CN117914842A

CN117914842A - Unmanned vehicle monitoring method, device and system and electronic equipment

Info

Publication number: CN117914842A
Application number: CN202410070030.3A
Authority: CN
Inventors: 杨海松
Original assignee: Beijing Qingwei Rufeng Technology Co ltd
Current assignee: Beijing Qingwei Rufeng Technology Co ltd
Priority date: 2024-01-17
Filing date: 2024-01-17
Publication date: 2024-04-19

Abstract

The application discloses a method, a device and a system for monitoring an unmanned vehicle and electronic equipment, wherein the method comprises the following steps: acquiring real-time vehicle data, wherein the real-time vehicle data comprises real-time vehicle data of a plurality of vehicles; the real-time vehicle data are processed in parallel to obtain processed real-time vehicle data; and generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on a Web front-end interface, wherein the visual display information comprises vehicle basic information and non-driving paths of each vehicle. The application supports global monitoring of a plurality of unmanned vehicles, so that operators can monitor and manage the whole motorcade simultaneously, provides comprehensive monitoring capability for the position, state and task information of the vehicles, and is beneficial to knowing the running condition of the whole motorcade in real time. On the other hand, the display of the non-driving path is supported, so that an operator can be helped to know the driving path of the vehicle more clearly, redundant information on an interface is reduced, and the readability and the visual effect of the information are improved.

Description

Unmanned vehicle monitoring method, device and system and electronic equipment

Technical Field

The application relates to the technical field of vehicle monitoring, in particular to an unmanned vehicle monitoring method, an unmanned vehicle monitoring device, an unmanned vehicle monitoring system and electronic equipment.

Background

Current monitoring system solutions typically provide basic vehicle monitoring functions such as real-time position tracking, sensor data display, and image/video stream monitoring. These monitoring systems typically operate based on a Web front-end interface, and a user may access the monitoring platform through a browser to obtain real-time information of the vehicle.

However, the above monitoring scheme has at least the following technical problems:

1) Limited monitoring function: the monitoring function in the existing scheme is generally limited to a single vehicle, and cannot monitor and manage a plurality of traction vehicles simultaneously, which limits the comprehensive monitoring and scheduling capability of operators on the whole fleet, especially in large-scale transportation tasks;

2) Limited dynamic path tracking and deletion functionality: in the existing scheme, the functions of dynamic path tracking and dynamic path deleting are usually limited or lost, an operator cannot intuitively know the running path of the vehicle, and the information of the running path cannot be cleared timely, so that redundant information on an interface is increased.

Disclosure of Invention

The embodiment of the application provides a method, a device and a system for monitoring unmanned vehicles and electronic equipment, which are used for realizing multi-vehicle global monitoring and improving the readability and the visual effect of monitoring information.

The embodiment of the application adopts the following technical scheme:

In a first aspect, an embodiment of the present application provides an unmanned vehicle monitoring method, which is performed by a Web front end of an unmanned vehicle monitoring system, the unmanned vehicle monitoring method including:

acquiring real-time vehicle data, the real-time vehicle data comprising real-time vehicle data of a plurality of vehicles;

processing the real-time vehicle data in parallel to obtain processed real-time vehicle data;

And generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on a Web front-end interface, wherein the visual display information comprises vehicle basic information and non-driving paths of each vehicle.

Optionally, the acquiring real-time vehicle data includes:

establishing WebSocket connection with the rear end of the unmanned vehicle monitoring system through a main thread;

A data acquisition request is sent to the rear end of the unmanned vehicle monitoring system through WebSocket connection, and the real-time vehicle data is acquired according to the data acquisition request; or alternatively

And receiving real-time vehicle data pushed by the rear end of the unmanned vehicle monitoring system through WebSocket connection.

Optionally, the parallel processing of the real-time vehicle data to obtain processed real-time vehicle data includes:

Creating a Web workbench object, and receiving real-time vehicle data transmitted by a main thread in the Web workbench object;

In the Web workbench object, the real-time vehicle data of each vehicle are processed in parallel through a plurality of sub-threads, and the processed real-time vehicle data corresponding to each vehicle are obtained;

and aggregating the processed real-time vehicle data corresponding to each vehicle to obtain aggregated real-time vehicle data, and returning the aggregated real-time vehicle data to the main thread.

