CN116795121A - Unmanned vehicle control system and unmanned vehicle - Google Patents
Unmanned vehicle control system and unmanned vehicle Download PDFInfo
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Abstract
The embodiment of the disclosure provides a control system of an unmanned aerial vehicle and the unmanned aerial vehicle, comprising: the automatic driving module is used for controlling the unmanned vehicle to execute automatic driving operation in an automatic driving mode, and the automatic driving module further comprises a constraint module, constraint condition information is stored in the constraint module, and the constraint condition information can restrict operation behaviors of the unmanned vehicle in the automatic driving mode; the remote driving module is used for controlling the unmanned vehicle to execute remote driving operation in a remote driving mode, and further comprises a control module for generating an instruction for executing the remote driving operation; the constraint module is also used for sending constraint condition information to the remote driving module, and the remote driving module generates an instruction capable of constraining remote driving operation based on the constraint condition information after receiving the constraint condition information; and the execution module is used for executing the job based on the instruction of the constraint remote driving job. The remote control system solves the problems that the driving effect of the existing remote driver is limited and the remote control safety cannot be guaranteed.
Description
Technical Field
The disclosure relates to the technical field of unmanned, in particular to a control system of an unmanned vehicle and the unmanned vehicle.
Background
The remote control driving system in the related art comprises a remote driving end and a vehicle end, wherein a driver operates a steering wheel, an accelerator, a brake or a gear in a remote cockpit, a corresponding remote driving control instruction is generated by the remote driving system and is sent to a control module of the vehicle end, and the control module is transmitted to a vehicle controller through a controller area network (CAN, controller Area Network) bus to realize vehicle driving control.
In this control manner, the whole vehicle control unit (VCU, vehicle Control Unit) directly adopts the control instruction generated by the remote driving system, so that the driving state of the vehicle is completely dependent on the driver at the far end, and the driving effect of the driver is limited by the sense of reality of the cockpit, the network condition and the narrow field of view of the camera on the unmanned vehicle (the monitoring screen of the cockpit is limited), so that the driving level is inferior to that of the conventional driving behavior, and the safety of the remote operation cannot be ensured. On the other hand, since the remote driver has limited knowledge of the condition of the operation site, and insufficient knowledge of the vehicle condition, environmental condition, and operation requirement of the operation site may cause risk or error in the operation, a way is required to make up for the shortage of remote driving.
Disclosure of Invention
The embodiment of the disclosure provides a control system of an unmanned vehicle and the unmanned vehicle, which are used for solving the problems that the driving effect of a driver at the far end is limited and the remote control safety cannot be ensured.
Based on the foregoing, an embodiment of the present disclosure provides a control system for an unmanned vehicle, including:
the automatic driving module is used for controlling the unmanned aerial vehicle to execute automatic driving operation in an automatic driving mode, and further comprises a constraint module, wherein constraint condition information is stored in the constraint module and can constrain operation behaviors of the unmanned aerial vehicle in the automatic driving mode, and the constraint condition information comprises lifting height information of the unmanned aerial vehicle, speed limit information of the unmanned aerial vehicle or operation area limiting information or obstacle sensing information of the unmanned aerial vehicle;
the remote driving module is used for controlling the unmanned vehicle to execute remote driving operation in a remote driving mode, and the remote driving module further comprises a control module for generating an instruction for executing the remote driving operation;
the constraint module is further used for sending the constraint condition information to the remote driving module, and the remote driving module generates an instruction capable of constraining remote driving operation based on the constraint condition information after receiving the constraint condition information;
and the execution module is used for executing the job based on the instruction of the constraint remote driving job.
With reference to the first aspect, in a possible implementation manner, the system further includes a VCU, where the VCU is configured to send vehicle state information to an autopilot module, and the autopilot module is configured to adjust the constraint information based on the vehicle state information.
With reference to the first aspect, in one possible implementation manner, the constraint module is configured to send the constraint condition information to the remote driving module in real time, periodically, or based on a preset trigger condition, where the preset trigger condition includes an update of a working area of the unmanned vehicle, a change of a vehicle state of the unmanned vehicle, a fault state update of the remote driving module, or reaching a preset remote driving duration.
