WO2019161660A1 - 自动驾驶车辆控制方法和自动驾驶控制装置 - Google Patents

自动驾驶车辆控制方法和自动驾驶控制装置 Download PDF

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Publication number
WO2019161660A1
WO2019161660A1 PCT/CN2018/105467 CN2018105467W WO2019161660A1 WO 2019161660 A1 WO2019161660 A1 WO 2019161660A1 CN 2018105467 W CN2018105467 W CN 2018105467W WO 2019161660 A1 WO2019161660 A1 WO 2019161660A1
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Prior art keywords
inspection
self
customs
driving vehicle
target container
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PCT/CN2018/105467
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English (en)
French (fr)
Inventor
吴楠
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北京图森未来科技有限公司
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Application filed by 北京图森未来科技有限公司 filed Critical 北京图森未来科技有限公司
Priority to EP18907457.8A priority Critical patent/EP3757710A4/en
Priority to AU2018409987A priority patent/AU2018409987B2/en
Publication of WO2019161660A1 publication Critical patent/WO2019161660A1/zh
Priority to US17/001,279 priority patent/US20210039682A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00256—Delivery operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0831—Overseas transactions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data

Definitions

  • the present invention relates to the field of automatic driving, and in particular to an automatic driving vehicle control method and an automatic driving control device.
  • the truck driver who drives the truck in the port area will pull the container that needs customs inspection to the customs, and go through the relevant inspection process at the customs, and then pull the checked container back to the port area from the customs.
  • the containers that need to be checked by the customs in the port area are generally large in quantity and the inspection process in the customs is time-consuming, a large number of truck drivers are required to transport containers between the port area and the customs. Therefore, labor costs are high.
  • the present invention provides an automatic driving vehicle control method and apparatus, which can control an automatic driving vehicle to automatically complete a customs inspection of a container, and does not need to be equipped with a corresponding truck driver transport container for customs inspection, thereby reducing labor costs.
  • a method for controlling an autonomous vehicle comprising:
  • the self-driving vehicle is controlled to leave the inspection area.
  • a second aspect of the present invention provides a method for controlling an autonomous vehicle, including:
  • the self-driving vehicle is controlled to travel from the inspection area to the port area.
  • a third aspect provides an automatic driving control apparatus, including:
  • a first obtaining unit configured to acquire a customs inspection task for transporting the target container to the customs for inspection
  • a first control unit configured to control the self-driving vehicle to transport the target container to the waiting area of the customs entrance
  • a first determining unit configured to be used by the self-driving vehicle, and triggering a second control unit;
  • a second control unit configured to control the driving of the self-driving vehicle to the inspection channel
  • a second obtaining unit configured to acquire a check notification of the customs decision to check the target container, and trigger a third control unit
  • a third control unit configured to control the self-driving vehicle to travel to a target position in the inspection area specified in the inspection notice, and wait for the box to be dropped;
  • a second determining unit configured to determine that the fourth control unit is triggered when the target container is completely dropped
  • a fourth control unit configured to control the self-driving vehicle to leave the inspection area.
  • an automatic driving control apparatus includes:
  • a third obtaining unit configured to acquire a transportation task for the customs to transport the target container to the port area, and trigger a fifth control unit;
  • a fifth control unit configured to control an autonomous driving vehicle to travel to a waiting area of the customs entrance
  • a third determining unit configured to determine a corresponding inspection channel of the self-driving vehicle, and trigger a sixth control unit
  • a sixth control unit configured to control the driving of the self-driving vehicle to the inspection channel
  • a fourth obtaining unit configured to acquire a suitcase notification, and trigger a seventh control unit
  • a seventh control unit configured to control the self-driving vehicle to travel to a target position in the inspection area specified in the suitcase notification, and wait for boxing;
  • a fourth determining unit configured to: when the target container is packed, trigger an eighth control unit;
  • control unit configured to control the self-driving vehicle to travel from the inspection area to the port area.
  • a fifth aspect provides an automatic driving control apparatus including a processor and at least one memory, wherein at least one memory stores at least one machine executable instruction, and the processor executes at least one machine executable instruction to execute :
  • the self-driving vehicle is controlled to leave the inspection area.
  • a sixth aspect provides an automatic driving control apparatus including a processor and at least one memory, wherein at least one memory stores at least one machine executable instruction, and the processor executes at least one machine executable instruction to execute :
  • the self-driving vehicle is controlled to travel from the inspection area to the port area.
  • a corresponding customs inspection task is generated for each container (ie, a target container) that requires customs inspection, and the customs inspection task is sent to an automatic driving control device corresponding to the self-driving vehicle.
  • the automatic driving control device controls the self-driving vehicle to transport the target container to the customs, and cooperates with the customs to complete the corresponding customs inspection process, and the whole process is automated, without manual participation, and there is no need to equip each truck with a driver.
  • the transportation of containers and the customs inspection process are completed, which reduces labor costs.
  • FIG. 1 is a flow chart of a method for controlling an automatically driven vehicle according to an embodiment of the present invention
  • 2A is a schematic diagram of communication between a customs system, an inspection system, and an automatic driving control device of scene A according to an embodiment of the present invention
  • 2B is a schematic diagram of setting a customs inspection area in a port area in scene B according to an embodiment of the present invention
  • 2C is a schematic diagram of an electronic screen disposed in the waiting area, the inspection channel, and the inspection area of the customs in the scene B according to the embodiment of the present invention
  • 2D is a schematic diagram of communication between a customs, an inspection system, and an automatic driving control device of scene C according to an embodiment of the present invention
  • 2E is a schematic diagram of a voice broadcaster set in a waiting area, a check channel, and a check area of a customs in a scene D according to an embodiment of the present invention
  • FIG. 3 is a second flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an automatic driving control device according to an embodiment of the present invention.
  • FIG. 5 is a second schematic structural diagram of an automatic driving control device according to an embodiment of the present invention.
  • FIG. 6 is a third schematic structural diagram of an automatic driving control device according to an embodiment of the present invention.
  • FIG. 7 is a fourth structural schematic diagram of an automatic driving control device according to an embodiment of the present invention.
  • FIG. 8 is a fifth schematic structural diagram of an automatic driving control device according to an embodiment of the present invention.
  • the self-driving vehicle control method in the embodiment of the present invention operates on an automatic driving control device that is disposed on an autonomous driving vehicle.
  • FIG. 1 is a flowchart of a method for controlling an autonomous driving vehicle according to an embodiment of the present invention, where the method includes:
  • Step 101 Obtain a customs inspection task for transporting the target container to the customs for inspection.
  • Step 102 Control the self-driving vehicle to transport the target container to the waiting area of the customs entrance.
  • Step 103 Determine a corresponding inspection channel of the self-driving vehicle, and control an automatically driven vehicle to travel to the inspection channel.
  • Step 104 Acquire a customs inspection decision to check the target container, and control the self-driving vehicle to travel to a target position in the inspection area specified in the inspection notice, and wait for the box to be dropped.
  • Step 105 When the target container is determined to be dropped, the auto-driving vehicle is controlled to leave the inspection area.
  • the self-driving vehicle may be a container truck, a trailer, a crane, or the like.
  • step 101 is implemented in different manners according to different application scenarios, and may be implemented by, but not limited to, any one of the following modes (method A1 to mode A4):
  • Method A1 Receiving the customs inspection task from a port inspection system.
  • the inspection system in the embodiment of the present invention may be specifically used for communication with the customs system in the port area, and dispatching the self-driving vehicle to pull the container to be inspected (ie, the target container) to the customs for customs inspection, and dispatching the auto-driving vehicle to the customs
  • the completed container has been pulled back to the management system of the port area.
  • the inspection system is a management system of the port area, such as a TOS system (Terminal Operation System).
  • the inspection system in the port area and the automatic driving control device on the self-driving vehicle can communicate through communication methods such as WIFI and V2X technology, and the present application is between the system in the port area and the automatic driving control device.
  • the communication method is not strictly limited.
  • Method A2 Receiving the customs inspection task from a customs system.
  • the first image of the electronic screen is collected by the onboard camera, and the content in the first image is identified by using a preset image recognition algorithm to obtain the customs inspection task.
  • the in-vehicle camera refers to a camera mounted on the self-driving vehicle.
  • Method A4 using the preset voice model to identify the customs inspection task broadcasted by the voice broadcaster.
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and the automatic driving control device obtains the customs inspection task corresponding to the self-driving vehicle based on the content recognized by the voice model.
  • the customs inspection task includes the following information: identity information of the self-driving vehicle, container number and instructions for customs inspection, such as "license plate number: ****; container number: ****; customs inspection".
  • the customs inspection task may also include a loading and unloading location where the target container is located.
  • the step 102 is specifically implemented as follows: determining a driving route from a current location to a loading and unloading location where the target container is located, and controlling the self-driving vehicle to travel to the loading and unloading location where the target container is located according to the driving route, and waiting Packing; determining the first driving route from the current location to the waiting area of the customs entrance when determining the completion of the packing, and controlling the self-driving vehicle to travel to the waiting area of the customs entrance according to the first driving route.
  • the foregoing step 102 is specifically implemented as follows: determining a first driving route from the current position to the waiting area of the customs entrance, and controlling the self-driving vehicle according to the first driving route. Drive to the waiting area at the customs entrance.
  • the specific implementation of determining the driving route (the first driving route) from the current location to the loading and unloading location (the waiting zone of the customs entrance) where the target container is located may be implemented by any one of the following methods:
  • Method B1 according to pre-stored electronic map data, planning a travel route (first travel route) from a current position of the self-driving vehicle to the loading and unloading place (waiting area of the customs entrance), and controlling the self-driving vehicle according to the The travel route (first travel route) travels to the loading and unloading location (customs entrance check area).
