;

the unmanned vehicle dispatching platform generates an unmanned vehicle dispatching instruction aiming at a target unmanned vehicle based on a target service algorithm, each vehicle end data and the current road condition data, and sends the unmanned vehicle dispatching instruction to the target unmanned vehicle;

and the target unmanned vehicle receives and executes the unmanned vehicle scheduling instruction through a second service transmission link.

According to a second aspect of the embodiments of the present specification, there is provided an unmanned vehicle control system, which includes an unmanned planning and scheduling platform, at least one unmanned vehicle, and at least one road condition acquisition device, where the at least one unmanned vehicle and the at least one road condition acquisition device are located in a target area, where:

the at least one road condition acquisition device is configured to respond to a road condition acquisition request, acquire current road condition data in the target area and upload the current road condition data to the unmanned vehicle dispatching platform;

the at least one unmanned vehicle is configured to send vehicle end data to the unmanned vehicle dispatching platform through a first service transmission link;

the unmanned vehicle scheduling platform is configured to generate an unmanned vehicle scheduling instruction for a target unmanned vehicle based on a target service algorithm, each vehicle end data and the current road condition data, and send the unmanned vehicle scheduling instruction to the target unmanned vehicle;

the target unmanned vehicle is configured to receive and execute the unmanned vehicle scheduling instruction through a second service transmission link.

According to a third aspect of the embodiments of the present specification, there is provided an unmanned vehicle, including a vehicle-end data reporting module and an instruction receiving module, wherein:

the vehicle-end data reporting module is configured to establish a first service transmission link with an unmanned vehicle dispatching platform and report vehicle-end data to the unmanned vehicle dispatching platform based on the first service transmission link;

the instruction receiving module is configured to establish a second service transmission link with the unmanned vehicle dispatching platform, and receive the unmanned vehicle dispatching instruction issued by the unmanned vehicle dispatching platform based on the second service transmission link.

According to a fourth aspect of the embodiments of the present specification, there is provided an unmanned vehicle control method applied to an unmanned vehicle dispatching platform, including:

receiving current road condition data sent by each road condition acquisition device and vehicle end data sent by each unmanned vehicle based on a first service transmission link;

generating an unmanned vehicle dispatching instruction aiming at the target unmanned vehicle based on the target service algorithm, each vehicle end data and each current road condition data;

and sending the unmanned vehicle scheduling instruction to the target unmanned vehicle according to a second service transmission link.

According to a fifth aspect of embodiments herein, there is provided a computing device comprising:

a memory and a processor;

the memory is configured to store computer-executable instructions and the processor is configured to execute the computer-executable instructions, which when executed by the processor, implement the steps of the above-described unmanned vehicle control method.

According to a sixth aspect of embodiments herein, there is provided a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the above-described unmanned vehicle control method.

According to a seventh aspect of embodiments herein, there is provided a computer program that, when executed in a computer, causes the computer to perform the steps of the above-described unmanned vehicle control method.

One embodiment of the present specification implements that at least one road condition acquisition device responds to a road condition acquisition request, acquires current road condition data in the target area, and uploads the current road condition data to the unmanned vehicle dispatching platform; at least one unmanned vehicle sends vehicle end data to the unmanned vehicle dispatching platform through a first service transmission link; generating an unmanned vehicle dispatching instruction for a target unmanned vehicle by an unmanned vehicle dispatching platform based on a target service algorithm, each vehicle end data and the current road condition data, and sending the unmanned vehicle dispatching instruction to the target unmanned vehicle; and receiving and executing the unmanned vehicle scheduling instruction by the target unmanned vehicle through a second service transmission link.

In the unmanned vehicle control method in one embodiment of the present specification, vehicle end data and current road condition data are uploaded to the unmanned vehicle scheduling platform, so that the unmanned vehicle scheduling platform controls the unmanned vehicle on the basis of combining the road condition data and the vehicle end data, and high-cost modification of a single unmanned vehicle is avoided, thereby reducing the control cost of the unmanned vehicle; an unmanned vehicle scheduling instruction is generated based on the current road condition data, so that the accuracy of unmanned vehicle control is improved; vehicle end data are uploaded based on the first service transmission link, and an unmanned vehicle scheduling instruction is received according to the second service transmission link, so that sub-link transmission of the data is realized, and the data transmission efficiency and the transmission stability are improved.

Drawings

FIG. 1 is a schematic diagram of a scenario of an unmanned vehicle control method provided in one embodiment of the present description;

FIG. 2 is a flow chart of a method of unmanned vehicle control provided by one embodiment of the present description;

fig. 3 is a schematic diagram of creating a transmission link according to an embodiment of the present disclosure;

FIG. 4a is a flowchart illustrating a process of a method for unmanned vehicle control according to an embodiment of the present disclosure;

fig. 4b is a schematic processing diagram of an unmanned vehicle control method according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an unmanned vehicle control system according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present disclosure;

fig. 7 is a block diagram of a computing device according to an embodiment of the present disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present specification. This description may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make and use the present disclosure without departing from the spirit and scope of the present disclosure.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.

First, the noun terms to which one or more embodiments of the present specification relate are explained.

High-precision maps: the map is also called a high-resolution map, generally comprises three types of vector information including a lane model, a road component and a road attribute containing semantic information, and is a new map data paradigm for automatic driving.

Space vector search engine: namely, the vector search engine is the sum of spatial data related to applications stored on a physical medium by a geographic information system, and provides functions of representing, storing, managing and retrieving the geographic spatial data.

Spatial indexing: the data structure is arranged in a certain sequence according to the position and the shape of a space entity or a certain spatial relationship among the space entities, wherein the data structure comprises summary information of the space entities, such as identification of an object, a circumscribed rectangle and a pointer pointing to data of the space entities; in brief, the space object is divided according to a certain space relation, and the access to the space object is performed based on the divided blocks.

And MEC: mobile Edge Computing, refers to an open platform that integrates network, computing, storage, and application core capabilities at the side near the object or data source to provide the nearest service nearby.

TCP: the Transmission Control Protocol is a connection-oriented, reliable transport layer communication Protocol based on byte stream.

MAC: the MediaAccess control address, also called a local area network address MAC address, an ethernet address or a physical address, is an address used to identify the location of the network device.