Optionally, the real-time vehicle data includes a vehicle position and a vehicle state, the vehicle basic information includes a vehicle position and a vehicle state icon, and generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on a Web front-end interface includes:

displaying the vehicle positions of the vehicles on the Web front-end interface according to the vehicle positions of the vehicles;

And displaying vehicle state icons of the respective vehicles on the Web front-end interface according to the vehicle states of the respective vehicles, wherein the vehicle state icons comprise at least one of vehicle self state icons, vehicle operation state icons and vehicle task state icons.

Optionally, the real-time vehicle data includes an original path of the vehicle, and generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on the Web front-end interface includes:

generating a non-driving path of each vehicle according to the original path of each vehicle and a preset path display strategy;

And displaying the non-driving path of each vehicle on the Web front-end interface.

Optionally, the generating the non-driving path of each vehicle according to the original path of each vehicle and the preset path display policy includes:

Creating a path curve object according to a plurality of path points on the original path of each vehicle, wherein the path curve object is used for fitting a path curve;

calculating the number of segments required by the fitted path curve according to the number of path points on the original path of each vehicle;

Based on the number of segments required by the fitted path curve, obtaining a uniformly distributed path point set on the fitted path curve;

Determining corresponding index positions of each vehicle in the uniformly distributed path point set according to the vehicle positions of each vehicle and the uniformly distributed path point set;

and carrying out path segmentation on the fitted path curve according to the index positions corresponding to the vehicles to obtain the non-running path of each vehicle.

Optionally, the unmanned vehicle monitoring method further comprises:

And setting the body image and the vehicle label of each vehicle on the Web front-end interface according to the real-time vehicle data.

In a second aspect, an embodiment of the present application further provides an unmanned vehicle monitoring device, where the unmanned vehicle monitoring device is applied to a Web front end of an unmanned vehicle monitoring system, and the unmanned vehicle monitoring device includes:

An acquisition unit configured to acquire real-time vehicle data including real-time vehicle data of a plurality of vehicles;

the processing unit is used for carrying out parallel processing on the real-time vehicle data to obtain processed real-time vehicle data;

And the display unit is used for generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on the Web front-end interface, wherein the visual display information comprises vehicle basic information and non-driving paths of each vehicle.

In a third aspect, an embodiment of the present application further provides an unmanned vehicle monitoring system, where the unmanned vehicle monitoring system includes a Web front end and a back end, where the Web front end is configured to execute the unmanned vehicle monitoring method described in any one of the foregoing.

In a fourth aspect, an embodiment of the present application further provides an electronic device, including:

A processor; and

A memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described hereinbefore.

In a fifth aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the methods described above.

The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects: the unmanned vehicle monitoring method is executed by the Web front end of the unmanned vehicle monitoring system, real-time vehicle data are firstly obtained, and the real-time vehicle data comprise real-time vehicle data of a plurality of vehicles; then, carrying out parallel processing on the real-time vehicle data to obtain processed real-time vehicle data; and finally, generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on a Web front-end interface, wherein the visual display information comprises vehicle basic information and non-driving paths of each vehicle. According to the unmanned vehicle monitoring method, on one hand, global monitoring of a plurality of unmanned vehicles is supported, so that operators can monitor and manage the whole fleet at the same time, comprehensive monitoring capability of vehicle position, state and task information is provided, and real-time knowing of the running condition of the whole fleet is facilitated. On the other hand, the display of the non-driving path is supported, so that an operator can be helped to know the driving path of the vehicle more clearly, redundant information on an interface is reduced, and the readability and the visual effect of the information are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a schematic flow chart of a method for monitoring an unmanned vehicle according to an embodiment of the application;

FIG. 2 is a schematic diagram of a monitoring device for an unmanned vehicle according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

The embodiment of the application provides an unmanned vehicle monitoring method, as shown in fig. 1, and provides a flow diagram of the unmanned vehicle monitoring method in the embodiment of the application, wherein the unmanned vehicle monitoring method is executed by the Web front end of an unmanned vehicle monitoring system, and the unmanned vehicle monitoring method at least comprises the following steps of S110 to S130:

In step S110, real-time vehicle data including real-time vehicle data of a plurality of vehicles is acquired.