  • the electronic map data may be stored in a register of the automatic driving control device in advance, and the driving route (first driving route) is planned according to the electronic map data by a navigation module in the automatic driving control device; or, The third-party map software is called to plan the travel route (first travel route).
  • Method B2 receiving, from the inspection system of the port area, a travel route (first travel route) from a current position of the self-driving vehicle to the loading and unloading point (waiting area of the customs entrance), and controlling the self-driving vehicle to follow
  • the travel route (first travel route) travels to the loading and unloading location (waiting area of the customs entrance).
  • the self-driving vehicle transmits the current position to the inspection system in real time or periodically, and the inspection system plans the driving route from the current position of the autonomous driving vehicle to the loading and unloading location (the waiting area of the customs entrance). A driving route).
  • the driving route from the port area to the customs may include a road section provided with a toll station, and the automatic payment driving can automatically complete the related payment operation at the toll station.
  • the control station In the process of driving the self-driving vehicle to the customs entrance waiting area according to the first driving route, if it is determined that there is a toll station in front of the current road according to the sensing information fed back by the onboard sensor, determining whether the self-driving vehicle is an ETC a (non-stop electronic toll collection system) vehicle; if yes, controlling the self-driving vehicle to pass from the ETC lane through the toll booth, and controlling the self-driving vehicle to continue to travel according to the first travel route; if not, controlling the self-driving vehicle Stopping at the toll booth and performing automatic payment, and when the toll booth is determined to be released by the sensory information fed back by the onboard sensor, the autopilot vehicle is controlled to
  • the on-board sensor it is determined whether there is a toll booth in front of the current road according to the sensing information fed back by the on-board sensor, which can be specifically implemented by:
  • Method b1 receiving an image acquired by a forward camera mounted on the self-driving vehicle; performing target detection on the image by a preset target detection algorithm to determine whether there is a toll booth in front of the road, or by adopting a preset image recognition algorithm Performing image recognition on the image to determine whether there is a toll booth in front of the road;
  • Method b2 receiving laser point cloud data returned by the forward laser radar installed in the self-driving vehicle, and determining whether there is a toll station in front of the road according to the laser point cloud data;
  • the method b3 is combined with the current position of the self-driving vehicle fed back by the vehicle positioning sensor and the POI (Point Of Interest) marked on the first driving route to determine whether there is a toll booth in front.
  • POI Point Of Interest
  • a remote card reader may be disposed at the customs entrance, and an electronic tag is disposed on the self-driving vehicle, and the electronic tag includes identity information of the self-driving vehicle and container information loaded by the self-driving vehicle (for example, it may include a container number, container declaration information, etc.).
  • the electronic tag on the self-driving vehicle is read by the remote card reader to obtain the identity information and the container information of the corresponding self-driving vehicle, and the customs system assigns the corresponding inspection to the self-driving vehicle. aisle.
  • step 103 the verification channel corresponding to the self-driving vehicle is determined, and the implementation manners are different in different application scenarios, and may be implemented by any one of the following methods:
  • the inspection channel corresponding to the self-driving vehicle is received from the inspection system of the port area.
  • the customs system sends the inspection channel information (the inspection channel information including the identity information and the inspection channel of the self-driving vehicle) assigned to the self-driving vehicle to the inspection system, and the inspection system transmits the inspection channel to the corresponding self-driving vehicle.
  • Automatic driving control device the inspection channel information (the inspection channel information including the identity information and the inspection channel of the self-driving vehicle) assigned to the self-driving vehicle to the inspection system, and the inspection system transmits the inspection channel to the corresponding self-driving vehicle.
  • the mode C2 receives the inspection channel corresponding to the self-driving vehicle from the customs system.
  • the inspection channel assigned to the self-driving vehicle is transmitted by the customs system to the automatic driving control device of the self-driving vehicle.
  • a second image of the electronic screen located in the waiting area is collected by the onboard camera, and the content in the second image is identified by using a preset image recognition algorithm to obtain a check channel corresponding to the automatically driven vehicle.
  • the inspection channel information displayed on the electronic screen of the waiting area includes: identity information of the self-driving vehicle, and inspection channel, for example, "plate number: ****; inspection channel: ****".
  • the automatic driving control device of the self-driving vehicle compares the license plate number in the content displayed on the electronic screen with the license plate number of the self-driving vehicle corresponding thereto, and if the comparison is successful, determines the inspection channel in the content displayed on the electronic screen. In order to change the inspection channel corresponding to the self-driving vehicle, if the comparison fails, the content displayed on the display is ignored.
  • the method C4 identifies, by using a preset voice model, a verification channel corresponding to the self-driving vehicle broadcasted by the voice broadcaster.
  • a voice broadcaster is arranged in the waiting area, and the voice broadcaster is used to broadcast the inspection channel information corresponding to each self-driving vehicle;
  • the inspection channel information includes: the identity information of the self-driving vehicle, the inspection channel, for example, "the license plate number: ****; inspection channel: ****".
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and obtains a check channel corresponding to the automatically driven vehicle according to the content recognized by the voice model, for example, the automatic driving control device will check the channel information.
  • the license plate number is compared with the license plate number of the corresponding self-driving vehicle. If the comparison is successful, the inspection channel in the inspection channel information is determined as the inspection channel of the self-driving vehicle corresponding thereto, and if the comparison fails, the Check channel information.
  • the inspection notification of the target container is determined by the customs, and the specific implementation is different in different scenarios, which may be implemented by any of the following methods:
  • Mode D1 receiving the inspection notification from the inspection system of the port area.
  • the customs system transmits a check notification of the self-driving vehicle to the inspection system, and the inspection system transmits the inspection notification to the automatic driving control device of the self-driving vehicle.
  • Mode D2 receiving the inspection notification from the customs system.
  • the customs system transmits a check notification of the self-driving vehicle to the automatic driving control device of the self-driving vehicle.
  • a third image of the electronic screen located in the inspection channel is collected by the vehicle camera, and the content in the third image is identified by using a preset image recognition algorithm to obtain the inspection notification.
  • an electronic screen corresponding to the inspection channel is disposed in the vicinity of each inspection channel, and the electronic screen is used to display the inspection notification corresponding to the automatically driving vehicle currently inspected by the inspection channel.
  • the inspection notice may include the following information: identity information of the self-driving vehicle, whether the customs inspection instruction information, the inspection area, the target location in the inspection area (ie, the parking space number), such as "the license plate number: ****; customs inspection; inspection District: *****; parking space number: ****".
  • Mode D4 using the preset voice model to identify the check notification broadcasted by the voice broadcaster.
  • a voice broadcaster corresponding to the inspection channel is disposed in the vicinity of each inspection channel, and the voice broadcaster is used to broadcast the inspection notification corresponding to the automatically driving vehicle currently inspected by the inspection channel.
  • the inspection notice may include the following information: identity information of the self-driving vehicle, whether the customs inspection instruction information, the inspection area, the target location in the inspection area (ie, the parking space number), such as "the license plate number: ****; customs inspection; inspection District: *****; parking space number: ****".
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and obtains a check notification corresponding to the automatically driven vehicle according to the content recognized by the voice model, for example, the automatic driving control device will check the channel information.
  • the license plate number is compared with the license plate number of the corresponding self-driving vehicle. If the comparison is successful, the inspection channel in the inspection channel information is determined as the inspection channel of the self-driving vehicle corresponding thereto, and if the comparison fails, the Check channel information.
  • determining the third driving route from the inspection channel to the target position in the foregoing step 104 can be implemented by any one of the following methods:
  • a third driving route from the inspection channel to the target location is planned according to the pre-stored electronic map data.
  • the electronic map data may be stored in a register of the automatic driving control device in advance, and the third driving route is planned according to the electronic map data by a navigation module in the automatic driving control device; or by calling a third-party map The software plans the third travel route.
  • the mode E2 receives a third driving route from the inspection channel to the target location from the inspection system of the port area.
  • the autonomous vehicle transmits the current position to the inspection system in real time or periodically, and the inspection system plans the third travel route.
  • the automatic driving vehicle is controlled according to the above, in order to realize the safety of the self-driving vehicle.
  • the method further includes: determining, by the sensing information fed back by the onboard sensor, whether the checking channel is released; if yes, executing the controlling the driving the vehicle to travel according to the third driving route The step of describing the target location, if otherwise waiting in place.
  • the target container is determined to be in the box, and the specific implementation manners are different in different application scenarios, and may be implemented by any one of the following methods:
  • the target container is determined to be installed in the board of the self-driving vehicle. In the car.
  • the loading and unloading control device sends a drop box to the inspection system when determining that the control loading and unloading equipment (the loading and unloading equipment can be a front hoist, a tire hoist, a rail crane, a tower crane, a crane or a crane), etc.
  • the order to complete the boxing includes the following information: identity information of the self-driving vehicle, container number, and indication of the completion of the boxing.
  • the inspection system receives the instruction to complete the boxing, the inspection system sends a box completion instruction to the automatic driving control device of the corresponding self-driving vehicle.
  • the loading and unloading control device may be disposed on the loading and unloading device or in the vicinity of the loading and unloading device, which is not strictly limited.
  • the loading and unloading control device sends a box completion instruction to the customs system when the control loading and unloading device completes the boxing of the target container, and the boxing completion instruction includes the following information: the identity information of the self-driving vehicle, the container number, and the drop.
  • the box is complete with instructions.
  • the customs system Upon receiving the instruction to complete the drop-out, the customs system sends a drop-off completion command to the automatic driving control device of the corresponding self-driving vehicle.
  • the loading and unloading control device can perform information interaction with the automatic driving control device; after the driving to the target position, the automatic driving control device sends a standby with the parking space number, the automatic driving device identity information, and the container number to the loading and unloading control device. Information; after receiving the standby information, the loading and unloading control device automatically unpacks the target container on the self-driving vehicle, and sends a box completion instruction to the automatic driving control device when the boxing is completed.