IP: internet Protocol, internet interconnection Protocol, is a network layer Protocol in the TCP/IP architecture.

With the development of the automatic driving technology, the demands of industrial parks, airports, ports and other scenes on low labor cost and all-weather unmanned material transportation are increasing day by day. The existing unmanned technology is generally a single-vehicle intelligent scheme, roads, vehicles, pedestrians and obstacles are identified through a vehicle-mounted sensor, and a global map is obtained in real time through synchronous mapping of a laser radar and is compared with a high-precision map of a vehicle-mounted terminal system to achieve positioning and navigation. The intelligent repacking of bicycle is with high costs and the perception of bicycle sensor is easily influenced by angle, building shelter from etc. and the risk of safety in production accident is higher. Meanwhile, due to the lack of sufficient road environment information, the navigation route of the unmanned vehicle cannot meet the safe production operation requirement, so that emergency stop and danger avoidance or congestion caused by accidents are caused, and the production operation efficiency is seriously influenced by the need of manual intervention.

The main reasons for the above problems are that the sensing range of the sensor is limited, the necessary accurate information of road traffic participants is lacked, effective emergency obstacle avoidance and even detour are difficult to realize, and the requirements of safe production and operation under real and complex traffic environments cannot be met.

According to the unmanned vehicle control method, the high-precision map data and the space vector search engine of the traffic participant data sensed by the roadside sensing equipment are constructed, and the environment information of the road near the vehicle and the multi-view and beyond-the-horizon obstacle target information can be acquired in real time through an efficient space-time index technology to carry out decision planning. By constructing a reliable and stable vehicle road cloud data link, a space vector search engine of high-precision map data and beyond-visual-range obstacle target perception data, higher-precision, lower-risk and more intelligent tracking and obstacle avoidance of the unmanned logistics vehicle are realized. Through real-time operation data of car end and real-time barrier perception data of roadside, realized a whole scheme based on car road cloud is in coordination, satisfy the demand that many cars of industrial park dispatch the operation simultaneously, realize higher precision, lower risk, more intelligent unmanned commodity circulation car navigation.

In this specification, methods are provided, and the specification simultaneously relates to an unmanned vehicle control system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

Referring to fig. 1, fig. 1 is a schematic view of a scene of an unmanned vehicle control method according to an embodiment of the present specification, and specifically includes:

the target area in fig. 1 is a movable area of the unmanned vehicle, within which the unmanned vehicle can move based on the instruction; road condition acquisition equipment is arranged in the target area; the unmanned vehicle control platform comprises a platform client, a central scheduling module, a road condition data aggregation module, a vehicle end data aggregation module and an instruction data aggregation module; the user can log in the platform client to realize the operation of the unmanned vehicle control platform.

Establishing a transmission link between each unmanned vehicle and the unmanned vehicle control platform and a transmission link between each road condition acquisition device and the unmanned vehicle control platform; the method comprises the steps that each road condition acquisition device reports road condition data in a target area in real time, a road condition data aggregation module in an unmanned vehicle control platform acquires the road condition data, and structured road condition data generated by the road condition data aggregation module are uploaded to a central dispatching module; each unmanned vehicle reports vehicle-end data of the unmanned vehicle in real time based on a vehicle-end data transmission link between the unmanned vehicle and the unmanned vehicle control platform, a vehicle-end data aggregation module in the unmanned vehicle control platform collects the vehicle-end data, and structured vehicle-end data generated by the vehicle-end data aggregation module is uploaded to a central scheduling module; the central scheduling module determines a target service algorithm and a target unmanned vehicle based on the received structured vehicle end data and the structured road condition data; generating an unmanned vehicle dispatching instruction aiming at the target unmanned vehicle according to the structured vehicle end data, the structured road condition data and the target service algorithm; sending an unmanned vehicle scheduling instruction aiming at the target unmanned vehicle to the target unmanned vehicle based on an instruction data transmission link between each unmanned vehicle and the unmanned vehicle control platform; and the target unmanned vehicle executes the received unmanned vehicle dispatching instruction, so that the unmanned vehicle is dispatched by the unmanned vehicle control platform.

According to the unmanned vehicle control method, the vehicle end data and the current road condition data are uploaded to the unmanned vehicle dispatching platform, so that the unmanned vehicle dispatching platform controls the unmanned vehicle on the basis of combining the road condition data and the vehicle end data, high-cost modification of a single unmanned vehicle is avoided, and the control cost of the unmanned vehicle is reduced; an unmanned vehicle scheduling instruction is generated based on the current road condition data, so that the accuracy of unmanned vehicle control is improved; vehicle end data are uploaded based on the first service transmission link, and an unmanned vehicle scheduling instruction is received according to the second service transmission link, so that sub-link transmission of the data is realized, and the data transmission efficiency and the transmission stability are improved.

Referring to fig. 2, fig. 2 is a flowchart illustrating an unmanned vehicle control method according to an embodiment of the present disclosure, where the unmanned vehicle control method is applied to an unmanned vehicle control system, where the unmanned vehicle control system includes an unmanned vehicle scheduling platform, at least one unmanned vehicle, and at least one road condition acquisition device, and the at least one unmanned vehicle and the at least one road condition acquisition device are located in a target area, and the method specifically includes the following steps.

Step 202: and the at least one road condition acquisition device responds to a road condition acquisition request, acquires current road condition data in the target area, and uploads the current road condition data to the unmanned vehicle dispatching platform.

In practical application, the unmanned vehicle control system can receive road condition data uploaded by road condition acquisition equipment arranged in a target area, and is used for determining whether the unmanned vehicle needs to be controlled subsequently, so that the problem that the current road condition is inaccurate due to the fact that only the road condition data acquired by the unmanned vehicle is acquired is avoided.