With reference to the first aspect, in a possible implementation manner, the autopilot module is further configured to send information of an auxiliary adjustment execution command to the execution module.
With reference to the first aspect, in a possible implementation manner, the system further includes: a positioning module; the positioning module is used for monitoring the position of the unmanned vehicle; when the position of the unmanned vehicle exceeds the boundary of the unmanned vehicle operation area, feedback is sent to the automatic driving module; the automatic driving module is used for controlling the constraint module to send the operation area limitation information of the unmanned vehicle to the remote driving module; and the remote driving module is used for sending out an alarm or sending a parking instruction after receiving the operation area limit information of the unmanned vehicle.
With reference to the first aspect, in a possible implementation manner, the system further includes: a high-precision map module; the high-precision map module is used for defining the boundary of the unmanned vehicle operation area.
With reference to the first aspect, in a possible implementation manner, the system further includes: a perception module; the sensing module is used for sensing obstacles around the unmanned vehicle; when the distance between the obstacle and the unmanned vehicle is sensed to be smaller than the safety distance or the unmanned vehicle runs according to the set track to collide with the obstacle, feedback is sent to the automatic driving module; the automatic driving module is used for controlling the constraint module to send the obstacle sensing information to the remote driving module; the remote driving module is used for sending one of the following instructions after receiving the obstacle sensing information: braking instruction, side parking instruction, detour instruction, or whistle instruction, and stopping sending the acceleration instruction.
With reference to the first aspect, in one possible implementation manner, the VCU is configured to monitor a status of an unmanned vehicle lifting hopper; when the lifting height of the unmanned vehicle is about to exceed the highest limit, feedback is sent to the automatic driving module; the automatic driving module is used for controlling the constraint module to send the lifting height information of the unmanned vehicle to the remote driving module; and the remote driving module is used for stopping sending an instruction of continuously lifting the hopper after receiving the lifting height information of the unmanned vehicle.
With reference to the first aspect, in one possible implementation manner, the VCU is configured to monitor a speed of the unmanned vehicle; when the speed is about to exceed the speed limit of the area where the unmanned vehicle is located, feedback is sent to the automatic driving module; the automatic driving module is used for receiving the feedback and controlling the VCU to stop processing the acceleration instruction of the remote driving module; or controlling the constraint module to send the speed limiting information of the unmanned vehicle so as to enable the remote driving module to stop sending the acceleration instruction.
With reference to the first aspect, in one possible implementation manner, the remote driving module is located in a remote driving system, the autopilot module is located in an autopilot system, and the remote driving system and the autopilot system are connected in a wireless communication manner.
With reference to the first aspect, in one possible implementation manner, the remote driving module and the automatic driving module are both located in an automatic driving system, and the remote driving module receives the remote driving data sent by the remote driving system.
With reference to the first aspect, in a possible implementation manner, the system further includes a call control module, where the call control module is configured to control whether to call the constraint condition information of the constraint module.
In a second aspect, there is provided an unmanned vehicle comprising: an autopilot module and an execution module as described in the first aspect, or in connection with any one of the possible implementations of the first aspect.
In a third aspect, there is provided a remote cockpit comprising: a remote driving module as in the first aspect, or in connection with any one of the possible implementation manners of the first aspect.
The beneficial effects of the embodiment of the disclosure include:
according to the control system of the unmanned vehicle and the unmanned vehicle, the constraint module arranged in the automatic driving module can send stored constraint condition information to the remote driving module, so that the remote driving module generates an instruction capable of constraining remote driving operation based on the constraint condition information, and the execution module executes operation based on the instruction for constraining remote driving operation. The constraint condition information comprises lifting height information of the unmanned vehicle, speed limit information of the unmanned vehicle or operation area limit information or obstacle sensing information of the unmanned vehicle, and therefore corresponding operation constraint is conducted on various risks possibly occurring in an operation site.
Drawings
Fig. 1 is a schematic structural diagram of a control system of an unmanned vehicle according to an embodiment of the disclosure.