  • the loading and unloading control device can communicate with the automatic driving control device of the self-driving vehicle through WIFI or V2X technology, and the communication method is not strictly limited in the present application.
  • a fourth image of the electronic screen in the inspection area is collected by the vehicle camera, and the content in the fourth image is identified by using a preset image recognition algorithm to obtain a notification that the target container is finished.
  • the notification of the completion of the container dropout is displayed on the electronic screen in the inspection area, and the notification of the completion of the container dropout includes: the identity information of the self-driving vehicle, the container number, and the indication of the completion of the container, such as "the license plate number: ****; container number: ****; finished boxing.”
  • the preset voice model is used to identify the notification that the target container is reported to be dropped by the voice broadcaster.
  • a voice broadcaster is set in the check area, and the voice broadcaster is used to broadcast the notification that the container of the self-driving vehicle in the inspection area is finished, and the notification of the completion of the container is included: the identity information of the self-driving vehicle, the container Number and drop-out instructions, such as "plate number: ****; container number: ****; finished boxing".
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and obtains a notification that the container corresponding to the self-driving vehicle is finished, according to the content recognized by the voice model, for example, the automatic driving control device
  • the license plate number of the notification of the completion of the container is compared with the license plate number of the self-driving vehicle corresponding thereto. If the comparison is successful, the notification that the container is completed is determined to be the container of the self-driving vehicle corresponding to the container. Notice that if the comparison fails, the notification that the container has been dropped is ignored.
  • the customs system and the inspection system of the port area can exchange information, and the customs system and the automatic driving control device cannot exchange information; the customs system sends information such as customs inspection tasks, inspection channels, inspection notices, and instructions for the completion of the box to the inspection.
  • the system sends the received customs inspection task, inspection channel, inspection notification, and the completion instruction to the corresponding automatic driving control device of the self-driving vehicle, as shown in FIG. 2A.
  • the step 101 can obtain the customs inspection task by the method A1; the step 103 determines the inspection channel by the mode C1; the step 104 obtains the inspection notification by the mode D1; and the step 105 determines that the target container is finished by the mode F2.
  • the port area inspection system pre-informs all containers in the port area or containers loaded into the port to be inbound (for example, container number, cargo information for container loading, shipper information for containers, container)
  • the receiving party information, etc. is synchronized to the customs system, and the customs system sends the number of the container (ie, the target container) that needs to be inspected by the customs to the inspection system of the port area; the inspection system generates a corresponding customs inspection task according to each target container. And matching the autonomous driving vehicle that completed the customs inspection task, and transmitting the customs inspection task to the automatic driving control device on the matched autonomous driving vehicle.
  • the port management personnel pre-declare all the containers in the port area or the containers loaded in the ships to be inbound to the customs, or the management personnel will load all the containers in the port area or the ships to be inbound through the inspection system.
  • the container is declared in the customs system; the customs system sends the number of the target container to the inspection system of the port area; the inspection system generates a corresponding customs inspection task according to each target container, and matches the self-driving vehicle that completes the customs inspection task, The customs inspection task is sent to the automatic driving control device on the matching self-driving vehicle.
  • Scene B the customs system and the inspection system are unable to exchange information, and the customs system and the automatic driving control device cannot exchange information; in the port area, there is a customs inspection vehicle, and the customs inspection vehicle is provided with a detection door of the X-ray machine, as shown in the figure. 2B shows; there is an electronic screen or voice broadcaster near the customs inspection vehicle, an electronic screen is set in the customs waiting area, an electronic screen is set in the inspection channel, and an electronic screen is set in the inspection area, as shown in Fig. 2C.
  • the customs inspection vehicle will conduct preliminary screening of the container transported by the self-driving vehicle.
  • the vehicle When it is determined that the container needs to be inspected by the customs, the vehicle needs to be automatically driven to the customs for customs inspection.
  • the self-driving vehicle equipped with the container passes through the inspection door of the customs inspection vehicle, and the X-ray machine of the inspection door performs CT on the container on the self-driving vehicle, and then the customs officer determines whether it is necessary on the self-driving vehicle according to the CT image.
  • the container carries out customs inspection; if customs inspection is required, the customs officers will display the customs inspection task corresponding to the self-driving vehicle on the electronic screen through the customs inspection system, and the automatic driving control device collects the electronic equipment located in the customs inspection vehicle through the vehicle camera.
  • the task is to identify, by the automatic driving control device speech model, the customs inspection task broadcasted by the voice broadcaster.
  • the step 103 determines the inspection channel by the mode C3; the step 104 acquires the inspection notification by the mode D3; and the step 105 determines that the target container is finished by the mode F5.
  • customs system and inspection system can exchange information, and the customs system and the automatic driving control device can exchange information; the customs system sends the customs inspection task to the inspection system, and the customs system will check the channel, check the notification, complete the order, and so on.
  • the information is sent to the automatic driving control device; the received customs inspection task is transmitted by the inspection system to the automatic driving control device of the corresponding self-driving vehicle, as shown in FIG. 2D.
  • the step 101 can obtain the customs inspection task by the mode A1; the step 103 determines the inspection channel by the mode C2; the step 104 obtains the inspection notification by the mode D2; and the step 105 determines the completion of the target container by the mode F3.
  • Scene D the customs system and the inspection system of the port area can exchange information.
  • the customs system and the automatic driving control device cannot exchange information.
  • a voice broadcaster is set in the customs inspection area, and a voice broadcaster is set in the inspection channel.
  • the area is provided with a voice broadcaster; the customs system sends the customs inspection task to the inspection system; the set voice channel is used to broadcast the inspection channel, the inspection notice, the box completion instruction, etc. of the automatic driving vehicle, as shown in FIG. 2E.
  • step 101 can obtain the customs inspection task through mode A1, or can also set up a voice broadcaster in the port area, and the inspection system broadcasts the received customs inspection task through the voice broadcaster in the port area. That is, step 101 can obtain the customs inspection task by mode A4; step 103 determines the inspection channel by mode C4; step 104 acquires the inspection notification by mode D4; step 105 determines that the target container is finished by box F6.
  • scenario A to scenario D are merely examples of several application scenarios of the technical solution of the present invention, and the technical solution of the present invention is not applicable to the foregoing four application scenarios.
  • the skilled person can also apply the foregoing technical solutions to other application scenarios, and specific implementations of the various steps may select different implementation manners according to specific application scenarios.
  • a second embodiment of the present invention provides a method for controlling an autonomous vehicle.
  • the flow of the method is as shown in FIG. 3, and includes:
  • Step 301 Obtain a transportation task of going to the customs to transport the target container to the port area;
  • Step 302 Control the self-driving vehicle to travel to the waiting area of the customs entrance;
  • Step 303 Determine an inspection channel corresponding to the self-driving vehicle, and control an automatically driving vehicle to travel to the inspection channel;
  • Step 304 Acquire a suitcase notification, and control the self-driving vehicle to travel to a target position in the inspection area specified in the suitcase notification, and wait for boxing;
  • Step 305 When it is determined that the target container is packed, the auto-driving vehicle is controlled to travel from the inspection area to the port area.
  • step 301 the specific implementation is different according to different application scenarios, and may be implemented by any one of the following:
  • the mode G1 receives the transportation task from the inspection system of the port area.
  • the inspection result of the container is sent by the customs system to the inspection system, and the inspection result may include the following information: the number of the target container, the target location of the inspection area where the target container is located, and the inspection result (eg, inspection pass, seizure) Wait).
  • the inspection system receives the inspection result, if the inspection result is the inspection, an automatic driving vehicle is selected, and the selected automatic driving control device of the self-driving vehicle is sent to the customs to transport the target container to the port area.
  • Mode G2 receiving the transportation task from the customs system.
  • the transportation task is transmitted by the customs system to the automatic driving control device of the self-driving vehicle.
  • the mode G2 is generally applicable to the following scenario: when the self-driving vehicle pulls the container to the customs for customs inspection, the customs system records the correspondence between the identity information of the self-driving vehicle and the container number, and when the container is checked, the customs system queries and The self-driving vehicle corresponding to the container transmits a transportation task to the automatic driving control device corresponding to the self-driving vehicle.
  • step 302 in the embodiment of the present invention, refers to step 102 in the foregoing first embodiment, and details are not described herein again.
  • step 303 in the embodiment of the present invention, refers to step 103 in the foregoing Embodiment 1, and details are not described herein again.
  • the specific implementation manner of the step 304 may be different according to different application scenarios, and may be implemented by any one of the following methods:
  • the suitcase notification is received from the inspection system of the port area.
  • the customs system transmits a suitcase notification corresponding to the self-driving vehicle to the inspection system, and the inspection system transmits the suitcase notification to the automatic driving control device of the corresponding self-driving vehicle.
  • Method H2 receiving the suitcase notification from the customs system.
  • the customs system transmits a suitcase notification corresponding to the self-driving vehicle to the automatic driving control device of the self-driving vehicle.
  • an image of the electronic screen located in the inspection channel is collected by the vehicle camera, and the content in the image is identified by using a preset image recognition algorithm to obtain the suitcase notification.
  • Mode H4 using the preset voice model to identify the suitcase notification broadcasted by the voice broadcaster.
  • the suitcase notification may include the following information: identity information of the self-driving vehicle, the number of the target container, and the target location of the inspection area where the target container is located, for example, "plate number: ****; target container number: **** ;Check area: ****; parking space number: *****".
  • a corresponding voice broadcaster is disposed in each of the inspection channels, and the voice broadcaster is used to broadcast the suitcase notification corresponding to the automatically driving vehicle currently inspected by the inspection channel.