The target area refers to an area where unmanned vehicles can operate, and in practical application, the target area can be an area set based on business requirements, such as an industrial park, an airport, a port and the like; the road condition acquisition equipment is equipment which is arranged in a target area and is used for acquiring road condition data, and in practical application, the road condition acquisition equipment can be road test MEC equipment, for example, the road condition acquisition equipment is an acquisition rod comprising a radar and a camera, is arranged at the roadside of the target area and can acquire the road condition data in the target area; in practical application, the road condition acquisition equipment can acquire data to generate a high-precision map containing vector information; the road condition data refers to road condition information in the target area, and can comprise road current picture data, distance data between the unmanned vehicle and the road condition acquisition equipment, distance data between the unmanned vehicle and the barrier and the like; the current road condition data refers to road condition data acquired by the road condition acquisition equipment at the current time point; the unmanned vehicle dispatching platform is a platform capable of generating an unmanned vehicle dispatching instruction, and in practical application, the unmanned vehicle dispatching platform can be a platform which is composed of one or more servers and has an unmanned vehicle dispatching instruction generating function.

Specifically, one or more road condition acquisition devices may be set in the target area according to business requirements, for example, one road condition acquisition device is installed every 100 meters at the roadside of an unmanned vehicle driving road in a logistics industrial park according to logistics business requirements; the road condition acquisition equipment receives a road condition acquisition request, responds to the road condition acquisition request and acquires current road condition data in a target area; in practical application, after the road condition acquisition device starts to acquire, the current road condition data can be uploaded to the unmanned vehicle dispatching platform in real time, for example, the road condition acquisition device can upload the current road condition data to the unmanned vehicle dispatching platform every 30 seconds.

In a specific embodiment of the present specification, the unmanned vehicle control system includes a platform client that can control an unmanned vehicle scheduling platform; a user triggers a platform control page in a platform client and clicks a road condition acquisition request aiming at a road condition acquisition device i; the platform client sends the road condition acquisition request to the unmanned vehicle dispatching platform, and then the unmanned vehicle dispatching platform sends the road condition acquisition request to the road condition acquisition equipment i; and the road condition acquisition equipment i receives the road condition acquisition request, responds to the road condition acquisition request, and returns the acquired current road condition data in the target area to the unmanned vehicle dispatching platform.

Through triggering the road condition acquisition equipment, the current road condition data in the target area are acquired, and the current road condition data are uploaded to the unmanned vehicle dispatching platform, so that the unmanned vehicle dispatching platform can complete the dispatching of the unmanned vehicle based on the current road condition data, and the accuracy of the current road condition data is improved.

Before the road condition acquisition equipment receives the road condition acquisition request, a transmission link between each unmanned vehicle and the unmanned vehicle scheduling platform needs to be established, so that the normal transmission of subsequent data is ensured.

In practical applications, two or more terminals may be configured in each unmanned vehicle, and different transmission links may be established based on each terminal for respectively transmitting or receiving different types of data. Specifically, a vehicle-side data reporting module and an instruction receiving module may be configured on each unmanned vehicle, that is, before responding to a road condition acquisition request, the method may further include:

the vehicle-end data reporting module is used for receiving a first link establishment request sent by an unmanned vehicle scheduling platform and establishing a first service transmission link with the unmanned vehicle scheduling platform;

the instruction receiving module receives a second link establishing request sent by the unmanned vehicle dispatching platform and establishes a second service transmission link with the unmanned vehicle dispatching platform.

The vehicle-end data reporting module is a terminal configured on the unmanned vehicle and used for sending vehicle-end data, and the vehicle-end data is data acquired by an acquisition device configured on the unmanned vehicle, for example, the vehicle-end data may be current position data of the unmanned vehicle G, a distance between the unmanned vehicle G and an obstacle h, and the like; the instruction receiving module is a terminal which is configured on the unmanned vehicle and used for receiving the unmanned vehicle dispatching instruction sent by the unmanned vehicle dispatching platform; the first link creation request is a request for establishing a transmission link between the vehicle-end data reporting module and the unmanned vehicle scheduling platform; the second link establishing request refers to a request for establishing a transmission link between the instruction receiving module and the unmanned vehicle platform; the first transmission link is a link for transmitting vehicle end data from the unmanned vehicle to the unmanned vehicle dispatching platform; the second transmission link is a link for sending the unmanned vehicle dispatching instruction to the unmanned vehicle by the unmanned vehicle dispatching platform; in practical applications, the first transmission link and the second transmission link may be transmission links created based on the TCP protocol.

Specifically, the vehicle-end data reporting module responds to the received first link creation request, and establishes a first service transmission link used for transmitting vehicle-end data between the vehicle-end data reporting module and the unmanned vehicle scheduling platform; and the instruction receiving module responds to the received second link establishing request and establishes a second service transmission link between the unmanned vehicle dispatching platform and the instruction receiving module and used for transmitting the platform dispatching instruction.

In a specific embodiment of the present specification, a vehicle-side data client and an instruction data client are configured for an unmanned vehicle a; the method comprises the steps that a vehicle-end data client-side responds to a first link establishing request sent by an unmanned vehicle dispatching platform, and a vehicle-end data transmission link between the vehicle-end data client-side and the unmanned vehicle dispatching platform is established; and the instruction data client responds to a second link creation request sent by the unmanned vehicle dispatching platform, and establishes an instruction data transmission link between the instruction data client and the unmanned vehicle dispatching platform.

By establishing a first service transmission link between the vehicle-end data reporting module and the unmanned vehicle dispatching platform and a second service transmission link between the instruction receiving module and the unmanned vehicle dispatching platform, vehicle-end data can be transmitted based on the first service transmission link subsequently, and an unmanned vehicle dispatching instruction is transmitted by the second service transmission link, so that the problem of time delay caused by the fact that different types of data are transmitted by the same link is avoided, the data transmission efficiency is improved, and the dispatching efficiency of the unmanned vehicle is further improved.

In practical application, in order to determine whether a transmission link between the unmanned vehicle and the unmanned vehicle dispatching platform is created, an identifier may be set for each created transmission link, so as to avoid repeated creation of transmission links.

Specifically, the unmanned vehicle dispatching platform may include a link registration module, and after the first service transmission link with the unmanned vehicle dispatching platform is established, the method may further include:

the link registration module is used for determining a vehicle end data reporting identifier and an unmanned vehicle identifier of the unmanned vehicle;

and generating a first link identifier corresponding to the first service transmission link according to the vehicle end data reporting identifier and the unmanned vehicle identifier.