Detailed Description
The embodiments of the present disclosure provide a control system for an unmanned vehicle and the unmanned vehicle, and hereinafter, preferred embodiments of the present disclosure will be described with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present disclosure only, and are not intended to limit the present disclosure. And embodiments of the application and features of the embodiments may be combined with each other without conflict.
The embodiment of the disclosure provides a control system of an unmanned vehicle, as shown in fig. 1, including:
the automatic driving module 101 is configured to control the unmanned aerial vehicle to execute automatic driving operation in an automatic driving mode, the automatic driving module 101 further includes a constraint module 102, the constraint module 102 stores constraint condition information, and the constraint condition information can constrain operation behaviors of the unmanned aerial vehicle in the automatic driving mode, where the constraint condition information includes lifting height information of the unmanned aerial vehicle, speed limit information of the unmanned aerial vehicle, operation area limit information of the unmanned aerial vehicle, or obstacle sensing information;
the remote driving module 103 is configured to control the unmanned vehicle to perform a remote driving operation in a remote driving mode, and the remote driving module 103 further includes a control module 104 configured to generate an instruction for performing the remote driving operation;
the constraint module 102 is further configured to send constraint condition information to the remote driving module 103, where after receiving the constraint condition information, the remote driving module 103 generates an instruction capable of constraining the remote driving job based on the constraint condition information;
an execution module 105 for executing the job based on the instruction restricting the remote driving job.
The control system of the unmanned vehicle provided in the embodiment of the disclosure can comprise a vehicle end and a remote driving end. The automatic driving module and the executing module can be arranged at the vehicle end, and the remote driving module can be arranged at the remote driving end. The automated driving module 101 may control the unmanned vehicle to perform the operation in the automated driving mode, and the driver may perform the driving operation in the remote cockpit in the remote driving mode and generate the instruction to control the vehicle end to perform the operation.
In order to cope with complex operation environments and operation scenes, constraint condition information of various operations is stored in advance in the automatic driving module 101 in consideration of no human participation of the unmanned vehicle in the automatic driving mode, so that operation behaviors of the unmanned vehicle are constrained in the automatic driving mode, and safety and reliability are guaranteed. The autopilot module 101 is provided with a constraint module 102, and constraint condition information can be stored in the constraint module 102. In order to solve the problem that the driving effect of the remote driver is limited, the constraint module 102 may send the stored constraint condition information to the remote driving module 103 through a network, so as to restrict the instruction of the remote driving operation of the remote driver under various situations that may occur danger, thereby avoiding the occurrence of danger.
The unmanned vehicle can be a mining vehicle with unmanned transportation of a mine, has complete functions of a drive-by-wire chassis, and can respond to instructions from the automatic driving module 101 and/or the remote driving module 103, such as driving, braking, steering, lifting and other driving and transportation operation requests. And can also be a common unmanned vehicle.
The unmanned vehicle can be provided with integrated navigation equipment, so that the information of the current position, speed and the like of the vehicle is output to the automatic driving module 101 in real time; various types of sensing devices (e.g., cameras, lidar, millimeter wave radar, ultrasonic radar, etc.) may also be configured to output sensed target information to the autopilot module 101 in real time.
In still another embodiment provided by the embodiments of the present disclosure, as shown in fig. 1, a control system of an unmanned vehicle is provided, where the system further includes a VCU106, and the VCU106 is capable of sending vehicle state information to the autopilot module 101, and the autopilot module 101 is capable of adjusting constraint condition information based on the vehicle state information.
The VCU106 may communicate with various electronic devices such as an engine, a transmission, an accelerator pedal, a brake pedal, a body controller, etc. of the unmanned vehicle through the CAN bus, read the operating states of the respective control units, and control them as needed. In this embodiment, the VCU106 may send the acquired vehicle state information to the autopilot module 101, so that the autopilot module 101 adjusts constraint information according to the vehicle state information. That is, although the automated guided vehicle may perform an operation under the constraint of the constraint condition, the automated driving module 101 may determine whether the constraint condition is set reasonably according to the vehicle state, and if not, the automated driving module 101 may adjust the constraint condition information.