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and obtains a suitcase notification corresponding to the automatically driven vehicle according to the content recognized by the voice model, for example, the automatic driving control device will notify the suitcase
  • the license plate number is compared with the license plate number of the self-driving vehicle corresponding thereto. If the comparison is successful, the suitcase notification is determined to be the inspection channel of the self-driving vehicle corresponding thereto, and if the comparison fails, the suitcase notification is ignored.
  • the target container is completely packaged
  • the specific implementation manners are different according to different application scenarios, and may be specifically, but not limited to, the following ones:
  • Method I2 When receiving the packing completion instruction from the inspection system of the port area, it is determined that the target container is packed.
  • the loading and unloading control device of the inspection area sends a packing completion instruction to the inspection system when the loading and unloading equipment (the loading and unloading equipment may be a tire crane, a crane, a front crane, a tower crane or a crane) And the inspection system sends a packing completion instruction to the automatic driving control device of the corresponding self-driving vehicle according to the received packing completion instruction.
  • the loading and unloading control device of the inspection area sends a packing completion instruction to the customs system when the loading and unloading equipment completes the packing of the target container; the customs system sends the packing completion instruction to the inspection system; the inspection system will receive the The boxing completion command is sent to the automatic driving control device of the corresponding self-driving vehicle.
  • the packing completion instruction may include the following information: identity information of the self-driving vehicle, container number, and indication of whether the packing is completed, such as "plate number: ****; container number: ****; boxing completed” .
  • Method I3 When receiving the packing completion instruction from the customs system, determining that the target container is finished.
  • the loading and unloading control device of the inspection area sends a packing completion instruction to the customs system when the control loading and unloading equipment completes the boxing of the target container, and the customs system sends the received packing completion instruction to the self-driving vehicle.
  • Automatic driving control device
  • the loading and unloading control device in the inspection area sends a packing completion instruction to the automatic driving control device of the corresponding self-driving vehicle when the control loading and unloading device completes the loading of the target container.
  • an image of the electronic screen in the inspection area is collected by the vehicle camera, and the content in the image is identified by using a preset image recognition algorithm to obtain a notification that the target container is packed.
  • the notification of the container packing completion is displayed on the electronic screen in the inspection area, and the notification of the container packing completion includes: the identity information of the self-driving vehicle, the container number and the packing completion instruction information, for example, “the license plate number: ****; container number: ****; boxing completed.
  • the preset voice model is used to identify the notification that the target container is packaged by the voice broadcaster.
  • a voice broadcaster is set in the check area, and the voice broadcaster is used to broadcast the notification of the container loading of the self-driving vehicle in the inspection area, and the inspection notice corresponding to the automatically driven vehicle currently inspected in the inspection channel; the container
  • the notification of the completion of the packing includes: the identity information of the self-driving vehicle, the container number and the packing completion instruction information, such as "the license plate number: ****; the container number: ****; the packing is completed".
  • the automatic driving control device of the self-driving vehicle recognizes the content broadcast by the voice broadcaster through its built-in voice model, and obtains the notification of the container packing completion corresponding to the self-driving vehicle according to the content recognized by the voice model, for example, the automatic driving control device will The license plate number of the notification of the container packing is compared with the license plate number of the corresponding self-driving vehicle. If the comparison is successful, it is determined that the container packing notification is completed for the container of the self-driving vehicle corresponding thereto. Notice that if the comparison fails, the notification of the container packing is ignored.
  • controlling the driving of the self-driving vehicle from the inspection area to the port area specifically includes: determining a fifth driving route from the target position of the target container to the entrance of the port area, and controlling the self-driving vehicle according to the The fifth route travels to the entrance of the port area.
  • the fifth driving route may include a road section provided with a toll station, and in order to realize that the self-driving vehicle can automatically complete the related payment operation at the toll station, in the foregoing step 305, the automatic driving vehicle is controlled according to the step 305.
  • the self-driving vehicle is an ETC (non-stop electronic toll collection system) a vehicle; if yes, controlling the self-driving vehicle to pass through the toll booth from the ETC lane, and controlling the autonomous driving vehicle to continue to travel according to the fifth driving route; if not, controlling the autonomous driving vehicle to stop at the toll booth, And automatically paying, and when the toll station is released by the sensing information fed back by the onboard sensor, the autopilot vehicle is controlled to continue to travel according to the fifth driving route.
  • ETC non-stop electronic toll collection system
  • the third embodiment of the present invention provides an automatic driving control device.
  • the structure of the automatic driving control device 1 is as shown in FIG. 4, and includes:
  • the first obtaining unit 11 is configured to acquire a customs inspection task for transporting the target container to the customs for inspection;
  • a first control unit 12 configured to control the self-driving vehicle to transport the target container to the waiting area of the customs entrance;
  • a second control unit 14 configured to control the self-driving vehicle to travel to the inspection channel
  • the second obtaining unit 15 is configured to obtain a verification notification that the customs determines to check the target container, and triggers the third control unit 16;
  • a third control unit 16 is configured to control the self-driving vehicle to travel to a target position in the inspection area specified in the inspection notification, and wait for the box to be dropped;
  • the second determining unit 17 is configured to trigger the fourth control unit 18 when the target container is completely dropped;
  • the fourth control unit 18 is configured to control the self-driving vehicle to leave the inspection area.
  • the automatic driving control device 1 can be disposed on a vehicle-mounted DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array) controller, an industrial computer, and a driving vehicle.
  • Computer ECU (Electronic Control Unit) or VCU (Vehicle Control Unit).
  • the first obtaining unit 11, the first control unit 12, the second control unit 14, the first determining unit 13, the second obtaining unit 15, the third controlling unit 16, the second determining unit 17, and the fourth controlling unit 18 are specifically DSP, FPGA, industrial computer, driving computer, EUC or VCU processor (such as CPU).
  • the specific implementation of the first obtaining unit 11 may be implemented by, but not limited to, any one of the following manners:
  • the mode J1 receives the customs inspection task from the port area inspection system through a communication interface of the automatic driving control device.
  • Mode J2 receiving the customs inspection task from the customs system through a communication interface of the automatic driving control device.
  • the first image of the electronic screen is collected by the vehicle camera, and the content in the first image is identified by using a preset image recognition algorithm to obtain the customs inspection task.
  • Mode J4 using the preset voice model to identify the customs inspection task broadcasted by the voice broadcaster.
  • the customs inspection task may also include the loading and unloading location where the target container is located.
  • the first control unit 12 is specifically implemented as follows: determining a travel route from a current location to a loading and unloading location where the target container is located, and controlling the self-driving vehicle to travel to the loading and unloading location where the target container is located according to the driving route. Waiting for packing; determining the first driving route from the current location to the waiting area of the customs entrance when determining the completion of the packing, and controlling the driving of the self-driving vehicle to the customs entrance according to the first driving route Inspection area.
  • the foregoing first control unit 12 is specifically implemented as follows: determining a first driving route from the current position to the waiting area of the customs entrance, and controlling the self-driving vehicle according to the first A driving route travels to the waiting area of the customs entrance.
  • the first control unit 12 determines a first travel route from the current position of the self-driving vehicle to the waiting area of the customs entrance, and determines a travel route from the current position to the loading and unloading location where the target container is located. For details, refer to the foregoing embodiment.
  • the mode B1 to the mode B2 in one embodiment are not described herein again.
  • the first determining unit 13 can be implemented by any one of the following methods:
  • the mode K1 receives the inspection channel corresponding to the self-driving vehicle from the inspection system of the port area through the communication interface of the automatic driving control device.
  • the mode K2 receives the inspection channel corresponding to the self-driving vehicle from the customs system through the communication interface of the automatic driving control device.
  • a second image of the electronic screen located in the waiting area is collected by the onboard camera, and the content in the second image is identified by using a preset image recognition algorithm to obtain a check channel corresponding to the automatically driven vehicle.
  • the preset voice channel is used to identify the inspection channel corresponding to the self-driving vehicle broadcasted by the voice broadcaster.
  • the second obtaining unit 15 can be implemented by any one of the following methods:
  • the mode L1 receives the inspection notification from the inspection system of the port area through a communication interface of the automatic driving control device.
  • the mode L2 receives the inspection notification from the customs system through a communication interface of the automatic driving control device.
  • a third image of the electronic screen located in the inspection channel is collected by the vehicle camera, and the content in the third image is identified by using a preset image recognition algorithm to obtain the inspection notification.
  • Mode L4 using the preset voice model to identify the check notification broadcasted by the voice broadcaster.
  • the third control unit 16 is specifically configured to: determine a third driving route from the inspection channel to the target position, and control the self-driving vehicle to travel to the target position according to the third driving route.
  • the second determining unit 17 can be implemented by any one of the following methods:
  • the mode M1 determines that the gravity value fed back by the gravity sensor is less than or equal to the preset gravity threshold and remains unchanged within the preset time period, and determines that the target container is completely dropped, and the gravity sensor is installed on the board of the self-driving vehicle. In the car.
  • a fourth image of the electronic screen in the inspection area is collected by the vehicle camera, and the content in the fourth image is identified by using a preset image recognition algorithm to obtain a notification that the target container is finished.
  • the mode M6 uses the preset voice model to identify the notification that the target container is reported to be dropped by the voice broadcaster.
  • the fourth embodiment of the present invention further provides an automatic driving control device.
  • the structure of the automatic driving control device 2 is as shown in FIG. 5, and includes:
  • the third obtaining unit 21 is configured to acquire a transportation task for the customs to transport the target container to the port area, and trigger the fifth control unit 22;
  • a fifth control unit 22 configured to control an autonomous driving vehicle to travel to a waiting area of the customs entrance;
  • the third determining unit 23 is configured to determine a corresponding inspection channel of the self-driving vehicle, and trigger the sixth control unit 24;
  • a sixth control unit 24 configured to control the driving of the self-driving vehicle to the inspection channel
  • the fourth obtaining unit 25 is configured to acquire a suitcase notification and trigger the seventh control unit 26;
  • a seventh control unit 26 configured to control the self-driving vehicle to travel to a target position in the inspection area specified in the suitcase notification, waiting for boxing;
  • a fourth determining unit 27, configured to determine that the target container is completed, triggering the eighth control unit 28;
  • the eighth control unit 28 is configured to control the self-driving vehicle to travel from the inspection area to the port area.