The method for monitoring the unmanned vehicle in the embodiment of the application can be executed by the Web front end of the unmanned vehicle monitoring system, when the unmanned vehicle is monitored, real-time vehicle data needs to be acquired first, wherein the real-time vehicle data comprises data of a plurality of vehicles, such as the position, the angle, the driving path and the like of the vehicles, and the vehicle data of which dimensions are needed specifically can be defined in advance according to the requirements and are not limited specifically herein.

And step S120, carrying out parallel processing on the real-time vehicle data to obtain processed real-time vehicle data.

After the real-time vehicle data of each vehicle are obtained, the real-time vehicle data of each vehicle need to be processed and packaged to a certain extent, and the processing is mainly used for extracting and integrating information needed in subsequent Web front-end interface display. For example, vehicle chassis information, warning information, etc. are not typically provided in a format required by the dispatch system itself, and thus, in order to reduce front-end rendering pressure, the embodiment of the present application may process real-time vehicle data in advance.

And step S130, generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on a Web front-end interface, wherein the visual display information comprises vehicle basic information and non-driving paths of each vehicle.

After the processed real-time vehicle data are obtained, visual display information displayed on a Web front-end interface of each vehicle can be generated according to the processed real-time vehicle data, the WEB front-end interface is a carrier for displaying monitoring information in the embodiment of the application, and is a front-end visual interactive man-machine interface consisting of HTML (hypertext markup language) +CSS (cascading style sheet) +JS, and an operator intuitively observes global monitoring, including vehicle states, tasks and the like, through the WEB front-end interface, and realizes operations such as instruction issuing, scheduling and the like through an operation panel.

The visual display information can specifically comprise vehicle basic information and non-driving paths of each vehicle, the vehicle basic information can comprise information such as real-time position, angle and state of the vehicle, the non-driving paths are only path information of the vehicle which does not drive on a Web front end interface, therefore, operators can be helped to know the driving paths of the vehicle more clearly, redundant information on the interface is reduced, and the readability and the visual effect of the information are improved.

According to the unmanned vehicle monitoring method, on one hand, global monitoring of a plurality of unmanned vehicles is supported, so that operators can monitor and manage the whole fleet at the same time, comprehensive monitoring capability of vehicle position, state and task information is provided, and real-time knowing of the running condition of the whole fleet is facilitated. On the other hand, the display of the non-driving path is supported, so that an operator can be helped to know the driving path of the vehicle more clearly, redundant information on an interface is reduced, and the readability and the visual effect of the information are improved.

In some embodiments of the present application, before the visual display information is displayed on the Web front-end interface, the interface may be initialized, where the initialization interface refers to an initialization operation that needs to be performed when entering an interface for the first time.

The initialization of the monitoring interface is carried out in the scene of unmanned vehicle monitoring, and mainly comprises the following steps:

1) Creating a renderer by using three.js and setting antialiasing, color and aspect ratio, wherein three.js is an open source 3D graphic library based on JavaScript and is used for creating and presenting interactive 3D graphics and animations in a Web browser, rich functions and tools are provided by packaging and abstracting WebGL, so that a developer can easily create complex 3D scenes, models and effects, and operations such as map drawing, vehicle rendering and path processing in the embodiment of the application can be completed by three.js;

2) Creating a monitoring scene for storing map data such as subsequent lane lines and the like;

3) Creating a top-down front projection camera and setting a center point;

4) Preparing map data: acquiring the original data of a high-precision map, wherein the original data comprise various boundary areas (such as a cargo yard, a road sealing area and the like, which are usually composed of four point coordinates), lane lines, curves and the like; processing the original data, enriching the original data according to the real scene by using a CAD drawing tool, such as adding a cargo space number, a yellow center line, a solid line or a broken line of a lane line, a traffic sign and the like, and then exporting the data into a JSON format for the subsequent generation of a map at the front end of the Web;

5) Importing monitored map base map data, wherein the map base data is converted from CAD into JSON;

6) And using an open-source three.js library in the Web front end, and drawing and rendering a corresponding map base map according to data splitting and naming, wherein the map base map comprises roads, intersections, medium yellow lines, broken lines, solid lines, numbers, parking spaces and the like.