The link registration module is a module for receiving a link identifier corresponding to a transmission link established in the unmanned vehicle dispatching system; the vehicle-side data reporting identifier refers to an identifier corresponding to a client that reports vehicle-side data, for example, the vehicle-side data reporting identifier is a process port number of the client that reports vehicle-side data; the unmanned vehicle identifier refers to an identifier of the unmanned vehicle, for example, an IP address, a hardware MAC address, and the like of the unmanned vehicle system; the first link identifier is obtained by splicing the vehicle-end data reporting identifier and the unmanned vehicle identifier, and for example, if the unmanned vehicle identifier is determined to be "a1", and the vehicle-end data reporting identifier is "255.122", the first link identifier is "a1-255.122".

Specifically, the terminal for reporting the vehicle-side data registers the unmanned vehicle identifier of the unmanned vehicle system and the vehicle-side data reporting identifier of the vehicle-side data reporting client as unique identifiers, that is, the first link identifier, to the link registration module, so that it can be determined that the creation of the transmission link corresponding to the first link identifier is completed.

In a specific embodiment of this specification, the vehicle-side data reporting server registers the established first transmission link to the link registration module, using the IP address of the unmanned vehicle-mounted system and the process port number of the vehicle-side data reporting client as the first link identifier.

The above description describes a registration process for the first service transmission link, where the registration process for the second service transmission link is consistent with the first service transmission link, and specifically, after the second service transmission link with the vehicle-less dispatching platform is established, the method may further include:

the link registration module is used for determining an instruction issuing identifier and an unmanned vehicle identifier of the unmanned vehicle;

and generating a second link identifier corresponding to the second service transmission link according to the instruction issuing identifier and the unmanned vehicle identifier.

The instruction issuing identifier refers to an identifier corresponding to the client issuing the instruction, for example, the instruction issuing identifier is a process port number of the client issuing the instruction; the second link identification is obtained by splicing the instruction issuing identification and the unmanned vehicle identification.

Specifically, the instruction issuing terminal registers the unmanned vehicle identifier and the instruction issuing identifier of the unmanned vehicle system as unique identifiers, namely the second link identifier, to the link registration module, so as to determine that the creation of the transmission link corresponding to the second link identifier is completed.

In a specific embodiment of this specification, the unmanned vehicle dispatching instruction issuing server registers the established second transmission link to the link registration module by using the MAC address of the unmanned vehicle-mounted system and the process port number of the dispatching instruction issuing client as the second link identifier.

The created transmission links are registered, so that each transmission link has a corresponding link identifier, the subsequent creation of repeated links is avoided, and the creation efficiency of the transmission links is improved.

Step 204: and the at least one unmanned vehicle sends vehicle end data to the unmanned vehicle dispatching platform through a first service transmission link.

After a first service transmission link between the unmanned vehicle and the unmanned vehicle scheduling platform is established, the unmanned vehicle can transmit the acquired vehicle-end data to the unmanned vehicle scheduling platform based on the first service transmission link.

Specifically, a first service transmission link established between each unmanned vehicle and the unmanned vehicle scheduling platform is determined; and each unmanned vehicle uploads vehicle end data to the unmanned vehicle dispatching platform based on the corresponding first service transmission instruction.

In a specific embodiment of the present description, the unmanned vehicle 1 and its corresponding first transmission link are determined: and a link a, determining the unmanned vehicle 2 and a corresponding first transmission link: a link b; the unmanned vehicle 1 uploads vehicle end data acquired by the unmanned vehicle 1 to an unmanned vehicle dispatching platform based on the link a; and the unmanned vehicle 2 uploads the vehicle end data acquired by the unmanned vehicle 2 to the unmanned vehicle dispatching platform based on the link b.

The vehicle end data collected by the unmanned vehicle is uploaded to the unmanned vehicle dispatching platform, so that the unmanned vehicle can be dispatched by the subsequent unmanned vehicle dispatching platform based on the vehicle end data of each unmanned vehicle.

Step 206: the unmanned vehicle dispatching platform generates an unmanned vehicle dispatching instruction for the target unmanned vehicle based on a target service algorithm, each vehicle end data and the current road condition data, and sends the unmanned vehicle dispatching instruction to the target unmanned vehicle.

After the unmanned dispatching platform receives the vehicle end data and the current road condition data, the unmanned dispatching platform can determine which dispatching needs to be performed on the unmanned vehicle based on a service algorithm contained in the unmanned vehicle dispatching platform.

The target service algorithm refers to a service algorithm contained in the unmanned vehicle scheduling platform, such as a dynamic local path planning algorithm, a lane-level global path planning algorithm and the like; the unmanned vehicle dispatching command can be a command for enabling the unmanned vehicle to stop running, run to a specified position and the like; the target unmanned vehicle is an unmanned vehicle which needs to receive and execute the unmanned vehicle scheduling command.

In a specific embodiment of the specification, the unmanned vehicle dispatching platform acquires vehicle end data reported by each unmanned vehicle and current road condition data reported by the road condition acquisition equipment; determining each target unmanned vehicle according to a service algorithm in the unmanned vehicle scheduling platform, each vehicle end data and current road condition data, and generating an unmanned vehicle scheduling instruction corresponding to each target unmanned vehicle; and sending the unmanned vehicle dispatching instruction to the corresponding target unmanned vehicle.

The unmanned vehicle dispatching instruction is generated by the unmanned vehicle dispatching platform and is sent to the corresponding target unmanned vehicle, so that the subsequent target unmanned vehicle can execute the unmanned dispatching instruction.

Further, in order to improve the processing efficiency of the unmanned dispatching platform, a vehicle-end data gathering module and a road condition data gathering module can be configured on the unmanned dispatching platform; the data aggregation module can collect data based on a preset data analysis framework, so that the data can be further analyzed subsequently.

In practical application, the unmanned vehicle dispatching platform comprises a vehicle-end data aggregation module, and the method may further include:

the vehicle-end data aggregation module is used for receiving vehicle-end data sent by the at least one unmanned vehicle based on the first service transmission link;

and the vehicle end data aggregation module is used for carrying out structural processing on the received vehicle end data to obtain at least one piece of structural vehicle end data.

The vehicle end data aggregation module processes the vehicle end data based on a preset vehicle end data analysis framework to obtain structured vehicle end data; the structured vehicle end data refers to vehicle end data acquired by collecting the vehicle end data based on the vehicle end data aggregation module.