  • the automatic driving control device 2 can be disposed on the vehicle-side DSP, the FPGA controller, the industrial computer, the traveling computer, the ECU or the VCU.
  • the third obtaining unit 21, the fifth control unit 22, the third determining unit 23, the sixth control unit 24, the fourth obtaining unit 25, the seventh controlling unit 26, the fourth determining unit 27, and the eighth controlling unit 28 may specifically pass DSP, FPGA, industrial computer, driving computer, EUC or VCU processor (such as CPU).
  • the fifth control unit 22 controls the automatic driving vehicle to travel to the waiting area of the customs entrance.
  • the first control unit 12 in the third embodiment controls the automatic driving vehicle to travel to the waiting area of the customs entrance.
  • the sixth control unit 24 controls the self-driving vehicle to travel to the inspection channel.
  • the second control unit 14 in the third embodiment controls the self-driving vehicle to travel to the inspection channel.
  • the seventh control unit 26 controls the driving of the automatic driving vehicle to the target position in the inspection area specified in the suitcase notification, and the specific implementation may be as follows: determining a driving route of the inspection channel to the target position, And controlling the self-driving vehicle to travel to the target position according to the driving route.
  • the seventh control unit 26 determines the driving route of the inspection channel to the target location, and the specific implementation may be as follows: planning a driving route from the inspection channel to the target location according to the pre-stored electronic map data; or, notifying from the suitcase The travel route from the inspection channel to the target location is obtained.
  • the third obtaining unit 21 can be implemented by any one of the following methods:
  • the mode N1 receives the transportation task from the inspection system of the port area through a communication interface of the automatic driving control device.
  • Mode N2 receiving the transportation task from the customs system through a communication interface of the automatic driving control device.
  • the fourth obtaining unit 25 can be implemented by any one of the following methods:
  • the suitcase notification is received from the inspection system of the port area through the communication interface of the automatic driving control device.
  • an image of the electronic screen located in the inspection channel is collected by the vehicle camera, and the content in the image is identified by using a preset image recognition algorithm to obtain the suitcase notification.
  • Mode O4 using the preset voice model to identify the suitcase notification broadcasted by the voice broadcaster.
  • the fourth determining unit 27 can be implemented by any one of the following methods:
  • the gravity value fed back by the gravity sensor is greater than a preset gravity threshold and is unchanged during the preset time period, and the target container is determined to be packed, and the gravity sensor is installed on the axle of the self-driving vehicle. on.
  • the mode P2 when receiving the packing completion instruction from the inspection system of the port area, determines that the target container is packed.
  • an image of the electronic screen in the inspection area is collected by the vehicle camera, and the content in the image is identified by using a preset image recognition algorithm to obtain a notification that the target container is boxed.
  • the preset voice model is used to identify the notification that the target container is boxed by the voice broadcaster.
  • the automatic driving control device 1 described in the third embodiment may be disposed on some self-driving vehicles, and the containers in the port area may be pulled to the customs for customs inspection by the self-driving vehicles. It is also possible to provide the automatic driving control device 2 described in the fourth embodiment on other self-driving vehicles, by which the container can be pulled back from the customs to the port area.
  • the container in the port area can be pulled to the customs for customs inspection, or the container can be pulled back to the port area from the customs.
  • the structure of the automatic driving device 3 can be as shown in FIG. 6 , and the corresponding unit modules in the third embodiment and the fourth embodiment are not described here.
  • the fifth embodiment of the present invention provides an automatic driving control device.
  • the automatic driving control device 1 has the structure shown in FIG. 7 and includes: a processor 71. And at least one memory 72, at least one memory 72 storing at least one machine executable instruction, and the processor 71 executing at least one machine executable instruction to perform the process illustrated in FIG. 1 of the first embodiment. I won't go into details here.
  • the sixth embodiment of the present invention provides an automatic driving control device.