In some embodiments of the application, the acquiring real-time vehicle data includes: establishing WebSocket connection with the rear end of the unmanned vehicle monitoring system through a main thread; a data acquisition request is sent to the rear end of the unmanned vehicle monitoring system through WebSocket connection, and the real-time vehicle data is acquired according to the data acquisition request; or receiving real-time vehicle data pushed by the rear end of the unmanned vehicle monitoring system through WebSocket connection.

Some existing monitoring schemes use conventional HTTP requests or polling for data transfer, which may result in some delay in data update and rendering. Furthermore, instability of the network connection may cause interruption or loss of data transmission, affecting the real-time and reliability of the monitoring system.

Based on the above, when acquiring real-time vehicle data, the embodiment of the application firstly creates the main thread for managing and coordinating the operation of the whole application program, and establishes WebSocket connection with the rear end through the main thread, thereby realizing the transmission of the real-time vehicle data. WebSocket is a protocol for full duplex communication between a Web browser and a server, and provides a persistent connection mode.

Specifically, real-time communication is established with the back end through WebSocket, and the back end can communicate with the vehicle end through MQTT. When the Web front end sends a request to the back end, the back end pushes a message to the vehicle end through the MQTT. After the vehicle end receives the notification, the vehicle chassis information, the vehicle path data and the like are sent to the rear end, and the rear end is in butt joint with the ECS/TOS or the dispatching task of the rear end and the vehicle data are pushed to the front end together. And after the front end receives the real-time data of the vehicle, updating the position and the direction of the vehicle icon according to the position and the angle of the vehicle.

In some embodiments of the present application, the parallel processing the real-time vehicle data to obtain processed real-time vehicle data includes: creating a Web workbench object, and receiving real-time vehicle data transmitted by a main thread in the Web workbench object; in the Web workbench object, the real-time vehicle data of each vehicle are processed in parallel through a plurality of sub-threads, and the processed real-time vehicle data corresponding to each vehicle are obtained; and aggregating the processed real-time vehicle data corresponding to each vehicle to obtain aggregated real-time vehicle data, and returning the aggregated real-time vehicle data to the main thread.

According to the embodiment of the application, the real-time vehicle data of a plurality of vehicles can be processed in parallel by creating a plurality of sub-threads, the sub-threads are communicated with the main thread, the data to be processed is received from the main thread, and the processing result is fed back to the main thread, so that the data processing efficiency is improved, and the smooth operation of a plurality of real-time vehicles on the Web front-end interface is ensured.

Specifically, the embodiment of the application can firstly create a Web workbench object, wherein the Web workbench object receives real-time vehicle data transmitted by a main thread by using a postMessage () method, and the Web workbench is a mechanism for running a background task in a Web browser, so that a developer is allowed to execute JavaScript code in a separate thread without blocking the execution of the main thread. Aiming at the data received by the WebSocket, the embodiment of the application completes the processes of data processing and data integration through the Web workbench object without blocking the execution of the main thread, thereby ensuring the fluency and the responsiveness of a user interface.

The processing and packaging of the received data in the Web workbench mainly extracts and integrates information needed in the Web front-end interface, for example, extracting the position coordinates and angles of each vehicle into an object named vehiclePosition, extracting the original path of the vehicle into an object named VEHICLEPLANNING, and extracting the vehicle state data into an object named vehicleStatus.

The vehicle state data may include, for example, a work state, a task state, a self state, and the like of the vehicle, and the definition of different states may be determined according to a specific application scenario. Taking an unmanned traction vehicle as an example, the vehicle's job status may represent the status of the job the vehicle is currently performing, e.g., transporting cargo, waiting for cargo, idling, etc., the job status may be a predefined set of status, each status representing the condition of the vehicle at a different stage or state of operation. The task state of the vehicle may represent a state of a task that the vehicle is currently performing, such as a state that is executing, completed, paused, etc. to describe a particular task or operation that the vehicle is performing. The vehicle's own status is used to describe the availability, health, or other relevant status information of the vehicle, such as online, offline, malfunction, maintenance, etc.

In the data integration, the data of each vehicle can be aggregated onto a key with a vehicle number as a key value pair to form an object containing all vehicle data, and the data can be specifically realized by using the object or a dictionary. The data of each vehicle can be packaged in an object named vehicleStatus, then each vehicleStatus object is stored in an object named VEHICLEPLANNING by using the vehicle number as a key of a key value pair, and corresponding vehicle information can be quickly and accurately acquired when a vehicle is rendered.