Specifically, a vehicle end data aggregation module is arranged in the unmanned vehicle dispatching platform, and the vehicle end data aggregation module receives vehicle end data reported by each unmanned vehicle based on a preset data analysis frame to obtain at least one piece of structured vehicle end data.

In a specific embodiment of the present specification, a vehicle-end data aggregation module in an unmanned vehicle scheduling platform receives vehicle-end data reported by each unmanned vehicle; and carrying out structural processing on the received vehicle-end data to obtain structural vehicle-end data corresponding to the vehicle-end data reported by each unmanned vehicle.

Further, the unmanned vehicle dispatching platform further comprises a road condition data aggregation module, and the method further comprises the following steps:

the road condition data convergence module is used for receiving the current road condition data uploaded by the at least one road condition acquisition device;

the road condition data convergence module is used for carrying out structuralization processing on the received current road condition data to obtain at least one structuralization road condition data.

The road condition data gathering module processes the current road condition data based on a preset road condition data analysis frame to obtain resultant road condition data; the structured road condition data refers to road condition data obtained by acquiring current road condition data based on the road condition data convergence module.

Specifically, a road condition data aggregation module is arranged in the unmanned vehicle dispatching platform, and the road condition data aggregation module receives road condition data reported by each road condition acquisition device based on a preset road condition data analysis frame to obtain at least one piece of structured road condition data.

In a specific embodiment of the present specification, a road condition data aggregation module in an unmanned vehicle dispatching platform receives current road condition data reported by each road condition acquisition device; and carrying out structural processing on the received road condition data to obtain structural road condition data corresponding to the road condition data reported by each unmanned vehicle.

Further, the unmanned vehicle dispatching platform also comprises a central dispatching module which is used for further processing the structured vehicle end data and the structured road condition data so as to obtain an unmanned vehicle dispatching instruction.

Specifically, the method for generating the unmanned vehicle dispatching instruction for the target unmanned vehicle based on the target service algorithm, the vehicle-side data and the current road condition data by the unmanned vehicle dispatching platform may include:

the vehicle-end data aggregation module is used for sending the at least one piece of structured vehicle-end data to the central scheduling module;

the road condition data aggregation module is used for sending the at least one piece of structured road condition data to the central scheduling module;

and the central scheduling module determines a target unmanned vehicle according to the target service algorithm, each piece of structured vehicle end data and each piece of structured road condition data, and generates an unmanned vehicle scheduling instruction for the target unmanned vehicle.

Specifically, the vehicle-end data aggregation module sends each result vehicle-end data to the central scheduling module, and the road condition data aggregation module sends each structured road condition data to the central scheduling module; and the central scheduling module determines the target unmanned vehicle according to each piece of structured vehicle end data, each piece of structured road condition data and the target service algorithm, and generates an unmanned vehicle scheduling instruction corresponding to the target unmanned vehicle.

In a specific embodiment of the present specification, the unmanned vehicle dispatching platform receives structured vehicle-side data sent by the vehicle-side data aggregation module, and receives structured road condition data sent by the road condition data aggregation module; and determining the target unmanned vehicle needing to be adjusted based on each piece of structured road condition data, each piece of structured vehicle end data and a target service algorithm, and generating an unmanned vehicle scheduling instruction for each target unmanned vehicle.

In practical application, the unmanned vehicle normally runs in a target area, and the abnormal running condition is less; therefore, a vector search engine can be further contained in the unmanned vehicle dispatching platform; the vector search engine is used for screening the road condition data needing further processing in the structured road condition data; and the determined road condition data to be processed is sent to the central scheduling module, so that the calculation efficiency of the central scheduling module is improved.

Specifically, the unmanned vehicle dispatching platform further comprises a vector search engine; the method for the central scheduling module to determine the target unmanned vehicle according to the target service algorithm, each piece of structured vehicle-side data and each piece of structured road condition data, and generate the unmanned vehicle scheduling instruction for the target unmanned vehicle may include:

the vector search engine receives at least one piece of structured road condition data sent by the data aggregation module;

determining road condition data to be processed in the at least one piece of structured road condition data, and sending the road condition data to be processed to the central scheduling module;

the central scheduling module determines target vehicle end data corresponding to the road condition data to be processed in the at least one piece of structured vehicle end data, and determines a target service algorithm based on the road condition data to be processed and the target vehicle end data;

and generating an unmanned vehicle dispatching instruction based on the target vehicle end data, the road condition data to be processed and the target service algorithm.

The vector search engine is a search engine for determining road condition data to be processed in the structured road condition data, in practical application, the structured road condition data can be coordinate data of a target object, and the vector search engine determines coordinate data which does not accord with a preset rule in the coordinate data in a space index mode to be used as the road condition data to be processed; the road condition data to be processed refers to road condition data needing further processing in the structured road condition data; the target vehicle-end data refers to structured vehicle-end data which has an incidence relation with road condition data to be processed, for example, the road condition data to be processed is the distance from the unmanned vehicle a to the obstacle b in the garden, and the target vehicle-end data is also the distance from the unmanned vehicle a to the obstacle b in the garden.

Specifically, the vector search engine receives the structured road condition data sent by the road condition data aggregation module; searching one or more pieces of structured road condition data needing further processing in the structured road condition data to be used as road condition data to be processed; determining target vehicle-end data in at least one piece of structured vehicle-end data of a central scheduling module based on road condition data to be processed; further, a target service algorithm and a target unmanned vehicle are determined based on each structured road condition data and each target vehicle end data; and creating an unmanned vehicle dispatching instruction corresponding to each target unmanned vehicle.

In a specific embodiment of the present specification, a vector search engine receives structured traffic data sent by a traffic data aggregation module, where the structured traffic data includes data x, data y, and data z; screening data y from each structured road condition data as road condition data to be processed; determining data c as target vehicle end data in each piece of structured vehicle end data according to road condition data to be processed; and generating a vehicle movement instruction for the unmanned vehicle a based on the data y, the data c and a path planning algorithm, wherein the vehicle movement instruction comprises a target coordinate point for the follow-up unmanned vehicle to move from the current coordinate point to the target coordinate point.