  • the automatic driving control device 1 has the structure shown in FIG. 8 and includes: a processor 81. And at least one memory 82, at least one memory 82 storing at least one machine executable instruction, and processor 81 executing at least one machine executable instruction to perform the process illustrated in FIG. 3 of the second embodiment. I won't go into details here.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • embodiments of the present invention can 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 a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种自动驾驶车辆控制方法及装置，能够控制自动驾驶车辆自动完成集装箱的海关查验，无需配备相应的卡车司机运输集装箱进行海关查验，降低人力成本。该方法包括：获取将目标集装箱运输到海关进行查验的海关查验任务；控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。

Description

自动驾驶车辆控制方法和自动驾驶控制装置
本申请要求在2018年2月24日提交中国专利局、申请号为201810157719.4、发明名称为“自动驾驶车辆控制方法和自动驾驶控制装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动驾驶领域，特别涉及一种自动驾驶车辆控制方法、一种自动驾驶控制装置。
背景技术
目前，在一些大型港口，经常需要将港区内的集装箱拉到海关进行查验，然后再从海关将查验通过的集装箱拉回港口。
目前，由港区安排卡车司机驾驶卡车将需要海关查验的集装箱拉到海关，并在海关走相关的查验流程，再从海关将查验完毕的集装箱拉回港区。但是，由于港区内需要拉到海关查验的集装箱一般来说数量较多，且在海关走查验流程比较耗时，因此需要配备大量的卡车司机专门用于在港区与海关之间运输集装箱，因此人力成本较高。
发明内容
鉴于上述问题，本发明提供一种自动驾驶车辆控制方法及装置，能够控制自动驾驶车辆自动完成集装箱的海关查验，无需配备相应的卡车司机运输集装箱进行海关查验，降低人力成本。
本发明实施例，第一方面，提供一种自动驾驶车辆控制方法，该方法包括：
获取将目标集装箱运输到海关进行查验的海关查验任务；
控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。
本发明实施例，第二方面，提供一种自动驾驶车辆控制方法，其特征在于，包括：
获取去海关将目标集装箱运输到港区的运输任务；
控制自动驾驶车辆行驶到海关入口的候检区；
确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
获取提箱通知，控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
确定所述目标集装箱装箱完毕时，控制所述自动驾驶车辆从所述查验区行驶到港区。
本发明实施例，第三方面，提供一种自动驾驶控制装置，包括：
第一获取单元，用于获取将目标集装箱运输到海关进行查验的海关查验任务；
第一控制单元，用于控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
第一确定单元，用于所述自动驾驶车辆对应的查验通道，并触发第二控制单元；
第二控制单元，用于控制自动驾驶车辆行驶到所述查验通道；
第二获取单元，用于获取海关决定查验所述目标集装箱的查验通知，并触发第三控制单元；
第三控制单元，用于控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
第二确定单元，用于确定所述目标集装箱落箱完毕时触发第四控制单元；
第四控制单元，用于控制所述自动驾驶车辆驶离所述查验区。
本发明实施例，第四方面，提供一种自动驾驶控制装置，包括：
第三获取单元，用于获取去海关将目标集装箱运输到港区的运输任务，并触发第五控制单元；
第五控制单元，用于控制自动驾驶车辆行驶到海关入口的候检区；
第三确定单元，用于确定所述自动驾驶车辆对应的查验通道，并触发第六控制单元；
第六控制单元，用于控制自动驾驶车辆行驶到所述查验通道；
第四获取单元，用于获取提箱通知，并触发第七控制单元；
第七控制单元，用于控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
第四确定单元，用于确定所述目标集装箱装箱完毕时，触发第八控制单元；
第八控制单元，用于控制所述自动驾驶车辆从所述查验区行驶到港区。
本发明实施例，第五方面，提供一种自动驾驶控制装置，包括一个处理器和至少一个存 储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
获取将目标集装箱运输到海关进行查验的海关查验任务；
控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。
本发明实施例，第六方面，提供一种自动驾驶控制装置，包括一个处理器和至少一个存储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
获取去海关将目标集装箱运输到港区的运输任务；
控制自动驾驶车辆行驶到海关入口的候检区；
确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
获取提箱通知，控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
确定所述目标集装箱装箱完毕时，控制所述自动驾驶车辆从所述查验区行驶到港区。
本发明实施例提供的技术方案，对需要海关查验的每个集装箱(即目标集装箱)生成对应的海关查验任务，并将该海关查验任务下发给自动驾驶车辆对应的自动驾驶控制装置，由该自动驾驶控制装置在接收到海关查验任务时，控制自动驾驶车辆将目标集装箱运输到海关，并配合海关完成相应的海关查验流程，全程自动化，无需人工参与，无需为每一辆卡车配备一个司机来完成集装箱的运输和海关查验流程，降低了人力成本。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。显而易见地，下面描述中的附图仅仅是本发 明一些实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本发明实施例中自动驾驶车辆控制方法的流程图之一；
图2A为本发明实施例中场景A的海关系统、查验系统和自动驾驶控制装置之间的通信示意图；
图2B为本发明实施例中场景B中，在港区设置海关查验区的示意图；
图2C为本发明实施例中场景B中，在海关的候检区、查验通道和查验区设置有电子屏的示意图；
图2D为本发明实施例中场景C的海关、查验系统和自动驾驶控制装置之间的通信示意图；
图2E为本发明实施例中场景D中，在海关的候检区、查验通道和查验区设置有语音播报器的示意图；
图3为本发明实施例中自动驾驶车辆控制方法的流程图之二；
图4为本发明实施例中自动驾驶控制装置的结构示意图之一；
图5为本发明实施例中自动驾驶控制装置的结构示意图之二；
图6为本发明实施例中自动驾驶控制装置的结构示意图之三；
图7为本发明实施例中自动驾驶控制装置的结构示意图之四；
图8为本发明实施例中自动驾驶控制装置的结构示意图之五。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明实施例中的自动驾驶车辆控制方法运行在自动驾驶控制装置上，所述自动驾驶控制装置设置在自动驾驶车辆上。
实施例一
参见图1，为本发明实施例中自动驾驶车辆控制方法的流程图，方法包括：
步骤101、获取将目标集装箱运输到海关进行查验的海关查验任务。
步骤102、控制自动驾驶车辆将目标集装箱运输到海关入口的候检区。
步骤103、确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道。
步骤104、获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱。
步骤105、确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。
本发明实施例中，自动驾驶车辆可以是集装箱卡车、拖车、吊车等。
优选地，前述步骤101，根据不同的应用场景，其实现的方式有所不同，具体可通过但不仅限于以下任意一种方式(方式A1～方式A4)实现：
方式A1、从港区的查验系统接收所述海关查验任务。
本发明实施例中的查验系统可以是港区内专门用于与海关系统进行通信，并调度自动驾驶车辆将待查验集装箱(即目标集装箱)拉到海关进行海关查验，以及调度自动驾驶车辆将海关已经查验完毕的集装箱拉回港区的管理系统。也可以是，查验系统是港区的管理系统，例如TOS系统(Terminal Operation System，港区管理系统)。本发明实施例中，港区内的查验系统与自动驾驶车辆上的自动驾驶控制装置可通过WIFI、V2X技术等通信方式进行通信，本申请对于港区内的系统与自动驾驶控制装置之间的通信方式不做严格限定。
方式A2、从海关系统接收所述海关查验任务。
方式A3、通过车载摄像机采集电子屏的第一图像，并利用预置图像识别算法识别所述第一图像中的内容，以得到所述海关查验任务。
方式A3中，车载摄像机是指装载在自动驾驶车辆上的摄像机。
方式A4、利用预置的语音模型识别通过语音播报器播报的所述海关查验任务。
在方式A4中，自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，自动驾驶控制装置根据语音模型识别的内容得到与该自动驾驶车辆对应的海关查验任务。
海关查验任务包括以下信息：自动驾驶车辆的身份信息、集装箱编号和是否海关查验的指示信息，例如“车牌号：****；集装箱编号：****；海关查验”。
当然，如果自动驾驶车辆当前为空车，所述海关查验任务中还可包括目标集装箱所在的装卸货地点。所述步骤102，具体实现如下：确定从当前位置到所述目标集装箱所在装卸货地点的行驶路线，并控制自动驾驶车辆按照所述行驶路线行驶到所述目标集装箱所在的装卸货地点，并等待装箱；在确定装箱完毕时，确定从当前位置到海关入口的候检区的第一行驶路线，并控制自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口的候检区。如果自动驾驶车辆当前装载的集装箱即为目标集装箱，则前述步骤102具体实现如下：确定从当前位置到海关入口的候检区的第一行驶路线，并控制自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口的候检区。
优选地，所述确定从当前位置到所述目标集装箱所在装卸货地点(海关入口的候检区) 的行驶路线(第一行驶路线)具体实现可通过以下任意一种方式实现：
方式B1、根据预存的电子地图数据，规划从自动驾驶车辆当前位置到所述装卸货地点(海关入口的候检区)的行驶路线(第一行驶路线)，并控制所述自动驾驶车辆按照所述行驶路线(第一行驶路线)行驶到所述装卸货地点(海关入口候检区)。
在方式B1中，可预先在自动驾驶控制装置的寄存器中存储电子地图数据，通过自动驾驶控制装置中的导航模块根据所述电子地图数据规划所述行驶路线(第一行驶路线)；或者，通过调用第三方地图软件规划所述行驶路线(第一行驶路线)。
方式B2、从所述港区的查验系统接收从自动驾驶车辆当前位置到所述装卸货地点(海关入口的候检区)的行驶路线(第一行驶路线)，并控制所述自动驾驶车辆按照所述行驶路线(第一行驶路线)行驶到所述装卸货地点(海关入口的候检区)。
在方式B2中，自动驾驶车辆实时或周期性地将当前位置发送给查验系统，由查验系统规划从自动驾驶车辆当前位置到所述装卸货地点(海关入口的候检区)的行驶路线(第一行驶路线)。