In yet another embodiment provided by the embodiments of the present disclosure, as shown in fig. 1, a control system of an unmanned vehicle is provided, where the constraint module 102 is configured to send constraint condition information to the remote driving module 103 in real time, periodically, or based on a preset trigger condition, where the preset trigger condition includes an update of a working area of the unmanned vehicle, a change of a vehicle state of the unmanned vehicle, an update of a fault state of the remote driving module, or reaching a preset remote driving duration.
In this embodiment, there are various occasions when the constraint module 102 transmits constraint condition information to the remote driving module 103: the information can be sent in real time (for example, when the speed of the unmanned vehicle is detected to exceed the highest speed limit of the operation area, the highest speed limit information of the operation area can be sent to the remote driving module 103 in real time), the information can be sent periodically (for example, the operation area of the unmanned vehicle can be changed, the latest operation area information of the unmanned vehicle can be sent to the remote driving module 103 periodically, or the information can be sent when a preset triggering condition is triggered (for example, the updated operation area information of the unmanned vehicle is sent to the remote driving module when the operation area of the unmanned vehicle is updated, or constraint condition information corresponding to the vehicle state is sent to the remote driving module when the vehicle state of the unmanned vehicle is changed), or the constraint condition information can be sent to the remote driving module after the fault state of the remote driving module is updated so as to ensure that the constraint condition information in the remote driving module cannot be damaged due to faults, or the constraint condition information can be sent to the remote driving module when the preset remote driving time length is reached so as to avoid accidents possibly caused by the fatigue driving of a remote driver.
In yet another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, where the autopilot module 101 is further configured to send information of an auxiliary adjustment execution command to the execution module 105.
In this embodiment, the autopilot module 101 is an intelligent system, and although the execution module 105 may execute the job based on the instruction that constrains the remote driving job, further monitoring is required if the execution effect is expected, and if the execution effect is not expected, the autopilot module 101 may also make an auxiliary adjustment to the execution command.
In still another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, where the system further includes: a positioning module 107;
a positioning module 107, configured to monitor a position of the unmanned vehicle; when the position of the unmanned vehicle exceeds the boundary of the unmanned vehicle operation area, feedback is sent to the automatic driving module 101;
an autopilot module 101 for controlling the restraint module 102 to send the unmanned vehicle's operation area restriction information to a remote drive module 103;
the remote driving module 103 is configured to send an alarm or send a parking instruction after receiving the operation area restriction information of the unmanned vehicle.
In this embodiment, the position of the unmanned vehicle may be monitored by the positioning module 107, where the positioning module 107 may be implemented by the integrated navigation device described above, and send feedback to the autopilot module 101 when the unmanned vehicle is about to move out of the boundary of its working area (e.g., loading area, to-be-loaded area, transport area, and dumping area). Here, a preset distance may be set, and when the distance between the position of the unmanned vehicle and the boundary point closest to the position in the traveling direction of the unmanned vehicle reaches the preset distance, it may be considered that the position of the unmanned vehicle is about to exceed the boundary of the unmanned vehicle operation area, and the feedback may be triggered to be sent to the automatic driving module 101.
Further, after receiving the feedback, the autopilot module 101 may send the relevant constraint information, i.e. the operation area limitation information of the unmanned vehicle, to the remote driving module 103 through the constraint module 102. In this way, the remote driving module 103 may send out an alarm after receiving the information, so that the driver of the remote cockpit sends out a corresponding instruction according to the actual working environment where the unmanned vehicle is located, or the remote driving module 103 directly sends out a parking instruction.
In still another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, where the system further includes: a high-precision map module 108;
the high-precision map module 108 is used for defining the boundary of the unmanned vehicle operation area.
In the embodiment of the disclosure, the autopilot module 101 may be provided with a high-precision map module 108, and the boundary of the unmanned vehicle operation area is defined by the high-precision map 108.
In still another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, where the system further includes: a perception module 109;
a sensing module 109 for sensing obstacles around the unmanned vehicle; when it is sensed that the distance between the obstacle and the unmanned vehicle is less than the safe distance or the unmanned vehicle runs according to the established track to collide with the obstacle, feedback is sent to the automatic driving module 101;
an autopilot module 101 for controlling the restraint module 102 to send obstacle sensing information to the remote drive module 103;
the remote driving module 103 is configured to send one of the following instructions after receiving the obstacle sensing information: braking instruction, side parking instruction, detour instruction, or whistle instruction, and stopping sending the acceleration instruction.