Finally, the processed and encapsulated real-time vehicle data may be sent back to the main thread using the postMessage () method.

In some embodiments of the present application, the real-time vehicle data includes a vehicle position and a vehicle state, the vehicle base information includes a vehicle position and a vehicle state icon, and generating visual display information of each vehicle according to the processed real-time vehicle data and displaying on a Web front-end interface includes: displaying the vehicle positions of the vehicles on the Web front-end interface according to the vehicle positions of the vehicles; and displaying vehicle state icons of the respective vehicles on the Web front-end interface according to the vehicle states of the respective vehicles, wherein the vehicle state icons comprise at least one of vehicle self state icons, vehicle operation state icons and vehicle task state icons.

When the visual display of each vehicle is performed, basic information of each vehicle, such as vehicle position, vehicle tag and the like, can be displayed in the page assembly. Specifically, a visual representation of the vehicle may be generated from the processed data using the three.js and the composed function, then the position of the vehicle may be displayed in the interface according to the position of the vehicle, the self-status icon of the vehicle may be displayed on the vehicle tag according to the status information of the vehicle, such as deadlock, low battery, etc., the job icon of the vehicle may be displayed, such as transporting goods, waiting for goods to be loaded and unloaded, idle, etc., the job icon of the vehicle may be displayed, such as executing, completed, suspended, etc.

In some embodiments of the present application, the real-time vehicle data includes an original path of the vehicle, and the generating visual display information of each vehicle according to the processed real-time vehicle data and displaying the visual display information on the Web front-end interface includes: generating a non-driving path of each vehicle according to the original path of each vehicle and a preset path display strategy; and displaying the non-driving path of each vehicle on the Web front-end interface.

The real-time vehicle data in the embodiment of the application further comprises an original path of the vehicle, wherein the original path refers to a complete path which reaches a destination when the vehicle receives a task, and generally comprises key positions which the vehicle needs to pass through for describing a motion track of the vehicle, but the original path can only provide a plurality of points at certain positions, such as certain path points issued by scheduling, the map cannot plan the path, but the vehicle has a smooth curve when making decision and planning, so that the path curve fitting is needed to be carried out based on the path points on the original path of each vehicle, so that the smoothness of the path display is realized.

In some embodiments of the present application, the generating the non-driving path of each vehicle according to the original path of each vehicle and the preset path display policy includes: creating a path curve object according to a plurality of path points on the original path of each vehicle, wherein the path curve object is used for fitting a path curve; calculating the number of segments required by the fitted path curve according to the number of path points on the original path of each vehicle; based on the number of segments required by the fitted path curve, obtaining a uniformly distributed path point set on the fitted path curve; determining corresponding index positions of each vehicle in the uniformly distributed path point set according to the vehicle positions of each vehicle and the uniformly distributed path point set; and carrying out path segmentation on the fitted path curve according to the index positions corresponding to the vehicles to obtain the non-running path of each vehicle.

In the unmanned path, the curve is 0.5cm in one point, the straight line road only has two points of a starting point and an end point, and the prior art is a direct display path or a short-path display, so that the unmanned path is not attractive and practical and has poor performance.

Based on this, when generating the non-travel path of each vehicle, the embodiment of the present application may be implemented by the following steps:

1) Using the set of points positions on the original path as parameters, a CatmullRomCurve object is created, which can be expressed, for example, in the following form:

//const curve＝new THREE.CatmullRomCurve3(positions)；

CatmullRomCurve3 is a Catmull-Rom curve in three dimensions. The catmul-Rom curve is an interpolated curve that creates a smooth curve between every two adjacent control points through a given series of control points. CatmullRomCurve3 in three.js serves to create and represent a curve that can be used to simulate a smooth, dynamic path.

2) The number of segments required for the fitted curve is calculated according to the number of points on the original path, and can be expressed as follows:

//const divisions＝Math.round(N*positions.length)；

Here, positions, length, represents the number of points on the path, N is a custom parameter, and multiplying N is to increase the subdivision level of the curve, where the greater N, the greater the subdivision level of the curve. The number of segments determines the fineness of the curve, and the larger the number of segments, the smoother the curve. The number of segments is determined in order to obtain a uniformly distributed set of points on the fitted path curve.