优选地，从港区到海关的行驶路线中可能包含设置有收费站的路段，为实现自动驾驶车辆能够在收费站自动完成相关的缴费操作，本发明实施例中，前述步骤102中，控制所述自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口候检区的过程中，若根据车载传感器反馈的感知信息确定当前道路前方有收费站时，判断所述自动驾驶车辆是否为ETC(不停车电子收费系统)车辆；若是，则控制自动驾驶车辆从ETC车道通过所述收费站，并控制所述自动驾驶车辆继续按照所述第一行驶路线行驶；若否，则控制自动驾驶车辆停止在所述收费站，并进行自动缴费，在通过车载传感器反馈的感知信息确定收费站放行时，控制所述自动驾驶车辆继续按照所述第一行驶路线行驶。
本发明实施例中，根据车载传感器反馈的感知信息确定当前道路前方是否有收费站，具体可通过以下方式实现：
方式b1、接收安装在自动驾驶车辆上的前向摄像机采集的图像；通过预置的目标检测算法对所述图像进行目标检测以确定道路前方是否存在收费站，或者通过预置的图像识别算法对所述图像进行图像识别，以确定道路前方是否存在收费站；
方式b2、接收安装在自动驾驶车辆的前向的激光雷达回传的激光点云数据，根据所述激光点云数据判断道路前方是否存在收费站；
方式b3、结合车载定位传感器反馈的自动驾驶车辆当前位置、第一行驶路线上标注的POI(Point Of Interest，兴趣点)，判断前方是否存在收费站。
优选地，在一个示例中，可以在海关入口设置有远程读卡器，在自动驾驶车辆上设置有电子标签，在该电子标签中包含自动驾驶车辆的身份信息、自动驾驶车辆装载的集装箱信息 (例如可包括集装箱编号、集装箱报关信息等)等。自动驾驶车辆通过海关入口时，由远程读卡器读取自动驾驶车辆上的电子标签，以获取相应的自动驾驶车辆的身份信息和集装箱信息，并由海关系统为该自动驾驶车辆分配相应的查验通道。
步骤103中确定所述自动驾驶车辆对应的查验通道，在不同的应用场景下其实现的方式不同，具体可通过以下任意一种方式实现：
方式C1、从港区的查验系统接收所述自动驾驶车辆对应的查验通道。
方式C1中，海关系统将分配给自动驾驶车辆的查验通道信息(查验通道信息包括自动驾驶车辆的身份信息和查验通道)发送给查验系统，由查验系统将查验通道发送给相应的自动驾驶车辆的自动驾驶控制装置。
方式C2、从海关系统接收所述自动驾驶车辆对应的查验通道。
在方式C2中，由海关系统将分配给自动驾驶车辆的查验通道发送给所述自动驾驶车辆的自动驾驶控制装置。
方式C3、通过车载摄像机采集位于候检区的电子屏的第二图像，并利用预置图像识别算法识别所述第二图像中的内容，以得到所述自动驾驶车辆对应的查验通道。
在方式C3中，在候检区的电子屏上显示的查验通道信息包括：自动驾驶车辆的身份信息、查验通道，例如“车牌号：****；查验通道：****”。自动驾驶车辆的自动驾驶控制装置将电子屏幕上显示的内容中的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该电子屏上显示的内容中的查验通道为改自动驾驶车辆对应的查验通道，若比对失败则忽略该显示屏上显示的内容。
方式C4、利用预置的语音模型识别通过语音播报器播报的所述自动驾驶车辆对应的查验通道。
在方式C4中，在候检区设置有语音播报器，语音播报器用于播报各自动驾驶车辆对应的查验通道信息；查验通道信息包括：自动驾驶车辆的身份信息、查验通道，例如“车牌号：****；查验通道：****”。自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，并根据语音模型识别的内容得到与该自动驾驶车辆对应的查验通道，例如自动驾驶控制装置将查验通道信息中的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该查验通道信息中的查验通道为其自身对应的自动驾驶车辆的查验通道，若比对失败则忽略该查验通道信息。
优选地，本发明实施例前述步骤104中，获取海关决定查验所述目标集装箱的查验通知，在不同的场景下其具体实现不同，具体可通过以下任意一种方式实现：
方式D1、从港区的查验系统接收所述查验通知。
在方式D1中，海关系统将自动驾驶车辆的查验通知发送给查验系统，由查验系统将该查验通知发送给自动驾驶车辆的自动驾驶控制装置。
方式D2、从海关系统接收所述查验通知。
在方式D2中，海关系统将自动驾驶车辆的查验通知发送给自动驾驶车辆的自动驾驶控制装置。
方式D3、通过车载摄像机采集位于查验通道的电子屏的第三图像，并利用预置图像识别算法识别所述第三图像中的内容，以得到所述查验通知。
在方式D3中，在每个查验通道的附近设置有与该查验通道对应的一个电子屏，该电子屏用于显示当前在查验通道进行查验的自动驾驶车辆对应的查验通知。查验通知可包括以下信息：自动驾驶车辆的身份信息、是否海关查验指示信息、查验区、查验区中的目标位置(即停车位编号)，例如“车牌号：****；海关查验；查验区：*****；停车位编号：****”。
方式D4、利用预置的语音模型识别通过语音播报器播报的所述查验通知。
在方式D4中，在每个查验通道附近设置有与该查验通道对应的一个语音播报器，该语音播报器用于播报当前在查验通道进行查验的自动驾驶车辆对应的查验通知。查验通知可包括以下信息：自动驾驶车辆的身份信息、是否海关查验指示信息、查验区、查验区中的目标位置(即停车位编号)，例如“车牌号：****；海关查验；查验区：*****；停车位编号：****”。自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，并根据语音模型识别的内容得到与该自动驾驶车辆对应的查验通知，例如自动驾驶控制装置将查验通道信息中的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该查验通道信息中的查验通道为其自身对应的自动驾驶车辆的查验通道，若比对失败则忽略该查验通道信息。
优选地，本发明实施例中，前述步骤104中确定从所述查验通道到所述目标位置的第三行驶路线，具体可通过以下任意一种方式实现：
方式E1、根据预存的电子地图数据规划从所述查验通道到所述目标位置的第三行驶路线。
在方式E1中，可预先在自动驾驶控制装置的寄存器中存储电子地图数据，通过自动驾驶控制装置中的导航模块根据所述电子地图数据规划所述第三行驶路线；或者，通过调用第三方地图软件规划所述第三行驶路线。
方式E2、从港区的查验系统接收从所述查验通道到所述目标位置的第三行驶路线。
在方式E2中，自动驾驶车辆实时或周期性地将当前位置发送给查验系统，由查验系统规划第三行驶路线。
优选地，有些查验通道可能会设置有栏杆，通过抬杆放行车辆通行，因此，为实现自动驾驶车辆安全通过查验通道，本发明实施例中，前述步骤104中，在控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置之前，还包括：通过车载传感器反馈的感知信息判断所述查验通道是否放行；若是，则执行所述控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置的步骤，若否则原地等待。
优选地，本发明实施例中前述步骤105中确定所述目标集装箱落箱完毕，在不同的应用场景下其具体的实现方式不同，具体可通过以下任意一种方式实现：
方式F1、判断重力传感器反馈的重力值小于等于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱落箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上。
方式F2、从港区的查验系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
在方式F2中，装卸控制设备在确定控制装卸设备(装卸设备可以为正面吊、轮胎吊、轨道吊、塔吊、天车或吊车等)对目标集装箱进行落箱完毕时，向查验系统发送落箱完毕指令，该落箱完毕指令中包括以下信息：自动驾驶车辆的身份信息、集装箱编号和落箱完毕指示信息。查验系统在接收到所述落箱完毕指令时，向相应的自动驾驶车辆的自动驾驶控制装置发送落箱完毕指令。装卸控制设备可以是设置在装卸设备上，也可以设置在装卸设备附近，本申请不作严格限定。
方式F3、从海关系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
在方式F3中，装卸控制设备在控制装卸设备对目标集装箱进行落箱完毕时，向海关系统发送落箱完毕指令，该落箱完毕指令包括以下信息：自动驾驶车辆的身份信息、集装箱编号和落箱完毕指示信息。海关系统在接收到所述落箱完毕指令时，向相应的自动驾驶车辆的自动驾驶控制装置发送落箱完毕指令。
方式F4、从查验区内的装卸控制设备接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
在方式F4中，装卸控制设备可与自动驾驶控制装置进行信息交互；自动驾驶控制装置在行驶到目标位置后，向装卸控制设备发送携带有停车位编号、自动驾驶装置身份信息、集装箱编号的待命信息；装卸控制设备接收到待命信息后，对自动驾驶车辆上的目标集装箱进行自动落箱，并在落箱完毕时，向该自动驾驶控制装置发送落箱完毕指令。本发明实施例中，装卸控制设备可通过WIFI或V2X技术与自动驾驶车辆的自动驾驶控制装置进行通信，本申请对通信方式不作严格限定。
方式F5、通过车载摄像机采集查验区内的电子屏的第四图像，并利用预置图像识别算法识别所述第四图像中的内容，以得到所述目标集装箱落箱完毕的通知。
在方式F5中，在查验区内的电子屏上显示集装箱落箱完毕的通知，集装箱落箱完毕的通 知包括：自动驾驶车辆的身份信息、集装箱编号和落箱完毕指示信息，例如“车牌号：****；集装箱编号：****；落箱完毕”。
方式F6、利用预置的语音模型识别通过语音播报器播报的所述目标集装箱落箱完毕的通知。
方式F6中，在查验区设置有语音播报器，语音播报器用于播报该查验区内的自动驾驶车辆的集装箱落箱完毕的通知；集装箱落箱完毕的通知包括：自动驾驶车辆的身份信息、集装箱编号和落箱完毕指示信息，例如“车牌号：****；集装箱编号：****；落箱完毕”。自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，并根据语音模型识别的内容得到与该自动驾驶车辆对应的集装箱落箱完毕的通知，例如自动驾驶控制装置将集装箱落箱完毕的通知的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该集装箱落箱完毕的通知为其自身对应的自动驾驶车辆的集装箱落箱完毕的通知，若比对失败则忽略该集装箱落箱完毕的通知。
本发明技术方案可以应用于以下应用场景：
场景A、海关系统与港区的查验系统可进行信息交互，海关系统与自动驾驶控制装置无法进行信息交互；海关系统将海关查验任务、查验通道、查验通知、落箱完毕指令等信息发送给查验系统；由查验系统将接收到的海关查验任务、查验通道、查验通知、落箱完毕指令等信息发送给相应的自动驾驶车辆的自动驾驶控制装置，如图2A所示。在该场景A下，步骤101可通过方式A1获取海关查验任务；步骤103通过方式C1确定查验通道；步骤104通过方式D1获取查验通知；步骤105通过方式F2确定目标集装箱落箱完毕。
在场景A下，港区的查验系统预先将港区内所有的集装箱或者将要进港的船舶装载的集装箱的相关信息(例如包括集装箱编号、集装箱装载的货物信息、集装箱的发货方信息、集装箱的接收方信息等)同步给海关系统，由海关系统将需要进行海关查验的集装箱(即目标集装箱)的编号发送给港区的查验系统；由查验系统根据每个目标集装箱生成相应的海关查验任务，并匹配完成该海关查验任务的自动驾驶车辆，将该海关查验任务发送给匹配的自动驾驶车辆上的自动驾驶控制装置。或者，港区管理人员预先将港区内所有的集装箱或者将要进港的船舶装载的集装箱去海关进行报关，或者由管理人员通过查验系统将港区内所有的集装箱或者将要进港的船舶装载的集装箱在海关系统进行报关；由海关系统将目标集装箱的编号发送给港区的查验系统；由查验系统根据每个目标集装箱生成对应的海关查验任务，并匹配完成该海关查验任务的自动驾驶车辆，将该海关查验任务发送给匹配的自动驾驶车辆上的自动驾驶控制装置。