In the embodiment of the disclosure, the obstacle around the unmanned vehicle may be sensed by the sensing module 109, wherein the sensing module 109 may be implemented by sensing devices (e.g., a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, etc.) equipped with the unmanned vehicle. The sensing module 109 may sense randomly occurring obstacles (i.e., send feedback to the autopilot module 101 when it senses that the distance between the obstacle and the drone is less than the safe distance), or may sense obstacles on a given trajectory (i.e., send feedback to the autopilot module 101 when it travels to a preset location that will collide with the obstacle according to the travel trajectory).
Further, after receiving the related constraint condition information, i.e. the obstacle sensing information, sent by the constraint module 102, the remote driving module 103 may take various processing manners according to different situations, for example: the braking instruction can be sent to enable the unmanned vehicle to stop immediately, or the side parking instruction can be sent to enable the unmanned vehicle to stop at a position which does not influence traffic order, or the bypassing instruction can enable the unmanned vehicle to avoid the obstacle and then continue driving operation, or the whistle instruction can enable the movable obstacle to avoid, in addition, the remote driving module 103 also needs to stop sending the acceleration instruction, even if the remote driving module 103 loses the function of controlling the acceleration of the vehicle.
In yet another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, a VCU106 is configured to monitor a status of a lift hopper of the unmanned vehicle; when the lifting height of the unmanned vehicle is about to exceed the highest limit, feedback is sent to the automatic driving module 101;
the automatic driving module 101 is used for controlling the constraint module 102 to send the lifting height information of the unmanned vehicle to the remote driving module 103;
and the remote driving module 103 is used for stopping sending the instruction of continuously lifting the hopper after receiving the height information of the lifting pocket of the unmanned vehicle.
The VCU106 may receive the remote driving command sent by the remote driving module 103, and process the command to generate a control signal to control an execution component (e.g., throttle, brake, steering, gear). In this embodiment, the VCU106 may monitor the status of the unmanned vehicle lifting the hopper to limit the motion from exceeding a defined height, preventing the vehicle from turning over due to too much lifting of the hopper when the vehicle is in a tilted position. In implementation, a preset height difference may be set, and when the height difference between the lift height of the unmanned vehicle and the highest limit reaches the preset height difference, the highest limit may be considered to be exceeded, and the feedback is triggered to be sent to the autopilot module 101.
Further, after the remote driving module 103 receives the related constraint condition information sent by the constraint module 102, namely the height information of the lifting pocket of the unmanned vehicle, the instruction of continuing to lift the hopper is stopped from being sent, so that the remote driving module 103 loses the permission of continuing to lift the hopper.
In yet another embodiment provided by the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, as shown in fig. 1, a VCU106 is configured to monitor a speed of the unmanned vehicle; when the speed is about to exceed the speed limit of the area where the unmanned vehicle is located, feedback is sent to the automatic driving module 101;
the autopilot module 101 is configured to receive feedback and control the VCU106 to stop processing the acceleration command of the remote driving module 103; or the control constraint module 102 transmits speed limit information of the unmanned vehicle so that the remote driving module 103 stops transmitting the acceleration instruction.
In this embodiment, the VCU106 may also monitor the speed of the unmanned vehicle, and may send feedback to the autopilot module 101 when the remote driver depresses the throttle and the VCU monitors that the speed is about to exceed the speed limit in the operating area. When the speed difference between the running speed of the unmanned vehicle and the speed limit of the area where the unmanned vehicle is located reaches the preset speed difference, the speed is considered to be about to exceed the speed limit of the area where the unmanned vehicle is located, and feedback can be sent to the automatic driving module 101.
Further, after receiving the feedback, the autopilot module 101 may control the vehicle end, that is, directly control the VCU106 to stop processing the acceleration command of the remote driving module 103, or control the remote driving end, that is, send the speed limit information to the remote driving module 103 through the constraint module 102, so that the remote driving module 103 stops sending the acceleration command.