The unmanned vehicle dispatching instruction for the target unmanned vehicle is generated by combining the vehicle end data and the road condition data, namely the unmanned vehicle dispatching instruction is generated by combining the road condition acquisition equipment in the target area and the data acquired by the acquisition equipment configured in the unmanned vehicle, and the accuracy of the unmanned vehicle dispatching instruction is improved.

Besides the data aggregation of the current road condition data and the vehicle end data uploaded to the unmanned vehicle dispatching platform, the data aggregation can also be performed on the unmanned vehicle dispatching instruction generated by the central dispatching module.

Specifically, the unmanned vehicle dispatching platform further comprises an instruction convergence module, and the method for sending the unmanned vehicle dispatching instruction to the target unmanned vehicle by the unmanned vehicle dispatching platform may include:

the instruction convergence module is used for classifying the unmanned vehicle dispatching instructions based on an instruction data frame to obtain at least one dispatching instruction set;

and sending the at least one scheduling instruction set to the target unmanned vehicle.

The command aggregation module is a module for acquiring the unmanned vehicle dispatching command based on a command data frame; the dispatching instruction set is a set formed by unmanned vehicle dispatching instructions of target types obtained by classifying the unmanned vehicle dispatching instructions; the command data frame refers to a standard for classifying the unmanned vehicle dispatching command, for example, classifying the unmanned vehicle dispatching command according to a command issuing time point.

Specifically, the unmanned vehicle scheduling instruction may include different processing stages, layers, time, or the like, so that the unmanned vehicle scheduling instruction generated by the central scheduling module may be subjected to data aggregation, and then the obtained scheduling instruction set may be sent to the target unmanned vehicle, so that the unmanned vehicle may execute the unmanned vehicle scheduling instruction more efficiently; for example, since the command m is to move the unmanned vehicle 3 to the coordinate point a1 at present and the command n is to move the unmanned vehicle 4 to the coordinate point a1 after 20 minutes, the commands requiring the present processing may be classified into the first category and the commands requiring the hysteresis processing may be classified into the second category.

In a specific embodiment of the present specification, the instruction aggregation module receives an instruction D1, an instruction D2, an instruction D4, and an instruction D3 generated by the central scheduling module; dividing the instructions into two types based on an instruction data framework, wherein the first type of instructions comprises the following steps: the instruction D1 and the instruction D2 are instructions issued to the unmanned vehicle a; the second type of instruction: the instruction D4 and the instruction D3 are instructions issued to the unmanned vehicle b.

And the command aggregation module is used for carrying out data aggregation on the unmanned vehicle dispatching command generated by the central dispatching module and sending the generated dispatching command set to the corresponding target unmanned vehicle so as to enable the subsequent target unmanned vehicle to execute the unmanned vehicle dispatching command more efficiently.

Step 208: and the target unmanned vehicle receives and executes the unmanned vehicle scheduling instruction through a second service transmission link.

Specifically, after the unmanned vehicle dispatching platform generates the unmanned vehicle dispatching instruction, the unmanned vehicle dispatching instruction is sent to the target unmanned vehicle based on the second service transmission link; and the target unmanned vehicle executes the received unmanned dispatching instruction.

In a specific embodiment of the present specification, an unmanned vehicle a receives an unmanned vehicle scheduling instruction sent by an unmanned vehicle scheduling platform based on a second service transmission link; the unmanned vehicle scheduling instruction is to enable the unmanned vehicle a to move from the park 1 to the park 2, and then the unmanned vehicle a executes the unmanned vehicle scheduling instruction and moves from the park 1 to the park 2.

And the unmanned vehicle receives and executes the unmanned vehicle dispatching instruction sent by the unmanned vehicle dispatching platform through the second service transmission link, so that the high-efficiency transmission of the unmanned vehicle dispatching instruction is realized.

In a specific embodiment of this specification, as shown in fig. 3, fig. 3 is a schematic diagram of creating a transmission link according to an embodiment of the specification, where an unmanned vehicle control system includes an unmanned vehicle scheduling platform, an unmanned vehicle 1, an unmanned vehicle 2, and an unmanned vehicle 3; establishing a vehicle-end data transmission link between a vehicle-end data reporting server and a vehicle-end data reporting client of each unmanned vehicle in an unmanned vehicle scheduling platform, and registering each vehicle-end data transmission link in a link registration center; establishing an instruction data transmission link between a control instruction issuing server side in the unmanned vehicle dispatching platform and each control instruction issuing client side of each unmanned vehicle, and registering each instruction data transmission link in a link registration center; each unmanned vehicle uploads vehicle end data to the unmanned vehicle dispatching platform based on the vehicle end data transmission link and stores the vehicle end data into the vehicle end data cache; the central scheduling module acquires vehicle end data in the vehicle end data cache to generate an unmanned vehicle control instruction; the control instruction cache caches the unmanned vehicle control instruction generated by the central scheduling module; and the control instruction issuing server issues the unmanned vehicle control instruction to the corresponding unmanned vehicle according to the instruction data transmission link based on the unmanned vehicle control instruction in the control instruction cache.

The following will further explain the unmanned vehicle control method provided in this specification by taking the application of the unmanned vehicle control method in a logistics unmanned vehicle control system as an example, with reference to fig. 4a and 4 b. Fig. 4a shows a processing flow chart of an unmanned vehicle control method provided in an embodiment of the present specification, which specifically includes the following steps.

Step 402: and the platform client receives the platform control request and establishes a transmission link with the unmanned vehicle control platform.

Specifically, a user can trigger the unmanned vehicle control platform to issue a control instruction to the unmanned vehicle through the platform client; and an API service bus is configured in the unmanned vehicle control platform and is used for establishing transmission links with different clients.

Step 404: and each logistics unmanned vehicle receives the vehicle end data reporting instruction and reports the vehicle end data to the unmanned vehicle control platform based on the vehicle end data transmission link.

Specifically, each logistics unmanned vehicle is provided with a vehicle end data reporting module; and establishing a vehicle end data transmission link between the vehicle end data reporting module and the unmanned vehicle control platform, and uploading vehicle end data to the unmanned vehicle control platform by the unmanned vehicle in subsequent logistics. Fig. 4b is a schematic flow chart of an unmanned vehicle control method provided in an embodiment of the present disclosure, and fig. 4b illustrates only one logistics unmanned vehicle, and in practical applications, a plurality of logistics unmanned vehicles may be included.