3) The embodiment of the application can acquire the uniformly distributed point set on the path after fitting by using getSpacedPoints () method, and can be expressed as the following form:

//const interPoint＝curve.getSpacedPoints(divisions)；

The method getSpacedPoints () can be used to obtain a set of points uniformly distributed on the path after fitting, and a curve is obtained after fitting, and a series of points can be uniformly sampled on the curve by the method. The three. Js will calculate these points based on the parameters of the Catmull-Rom curve, so that they are equally distributed over the curve, the curve equation being provided by the active three. Js.

4) The fitted path point set is converted into a one-dimensional array form, so that subsequent processing is facilitated, and the method can be expressed as the following form:

//const curDataAll＝interPoint.flatMap((point)＝>[point.x,point.y,0])；

5) Finding an index position on the path according to the real-time position of the vehicle can be specifically expressed as follows:

//const curInd＝interPoint.findIndex((point)＝>point.x＝＝＝curCar[0]&&point.y

＝＝＝curCar[1])；

According to the real-time position of the vehicle, finding an index position on the path, namely finding the position of the path point closest to the real-time position of the vehicle in the fitted path point set according to the real-time position of the vehicle, and finding the closest path point by comparing the real-time position with the position coordinates of the path point to serve as the corresponding index position of the vehicle on the path;

6) Starting to segment the path from the current position, cutting off the non-walked path points to generate a non-traveling path, wherein the non-traveling path can be specifically expressed as the following form:

//interPoint.splice(0,curInd)；

starting to segment the path from the current position means that all path points before the index position are removed from the fitted path point set, and only the index position and the path points after the index position are reserved. The purpose of this is to cut out the route points which have not been finished, so as to render and animation in three.js, thereby realizing the effect that the route travelled by the vehicle can be automatically deleted, and reducing the redundant information on the interface.

According to the embodiment of the application, the non-running path points are intercepted, so that the path of the vehicle can be dynamically updated, the real-time running effect of the vehicle is shown in three.js, the number of the path points needing to be rendered can be reduced, and the performance and the processing efficiency are improved.

In some embodiments of the application, the unmanned vehicle monitoring method further comprises: and setting the body image and the vehicle label of each vehicle on the Web front-end interface according to the real-time vehicle data.

The task instruction and the scheduling in the existing monitoring scheme are not integrated, and the overall monitoring lacks the capability of checking tasks and operations, so that the capability of an operator for carrying out real-time task scheduling and instruction control in a monitoring system is limited.

Based on the method, the device and the system for setting the vehicle body image and the vehicle label of each vehicle in the Web front-end interface can achieve rapid instruction issuing and task scheduling, such as operations of selecting points or positions for running, parking for charging, re-planning paths, turning directions and the like, and improve convenience and efficiency of operation.

Specifically, on the one hand, the color of the vehicle body image may be set according to the acquired vehicle state or the like, for example, red represents low power, orange represents collision prediction or the like, and the vehicle tag may be used for:

1) Identifying each vehicle and displaying the identification information of the vehicle;

2) A small icon is added to the vehicle tag to indicate an important or dangerous task to be performed by the current vehicle and whether the vehicle itself has warning information to help determine whether handling is required, such as dangerous goods, bulk goods, etc.

On the other hand, one-click and two-click listening events may be added to the vehicle tag using the addEventListener method of the mouse, for example:

1) When a vehicle label is clicked, displaying the path of the vehicle;

2) When the vehicle tag is double-clicked, display of an operation panel is executed, the vehicle state is imported into the operation panel, and the operation panel is used for observing information such as a work task and an instruction source of a single vehicle and can perform operation scheduling and instruction issuing.

Of course, how to implement quick instruction issuing and task scheduling by configuring attribute information such as a vehicle body image and a vehicle tag is specifically described, and those skilled in the art can flexibly configure the device according to actual requirements, which is not limited herein.

Some existing monitoring schemes may require complex hardware equipment and setup procedures, which increase the difficulty of implementation and use, and limit the portability and flexibility of the system.