Based on the same disclosure concept, the embodiment of the disclosure further provides an unmanned aerial vehicle, which comprises an automatic driving module and an executing module in the control system of the unmanned aerial vehicle.
The unmanned vehicle provided by the embodiment of the disclosure can be used as a vehicle end to communicate with a remote driving end through a network, and execute an instruction sent by the remote driving end.
The automatic driving module in the unmanned aerial vehicle is used for controlling the unmanned aerial vehicle to execute automatic driving operation in an automatic driving mode, and further comprises a constraint module, constraint condition information is stored in the constraint module, the constraint condition information can constrain operation behaviors of the unmanned aerial vehicle in the automatic driving mode, and the constraint condition information comprises lifting height information of the unmanned aerial vehicle, speed limit information of the unmanned aerial vehicle or operation area limit information or obstacle sensing information of the unmanned aerial vehicle; the constraint module is further used for sending the constraint condition information to the remote driving module, so that after the remote driving module receives the constraint condition information, an instruction capable of constraining remote driving operation is generated based on the constraint condition information; and the execution module in the unmanned vehicle is used for executing the operation based on the instruction of the constrained remote driving operation.
Based on the same disclosure concept, the embodiment of the disclosure further provides a remote cockpit, which comprises the remote driving module in the control system of the unmanned vehicle according to any embodiment.
The remote cockpit provided by the embodiment of the disclosure can be used as a remote driving end to communicate with a vehicle end.
The remote cockpit provided by the embodiment of the disclosure not only comprises a bunk for accommodating a remote driver, but also comprises a remote driving module. The remote driving module is used for controlling the unmanned vehicle to execute remote driving operation in a remote driving mode; the remote driving module further comprises a control module for generating an instruction for executing the remote driving operation; and the remote driving module can receive the constraint condition information sent by the constraint module and generate an instruction capable of constraining the remote driving operation based on the constraint condition information. The remote control system solves the problems that the driving effect of the existing remote driver is limited and the remote control safety cannot be guaranteed.
The control system of the unmanned aerial vehicle can be applied to control of the unmanned aerial vehicle. In the automatic driving mode, the automatic driving module executes automatic driving operation, constraint condition information is stored in the automatic driving module, the constraint condition information can restrict operation behaviors of the unmanned vehicle in the automatic driving mode, and the constraint condition information comprises lifting height information of the unmanned vehicle, speed limit information of the unmanned vehicle or operation area limiting information of the unmanned vehicle or obstacle sensing information; in the remote driving mode, executing remote driving operation by the remote driving module, and generating an instruction for executing the remote driving operation by a control module in the remote driving module; the constraint condition information is sent to a remote driving module through a constraint module, and after the constraint condition information is received, the remote driving module generates an instruction capable of constraining remote driving operation based on the constraint condition information; and executing, by the execution module, the job based on the instructions that constrain the remote driving job. Compared with the prior art that the unmanned vehicle is controlled by a remote driver, the risk possibly occurring in the operation site is considered, the corresponding operation constraint is increased, and the safety of remote control is ensured.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that the embodiments of the present disclosure may be implemented in hardware, or may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present disclosure.
Those skilled in the art will appreciate that the drawing is merely a schematic illustration of one preferred embodiment and that the modules or flows in the drawing are not necessarily required to practice the present disclosure.
Those skilled in the art will appreciate that modules in an apparatus of an embodiment may be distributed in an apparatus of an embodiment as described in the embodiments, and that corresponding changes may be made in one or more apparatuses different from the present embodiment. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
The foregoing embodiment numbers of the present disclosure are merely for description and do not represent advantages or disadvantages of the embodiments.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present disclosure without departing from the spirit or scope of the disclosure. Thus, the present disclosure is intended to include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (14)
1. A control system for an unmanned vehicle, comprising:
the automatic driving module is used for controlling the unmanned aerial vehicle to execute automatic driving operation in an automatic driving mode, and further comprises a constraint module, wherein constraint condition information is stored in the constraint module and can constrain operation behaviors of the unmanned aerial vehicle in the automatic driving mode, and the constraint condition information comprises lifting height information of the unmanned aerial vehicle, speed limit information of the unmanned aerial vehicle or operation area limiting information or obstacle sensing information of the unmanned aerial vehicle;
the remote driving module is used for controlling the unmanned vehicle to execute remote driving operation in a remote driving mode, and the remote driving module further comprises a control module for generating an instruction for executing the remote driving operation;
the constraint module is further used for sending the constraint condition information to the remote driving module, and the remote driving module generates an instruction capable of constraining remote driving operation based on the constraint condition information after receiving the constraint condition information;
and the execution module is used for executing the job based on the instruction of the constraint remote driving job.