Step 406: and each road condition acquisition device receives the road condition data reporting instruction and reports the road condition data to the unmanned vehicle control platform.

Specifically, the road condition acquisition equipment can acquire original video data and original radar data in a target area and generate radar fusion data based on a radar fusion algorithm; uploading the thunder-vision fusion data serving as road condition data to a road condition data convergence module; fig. 4b only illustrates one road condition collecting device, and in practical application, the road condition collecting device may include a plurality of road condition collecting devices.

Step 408: and a vehicle end data aggregation module in the unmanned vehicle control platform acquires the reported vehicle end data based on a vehicle end data transmission link, and uploads the generated structured vehicle end data to a service scheduling center.

Step 410: and a road condition data aggregation module in the unmanned vehicle control platform acquires the reported road condition data and uploads the generated structured road condition data to a vector data search engine.

Step 412: and the vector data search engine determines to search the road condition data to be processed with the processing requirement in the structured road condition data and sends the road condition data to be processed to the service scheduling center.

Step 414: and the service dispatching center determines target vehicle end data based on the road condition data to be processed and determines a target service algorithm according to the road condition data to be processed and the target vehicle end data.

Specifically, a service algorithm set is configured on the unmanned vehicle control platform, and a target service algorithm can be selected based on actual data processing requirements and used for determining a dispatching mode of the logistics unmanned vehicle.

Step 416: and determining the target unmanned vehicle based on the road condition data to be processed, the target vehicle end data and the target service algorithm, and generating an unmanned vehicle scheduling instruction for the target unmanned vehicle.

Step 418: the control instruction convergence module acquires the unmanned vehicle dispatching instruction and generates at least one dispatching instruction set.

Step 420: and issuing each scheduling instruction set to the corresponding logistics unmanned vehicle based on the instruction data transmission link.

Step 422: and the logistics unmanned vehicle executes each scheduling instruction in the scheduling instruction set.

An embodiment of the present specification further provides another unmanned vehicle control method, which is applied to an unmanned vehicle scheduling platform, and includes:

Meanwhile, an embodiment of the present specification further provides an unmanned vehicle dispatching platform, which can issue an unmanned vehicle dispatching instruction to a target unmanned vehicle based on the another unmanned vehicle control method.

Corresponding to the above method embodiment, the present specification further provides an unmanned vehicle control system embodiment, and fig. 5 shows a schematic structural diagram of an unmanned vehicle control system provided in an embodiment of the present specification. As shown in fig. 5, the unmanned vehicle control system includes an unmanned planning and scheduling platform, at least one unmanned vehicle and at least one road condition collecting device, where the at least one unmanned vehicle and the at least one road condition collecting device are located in a target area, where:

the at least one road condition acquisition device 502 is configured to respond to a road condition acquisition request, acquire current road condition data in the target area, and upload the current road condition data to the unmanned vehicle dispatching platform;

the at least one unmanned vehicle 504 is configured to transmit vehicle-side data to the unmanned vehicle dispatching platform through a first service transmission link;

the unmanned vehicle scheduling platform 506 is configured to generate an unmanned vehicle scheduling instruction for a target unmanned vehicle based on a target service algorithm, each vehicle end data and the current road condition data, and send the unmanned vehicle scheduling instruction to the target unmanned vehicle;

Optionally, the unmanned vehicle dispatching platform 506 includes a vehicle-end data aggregation module, and the method further includes:

the vehicle end data aggregation module is used for receiving vehicle end data sent by the at least one unmanned vehicle based on the first service transmission link;

Optionally, the unmanned vehicle scheduling platform 506 further includes a road condition data aggregation module, and the method further includes:

Optionally, the unmanned vehicle dispatching platform 506 includes a central dispatching module;

correspondingly, the unmanned vehicle dispatching platform generates an unmanned vehicle dispatching instruction for the target unmanned vehicle based on the target service algorithm, the vehicle end data and the current road condition data, and comprises the following steps:

Optionally, the unmanned vehicle dispatching platform 506 further comprises an instruction aggregation module,

the unmanned vehicle dispatching platform sends the unmanned vehicle dispatching instruction to the target unmanned vehicle, and the unmanned vehicle dispatching platform comprises:

the instruction aggregation module classifies the unmanned vehicle dispatching instructions based on an instruction data frame to obtain at least one dispatching instruction set;

Optionally, the unmanned vehicle dispatching platform 506 further includes a vector search engine;

the central scheduling module determines a target unmanned vehicle according to the target service algorithm, each piece of structured vehicle end data and each piece of structured road condition data, and generates an unmanned vehicle scheduling instruction for the target unmanned vehicle, and the central scheduling module comprises:

Optionally, the at least one unmanned vehicle 504 is configured with a vehicle-end data reporting module and an instruction receiving module, and before responding to the road condition acquisition request, the method further includes:

the vehicle-end data reporting module receives a first link establishing request sent by an unmanned vehicle dispatching platform and establishes a first service transmission link with the unmanned vehicle dispatching platform;

Optionally, the unmanned vehicle dispatching platform 506 further includes a link registration module, and after establishing the first service transmission link with the unmanned vehicle dispatching platform, the method further includes:

Optionally, the unmanned vehicle dispatching platform 506 further includes a link registration module, and after establishing the second service transmission link with the unmanned vehicle dispatching platform, the method further includes:

In the unmanned vehicle control system in the embodiment of the specification, the vehicle end data and the current road condition data are uploaded to the unmanned vehicle dispatching platform, so that the unmanned vehicle dispatching platform controls the unmanned vehicle on the basis of combining the road condition data and the vehicle end data, high-cost modification of a single unmanned vehicle is avoided, and the control cost of the unmanned vehicle is reduced; an unmanned vehicle scheduling instruction is generated based on the current road condition data, so that the accuracy of unmanned vehicle control is improved; vehicle end data are uploaded based on the first service transmission link, and an unmanned vehicle scheduling instruction is received according to the second service transmission link, so that sub-link transmission of the data is realized, and the data transmission efficiency and the transmission stability are improved.