Based on this, the unmanned vehicle monitoring method of the embodiment of the application can be deployed, installed and set in the following manner:

1) Mounting and configuring Jenkins: jenkins is installed on the server and configured as necessary. Configuration includes setting administrator account numbers and passwords for Jenkins, configuring construction nodes (which may be local or remote nodes), and integration with a code repository;

2) Writing a construction script: a new build item is created in Jenkins and a build script is written. The construction script is used for executing a series of construction steps, including pulling codes from a code warehouse, installing dependent items, constructing front-end applications and generating static files;

3) Configuration build trigger: configuring a build trigger in the Jenkins project such that whenever a new code is submitted to the code repository, the auto-trigger build process may choose to trigger the build based on code submission, timed triggers, or other events;

4) Setting deployment tasks: adding a deployment task into the construction script, so that after the construction is successful, the generated static file is automatically deployed to a Web root directory or a designated directory of the server;

5) The configuration is only needed once in project configuration, and the subsequent updating maintenance and iterative one-key updating simplify the deployment and setting process.

In summary, the method for monitoring the unmanned vehicle at least has the following technical effects:

1) The system supports global monitoring of a plurality of unmanned vehicles, so that operators can monitor and manage the whole fleet at the same time, comprehensive monitoring capability of vehicle position, state and task information is provided, and the system is beneficial to knowing the running condition of the whole fleet in real time;

2) The vehicle labels and icons provide detailed vehicle state information display, so that an operator can quickly acquire the state and task condition of the vehicle, and the vehicle labels and icons are used for task scheduling and decision making;

3) The path of the vehicle can be displayed in real time through a dynamic path tracking and curve fitting snapshot technology, and the accuracy and the attractiveness of the path are ensured, so that an operator can intuitively know the running track of the vehicle, and the operator is helped to monitor and make decisions in real time;

4) The method comprises the steps of fast instruction issuing and task scheduling, wherein an operator can fast control the instruction issuing and task scheduling of a current vehicle by clicking a certain bicycle fast opening operation panel through a mouse in a global monitoring interface, so that the operation convenience and efficiency of the operator are improved, and the operator can fast respond and adjust the actions of the vehicle;

5) The deployment and setting processes are simplified, the installation and learning cost is avoided, the method is suitable for multiple scenes, and the portability and the user friendliness of the system are improved.

In an embodiment of the present application, as shown in fig. 2, there is provided an unmanned vehicle monitoring device 200, and a schematic structural diagram of the unmanned vehicle monitoring device in the embodiment of the present application is provided, where the unmanned vehicle monitoring device 200 includes:

An acquisition unit 210 for acquiring real-time vehicle data including real-time vehicle data of a plurality of vehicles;

a processing unit 220, configured to perform parallel processing on the real-time vehicle data, so as to obtain processed real-time vehicle data;

And a display unit 230, configured to generate visual display information of each vehicle according to the processed real-time vehicle data, where the visual display information includes vehicle basic information and a non-driving path of each vehicle, and display the visual display information on a Web front end interface.

In some embodiments of the present application, the obtaining unit 210 is specifically configured to: establishing WebSocket connection with the rear end of the unmanned vehicle monitoring system through a main thread; a data acquisition request is sent to the rear end of the unmanned vehicle monitoring system through WebSocket connection, and the real-time vehicle data is acquired according to the data acquisition request; or receiving real-time vehicle data pushed by the rear end of the unmanned vehicle monitoring system through WebSocket connection.

In some embodiments of the present application, the processing unit 220 is specifically configured to: creating a Web workbench object, and receiving real-time vehicle data transmitted by a main thread in the Web workbench object; in the Web workbench object, the real-time vehicle data of each vehicle are processed in parallel through a plurality of sub-threads, and the processed real-time vehicle data corresponding to each vehicle are obtained; and aggregating the processed real-time vehicle data corresponding to each vehicle to obtain aggregated real-time vehicle data, and returning the aggregated real-time vehicle data to the main thread.

In some embodiments of the present application, the real-time vehicle data includes a vehicle position and a vehicle state, the vehicle basic information includes a vehicle position and a vehicle state icon, and the display unit 230 is specifically configured to: displaying the vehicle positions of the vehicles on the Web front-end interface according to the vehicle positions of the vehicles; and displaying vehicle state icons of the respective vehicles on the Web front-end interface according to the vehicle states of the respective vehicles, wherein the vehicle state icons comprise at least one of vehicle self state icons, vehicle operation state icons and vehicle task state icons.