2. The system of claim 1, further comprising a VCU for transmitting vehicle state information to the autopilot module, the autopilot module being capable of adjusting the constraint information based on the vehicle state information.
3. The system of claim 1, wherein the constraint module is configured to send the constraint condition information to the remote driving module in real time, periodically, or based on a preset trigger condition, wherein the preset trigger condition comprises an update of a work area of the drone, a change in a vehicle state of the drone, a fault state update of the remote driving module, or a preset remote driving duration.
4. The system of claim 1, wherein the autopilot module is further configured to send information to the execution module that assists in adjusting execution commands.
5. The system of any one of claims 1-4, wherein the system further comprises: a positioning module;
the positioning module is used for monitoring the position of the unmanned vehicle; when the position of the unmanned vehicle exceeds the boundary of the unmanned vehicle operation area, feedback is sent to the automatic driving module;
the automatic driving module is used for controlling the constraint module to send the operation area limitation information of the unmanned vehicle to the remote driving module;
and the remote driving module is used for sending out an alarm or sending a parking instruction after receiving the operation area limit information of the unmanned vehicle.
6. The system of claim 5, wherein the system further comprises: a high-precision map module;
the high-precision map module is used for defining the boundary of the unmanned vehicle operation area.
7. The system of any one of claims 1-4, wherein the system further comprises: a perception module;
the sensing module is used for sensing obstacles around the unmanned vehicle; when the distance between the obstacle and the unmanned vehicle is sensed to be smaller than the safety distance or the unmanned vehicle runs according to the set track to collide with the obstacle, feedback is sent to the automatic driving module;
the automatic driving module is used for controlling the constraint module to send the obstacle sensing information to the remote driving module;
the remote driving module is used for sending one of the following instructions after receiving the obstacle sensing information: braking instruction, side parking instruction, detour instruction, or whistle instruction, and stopping sending the acceleration instruction.
8. The system of claim 2, wherein the VCU is configured to monitor a status of an unmanned vehicle lift hopper; when the lifting height of the unmanned vehicle is about to exceed the highest limit, feedback is sent to the automatic driving module;
the automatic driving module is used for controlling the constraint module to send the lifting height information of the unmanned vehicle to the remote driving module;
and the remote driving module is used for stopping sending an instruction of continuously lifting the hopper after receiving the lifting height information of the unmanned vehicle.
9. The system of claim 2, wherein the VCU is configured to monitor a speed of the drone; when the speed is about to exceed the speed limit of the area where the unmanned vehicle is located, feedback is sent to the automatic driving module;
the automatic driving module is used for receiving the feedback and controlling the VCU to stop processing the acceleration instruction of the remote driving module; or controlling the constraint module to send the speed limiting information of the unmanned vehicle so as to enable the remote driving module to stop sending the acceleration instruction.
10. The system of claim 1, wherein the remote driving module is located in a remote driving system and the autopilot module is located in an autopilot system, the remote driving system and the autopilot system being in wireless communication connection.
11. The system of claim 1, wherein the remote driving module and the automated driving module are both located in an automated driving system, the remote driving module receiving the remote driving data transmitted by the remote driving system.
12. The system of claim 1, further comprising a call control module for controlling whether to call the constraint information of the constraint module.
13. An unmanned vehicle, comprising: an autopilot module and an execution module as recited in any one of claims 1-12 in a control system of an unmanned vehicle.
14. A remote cockpit, comprising: a remote driving module as claimed in any one of claims 1 to 12 in a control system of an unmanned vehicle.
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