Referring to fig. 6, fig. 6 shows a schematic structural diagram of an unmanned vehicle provided according to an embodiment of the present specification, where the unmanned vehicle includes a vehicle-end data reporting module and an instruction receiving module, where:

the vehicle-end data reporting module 602 is configured to establish a first service transmission link with an unmanned vehicle scheduling platform, and report vehicle-end data to the unmanned vehicle scheduling platform based on the first service transmission link;

the instruction receiving module 604 is configured to establish a second service transmission link with the unmanned vehicle scheduling platform, and receive the unmanned vehicle scheduling instruction issued by the unmanned vehicle scheduling platform based on the second service transmission link.

In the unmanned vehicle according to the embodiment of the description, the vehicle-end data reporting module and the instruction receiving module are configured, so that the first service transmission link and the second service transmission link can be conveniently established with the unmanned vehicle dispatching platform, only vehicle-end data can be transmitted based on the first service transmission link, only road condition data can be transmitted based on the second service transmission link, and further, the data transmission efficiency is improved, and the dispatching efficiency of the unmanned vehicle is improved.

FIG. 7 illustrates a block diagram of a computing device 700 provided in accordance with one embodiment of the present description. The components of the computing device 700 include, but are not limited to, memory 710 and a processor 720. Processor 720 is coupled to memory 710 via bus 730, and database 750 is used to store data.

Computing device 700 also includes access device 740, access device 740 enabling computing device 700 to communicate via one or more networks 760. Examples of such networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. The Access device 740 may include one or more of any type of network interface (e.g., a network interface controller) that may be wired or Wireless, such as an IEEE802.11 Wireless Local Area Network (WLAN) Wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, near Field Communication (NFC), or Near Field Communication.

In one embodiment of the present description, the above-described components of computing device 700, as well as other components not shown in FIG. 7, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device architecture shown in FIG. 7 is for purposes of example only and is not limiting as to the scope of the present description. Those skilled in the art may add or replace other components as desired.

Computing device 700 may be any type of stationary or mobile computing device, including a mobile Computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), a mobile phone (e.g., smartphone), a wearable computing device (e.g., smartwatch, smartglasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop Computer or Personal Computer (PC). Computing device 700 may also be a mobile or stationary server.

Wherein the processor 720 is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the data processing method described above. The above is an illustrative scheme of a computing device of the present embodiment. It should be noted that the technical solution of the computing device and the technical solution of the above-mentioned unmanned vehicle control method belong to the same concept, and details that are not described in detail in the technical solution of the computing device can be referred to the description of the technical solution of the above-mentioned unmanned vehicle control method.

An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the above-described unmanned vehicle control method.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium is the same as that of the above-mentioned unmanned vehicle control method, and details that are not described in detail in the technical solution of the storage medium can be referred to the description of the technical solution of the above-mentioned unmanned vehicle control method.

An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above unmanned vehicle control method.

The above is an illustrative scheme of a computer program of the present embodiment. It should be noted that the technical solution of the computer program is the same as the technical solution of the above-mentioned unmanned vehicle control method, and details that are not described in detail in the technical solution of the computer program can be referred to the description of the technical solution of the above-mentioned unmanned vehicle control method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts, but those skilled in the art should understand that the present embodiment is not limited by the described acts, because some steps may be performed in other sequences or simultaneously according to the present embodiment. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that acts and modules referred to are not necessarily required for an embodiment of the specification.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are intended only to aid in the description of the specification. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the embodiments. The specification is limited only by the claims and their full scope and equivalents.

Claims

1. The unmanned vehicle control method is applied to an unmanned vehicle control system, the unmanned vehicle control system comprises an unmanned vehicle scheduling platform, at least one unmanned vehicle and at least one road condition acquisition device, the at least one unmanned vehicle and the at least one road condition acquisition device are positioned in a target area, wherein:

2. The method of claim 1, the unmanned vehicle dispatch platform including a vehicle-end data aggregation module, the method further comprising:

3. The method of claim 2, wherein the unmanned vehicle dispatch platform further comprises a traffic data aggregation module, and the method further comprises:

the road condition data gathering module is used for receiving the current road condition data uploaded by the at least one road condition acquisition device;

4. The method of claim 3, the unmanned vehicle dispatch platform comprising a central dispatch module;

correspondingly, the unmanned vehicle dispatching platform generates an unmanned vehicle dispatching instruction for the target unmanned vehicle based on the target service algorithm, the vehicle end data and the current road condition data, and comprises:

5. The method of claim 4, the unmanned vehicle dispatch platform further comprising an instruction aggregation module,

6. The method of claim 4, the unmanned vehicle dispatch platform further comprising a vector search engine;

7. The method according to claim 1, wherein at least one unmanned vehicle is provided with a vehicle-end data reporting module and an instruction receiving module, and before responding to the road condition acquisition request, the method further comprises:

8. The method of claim 7, the unmanned vehicle dispatch platform further comprising a link registration module that, after establishing the first traffic transmission link with the unmanned vehicle dispatch platform, further comprises:

9. The method of claim 7, the unmanned vehicle dispatch platform further comprising a link registration module that, after establishing a second traffic transmission link with the unmanned vehicle dispatch platform, further comprises:

10. An unmanned vehicle control system, comprising an unmanned planning and scheduling platform, at least one unmanned vehicle and at least one road condition acquisition device, wherein the at least one unmanned vehicle and the at least one road condition acquisition device are located in a target area, wherein:

11. The utility model provides an unmanned vehicle, unmanned vehicle includes vehicle-end data reporting module and instruction receiving module, wherein:

the instruction receiving module is configured to establish a second service transmission link with the unmanned vehicle dispatching platform and receive the unmanned vehicle dispatching instruction issued by the unmanned vehicle dispatching platform based on the second service transmission link.

12. An unmanned vehicle control method is applied to an unmanned vehicle dispatching platform and comprises the following steps:

13. A computing device, comprising:

a memory and a processor;

the memory is configured to store computer-executable instructions and the processor is configured to execute the computer-executable instructions which, when executed by the processor, perform the steps of the unmanned vehicle control method of claim 12.

14. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, perform the steps of the unmanned vehicle control method of claim 12.