In some embodiments of the present application, the real-time vehicle data includes an original path of the vehicle, and the display unit 230 is specifically configured to: generating a non-driving path of each vehicle according to the original path of each vehicle and a preset path display strategy; and displaying the non-driving path of each vehicle on the Web front-end interface.

In some embodiments of the present application, the display unit 230 is specifically configured to: creating a path curve object according to a plurality of path points on the original path of each vehicle, wherein the path curve object is used for fitting a path curve; calculating the number of segments required by the fitted path curve according to the number of path points on the original path of each vehicle; based on the number of segments required by the fitted path curve, obtaining a uniformly distributed path point set on the fitted path curve; determining corresponding index positions of each vehicle in the uniformly distributed path point set according to the vehicle positions of each vehicle and the uniformly distributed path point set; and carrying out path segmentation on the fitted path curve according to the index positions corresponding to the vehicles to obtain the non-running path of each vehicle.

In some embodiments of the application, the unmanned vehicle monitoring device further comprises: and the setting unit is used for setting the body image and the vehicle label of each vehicle on the Web front-end interface according to the real-time vehicle data.

It can be understood that the above-mentioned unmanned vehicle monitoring device can implement each step of the unmanned vehicle monitoring method provided in the foregoing embodiment, and the relevant explanation about the unmanned vehicle monitoring method is applicable to the unmanned vehicle monitoring device, which is not described herein again.

The embodiment of the application also provides an unmanned vehicle monitoring system, which comprises a Web front end and a Web back end, wherein the Web front end is used for executing the unmanned vehicle monitoring method.

Fig. 3 is a schematic structural view of an electronic device according to an embodiment of the present application. Referring to fig. 3, at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 3, but not only one bus or type of bus.

And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.

The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the unmanned vehicle monitoring device on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:

The method performed by the unmanned vehicle monitoring device disclosed in the embodiment of fig. 1 of the present application can be applied to a processor or implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

The electronic device may further execute the method executed by the unmanned vehicle monitoring device in fig. 1, and implement the function of the unmanned vehicle monitoring device in the embodiment shown in fig. 1, which is not described herein.

The embodiment of the present application also proposes a computer-readable storage medium storing one or more programs, the one or more programs including instructions, which when executed by an electronic device comprising a plurality of application programs, enable the electronic device to perform a method performed by the unmanned vehicle monitoring apparatus in the embodiment shown in fig. 1, and in particular for performing:

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims

1. An unmanned vehicle monitoring method, wherein the unmanned vehicle monitoring method is performed by a Web front end of an unmanned vehicle monitoring system, the unmanned vehicle monitoring method comprising:

2. The unmanned vehicle monitoring method of claim 1, wherein the acquiring real-time vehicle data comprises:

3. The unmanned vehicle monitoring method of claim 2, wherein the parallel processing of the real-time vehicle data to obtain processed real-time vehicle data comprises:

4. The unmanned vehicle monitoring method of claim 1, wherein the real-time vehicle data comprises a vehicle position and a vehicle status, the vehicle base information comprises a vehicle position and a vehicle status icon, and the generating visual display information of each vehicle from the processed real-time vehicle data and displaying on a Web front-end interface comprises:

5. The method of claim 1, wherein the real-time vehicle data comprises raw paths of vehicles, and wherein generating visual display information for each vehicle from the processed real-time vehicle data and displaying on a Web front-end interface comprises:

6. The unmanned vehicle monitoring method of claim 5, wherein the generating the non-travel path of each vehicle according to the original path of each vehicle and the preset path display policy comprises:

7. The unmanned vehicle monitoring method according to claim 1, further comprising:

8. An unmanned vehicle monitoring device, wherein the unmanned vehicle monitoring method is applied to a Web front end of an unmanned vehicle monitoring system, the unmanned vehicle monitoring device comprising:

9. An unmanned vehicle monitoring system, characterized in that it comprises a Web front end and a back end, the Web front end being adapted to perform the unmanned vehicle monitoring method of any of claims 1 to 7.

10. An electronic device, comprising:

A processor; and

A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 7.

11. A computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.