场景B、海关系统与查验系统无法进行信息交互、海关系统与自动驾驶控制装置无法进行信息交互；在港区设置有海关查验车，该海关查验车上设置有X光机的检测门，如图2B 所示；在海关查验车附近设置有电子屏或语音播报器、海关候检区设置有电子屏、在查验通道设置有电子屏、在查验区设置有电子屏，如图2C所示。先通过海关查验车对自动驾驶车辆运输的集装箱进行初步筛查，在确定需要对该集装箱进行海关查验时，需要自动驾驶车辆将该集装箱拉到海关进行海关查验。装有集装箱的自动驾驶车辆经过该海关查验车的检测门，由检测门的X光机对自动驾驶车辆上的集装箱做CT，再由海关人员根据该CT图像确定是否需要对自动驾驶车辆上的集装箱进行海关查验；若需要进行海关查验，则由海关人员通过海关查验系统将该自动驾驶车辆对应的海关查验任务显示在电子屏上，由自动驾驶控制装置通过车载摄像机采集位于海关查验车的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述海关查验任务；或者，若需要进行海关查验，则通过语音播报器语音播报该自动驾驶车辆对应的海关查验任务，由自动驾驶控制装置语音模型识别通过语音播报器播报的所述海关查验任务。
在该场景B下，步骤103通过方式C3确定查验通道；步骤104通过方式D3获取查验通知；步骤105通过方式F5确定目标集装箱落箱完毕。
场景C、海关系统与查验系统可进行信息交互，海关系统与自动驾驶控制装置可进行信息交互；海关系统将海关查验任务发送给查验系统，海关系统将查验通道、查验通知、落箱完毕指令等信息发送给自动驾驶控制装置；由查验系统将接收到的海关查验任务发送给相应的自动驾驶车辆的自动驾驶控制装置，如图2D所示。
在该场景C下，步骤101可通过方式A1获取海关查验任务；步骤103通过方式C2确定查验通道；步骤104通过方式D2获取查验通知；步骤105通过方式F3确定目标集装箱落箱完毕。
场景D、海关系统与港区的查验系统可进行信息交互，海关系统与自动驾驶控制装置无法进行信息交互，在海关候检区设置有语音播报器、在查验通道设置有语音播报器、在查验区设置有语音播报器；海关系统将海关查验任务发送给查验系统；通过设置的语音播报器播报自动驾驶车辆对应的查验通道、查验通知、落箱完毕指令等，如图2E所示。在该场景D下，步骤101可通过方式A1获取海关查验任务，或者，还可以在港区内设置语音播报器，查验系统将接收到的海关查验任务通过港区内的语音播报器进行播报，即步骤101可通过方式A4获取海关查验任务；步骤103通过方式C4确定查验通道；步骤104通过方式D4获取查验通知；步骤105通过方式F6确定目标集装箱落箱完毕。
以上场景A～场景D仅仅是本发明技术方案的几个应用场景的示例，并不能表示本发明技术方案仅适用于前述四个应用场景。本领技术人员还可将前述技术方案应用于其他应用场 景，各个步骤的具体实现可根据具体的应用场景选取不同的实现方式。
实施例二
本发明实施例二提供一种自动驾驶车辆控制方法，该方法的流程如图3所示，包括：
步骤301、获取去海关将目标集装箱运输到港区的运输任务；
步骤302、控制自动驾驶车辆行驶到海关入口的候检区；
步骤303、确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
步骤304、获取提箱通知，控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
步骤305、确定所述目标集装箱装箱完毕时，控制所述自动驾驶车辆从所述查验区行驶到港区。
步骤301中，根据不同的应用场景，其具体实现不同，具体可通过以下任意一种实现：
方式G1、从港区的查验系统接收所述运输任务。
在方式G1中，由海关系统将集装箱的查验结果发送给查验系统，该查验结果中可包含以下信息：目标集装箱的编号、目标集装箱所在的查验区的目标位置、查验结果(如查验通过、扣押等)。查验系统接收到查验结果时，若查验结果为查验通过则选取一辆自动驾驶车辆，并向选取的所述自动驾驶车辆的自动驾驶控制装置发送去海关将目标集装箱运输到港区的运输任务。
方式G2、从海关系统接收所述运输任务。
在方式G2中，由海关系统将所述运输任务发送给自动驾驶车辆的自动驾驶控制装置。方式G2一般适用于以下场景：自动驾驶车辆将集装箱拉到海关进行海关查验时，海关系统记录该自动驾驶车辆的身份信息与集装箱编号的对应关系，当该集装箱查验完毕时，海关系统查询与该集装箱对应的自动驾驶车辆，并向该自动驾驶车辆对应的自动驾驶控制装置发送运输任务。
本发明实施例中，步骤302具体实现可参见前述实施例一中的步骤102，在此不再赘述。
本发明实施例中，步骤303的具体实现可参见前述实施例一中的步骤103，在此不再赘述。
本发明实施例中，根据不同的应用场景，步骤304的具体实现方式可不同，具体可通过但不仅限于以下任意一种方式实现：
方式H1、从港区的查验系统接收所述提箱通知。
在方式H1中，海关系统将自动驾驶车辆对应的提箱通知发送给查验系统，由查验系统将该提箱通知发送给相应的自动驾驶车辆的自动驾驶控制装置。
方式H2、从海关系统接收所述提箱通知。
在方式H2中，海关系统将自动驾驶车辆对应的提箱通知发送给自动驾驶车辆的自动驾驶控制装置。
方式H3、通过车载摄像机采集位于查验通道的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述提箱通知。
在方式H3中，在查验通道的电子屏上显示的提箱通知。
方式H4、利用预置的语音模型识别通过语音播报器播报的所述提箱通知。
所述提箱通知中可包括以下信息：自动驾驶车辆的身份信息、目标集装箱的编号、目标集装箱所在的查验区的目标位置，例如“车牌号：****；目标集装箱编号：****；查验区：****；停车位编号：*****”。
在方式H4中，在每个查验通道设置有对应的一个语音播报器，该语音播报器用于播报当前在查验通道查验的自动驾驶车辆对应的提箱通知。自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，并根据语音模型识别的内容得到与该自动驾驶车辆对应的提箱通知，例如自动驾驶控制装置将提箱通知中的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该提箱通知为其自身对应的自动驾驶车辆的查验通道，若比对失败则忽略该提箱通知。
优选地，所述步骤305中确定所述目标集装箱装箱完毕，根据不同的应用场景，其具体的实现方式不同，具体可通过但不仅限于以下任意一种方式实现：
方式I1、判断重力传感器反馈的重力值大于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱装箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上。
方式I2、从港区的查验系统接收到装箱完毕指令时，确定所述目标集装箱装箱完毕。
方式I2中，查验区的装卸控制设备在控制装卸设备(装卸设备可以是轮胎吊、天车、正面吊、塔吊或者吊车等)对目标集装箱进行装箱完毕时，向查验系统发送装箱完毕指令，由查验系统根据接收到的装箱完毕指令向相应的自动驾驶车辆的自动驾驶控制装置发送装箱完毕指令。或者，查验区的装卸控制设备在控制装卸设备对目标集装箱进行装箱完毕时，向海关系统发送装箱完毕指令；由海关系统将装箱完毕指令发送给查验系统；由查验系统将接收到的装箱完毕指令发送给相应的自动驾驶车辆的自动驾驶控制装置。装箱完毕指令中可包括以下信息：自动驾驶车辆的身份信息、集装箱编号和装箱是否完毕的指示信息，例如“车牌号：****；集装箱编号：****；装箱完毕”。
方式I3、从海关系统接收到装箱完毕指令时，确定所述目标集装箱落箱完毕。
在方式I3中，查验区的装卸控制设备在控制装卸设备对目标集装箱进行装箱完毕时，向海关系统发送装箱完毕指令，由海关系统将接收到的装箱完毕指令发送给自动驾驶车辆的自动驾驶控制装置。
方式I4、从查验区内的装卸控制设备接收到装箱完毕指令时，确定所述目标集装箱装箱完毕。
在方式I4中，查验区内的装卸控制设备在控制装卸设备对目标集装箱装箱完毕时，向相应的自动驾驶车辆的自动驾驶控制装置发送装箱完毕指令。
方式I5、通过车载摄像机采集查验区内的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述目标集装箱装箱完毕的通知。
在方式I5中，在查验区内的电子屏上显示集装箱装箱完毕的通知，集装箱装箱完毕的通知包括：自动驾驶车辆的身份信息、集装箱编号和装箱完毕指示信息，例如“车牌号：****；集装箱编号：****；装箱完毕”。
方式I6、利用预置的语音模型识别通过语音播报器播报的所述目标集装箱装箱完毕的通知。
方式I6中，在查验区设置有语音播报器，语音播报器用于播报该查验区内的自动驾驶车辆的集装箱装箱完毕的通知，当前在查验通道进行查验的自动驾驶车辆对应的查验通知；集装箱装箱完毕的通知包括：自动驾驶车辆的身份信息、集装箱编号和装箱完毕指示信息，例如“车牌号：****；集装箱编号：****；装箱完毕”。自动驾驶车辆的自动驾驶控制装置通过其内置的语音模型识别语音播报器播报的内容，并根据语音模型识别的内容得到与该自动驾驶车辆对应的集装箱装箱完毕的通知，例如自动驾驶控制装置将集装箱装箱完毕的通知的车牌号与自身对应的自动驾驶车辆的车牌号进行比对，若比对成功则确定该集装箱装箱完毕的通知为其自身对应的自动驾驶车辆的集装箱装箱完毕的通知，若比对失败则忽略该集装箱装箱完毕的通知。
步骤305中，控制所述自动驾驶车辆从所述查验区行驶到港区，具体包括：确定从目标集装箱的目标位置到港区入口的第五行驶路线，并控制所述自动驾驶车辆按照所述第五行驶路线行驶到港区入口。
优选地，第五行驶路线可能包含设置有收费站的路段，为实现自动驾驶车辆能够在收费站自动完成相关的缴费操作，本发明实施例中，前述步骤305中，控制所述自动驾驶车辆按照所述第五行驶路线行驶到所述港区入口的过程中，若根据车载传感器反馈的感知信息确定当前道路前方有收费站时，判断所述自动驾驶车辆是否为ETC(不停车电子收费系统)车辆；若是，则控制自动驾驶车辆从ETC车道通过所述收费站，并控制所述自动驾驶车辆继续按照所述第五行驶路线行驶；若否，则控制自动驾驶车辆停止在所述收费站，并进行自动缴费， 在通过车载传感器反馈的感知信息确定收费站放行时，控制所述自动驾驶车辆继续按照所述第五行驶路线行驶。
实施例三
基于前述实施例一提供的一种自动驾驶控制方法的相同构思，本发明实施例三提供一种自动驾驶控制装置，该自动驾驶控制装置1的结构如图4所示，包括：
第一获取单元11，用于获取将目标集装箱运输到海关进行查验的海关查验任务；
第一控制单元12，用于控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
第一确定单元13，用于所述自动驾驶车辆对应的查验通道，并触发第二控制单元14；
第二控制单元14，用于控制自动驾驶车辆行驶到所述查验通道；
第二获取单元15，用于获取海关决定查验所述目标集装箱的查验通知，并触发第三控制单元16；
第三控制单元16，用于控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
第二确定单元17，用于确定所述目标集装箱落箱完毕时触发第四控制单元18；
第四控制单元18，用于控制所述自动驾驶车辆驶离所述查验区。
本发明实施例三中，自动驾驶控制装置1可以设置在车载端的DSP(Digital Signal Processing，数字信号处理器)、FPGA(Field-Programmable Gate Array，现场可编程门阵列)控制器、工业电脑、行车电脑、ECU(Electronic Control Unit，电子控制单元)或者VCU(Vehicle Control Unit，整车控制器)上。第一获取单元11、第一控制单元12、第二控制单元14、第一确定单元13、第二获取单元15、第三控制单元16、第二确定单元17和第四控制单元18具体可通过DSP、FPGA、工业电脑、行车电脑、EUC或VCU的处理器(例如CPU等)实现。
优选地，本发明实施例中，所述第一获取单元11，具体实现可通过但不仅限于以下任意一种方式实现：
方式J1、通过自动驾驶控制装置的通信接口从港区查验系统接收所述海关查验任务。
方式J2、通过自动驾驶控制装置的通信接口从海关系统接收所述海关查验任务。
方式J3、通过车载摄像机采集电子屏的第一图像，并利用预置图像识别算法识别所述第一图像中的内容，以得到所述海关查验任务。
方式J4、利用预置的语音模型识别通过语音播报器播报的所述海关查验任务。
前述方式J1～方式J4具体可参见实施例一中的方式A1～方式A4，在此不再赘述。
当然，如果自动驾驶车辆当前为空车，所述海关查验任务中还可包括目标集装箱所在的 装卸货地点。所述第一控制单元12，具体实现如下：确定从当前位置到所述目标集装箱所在装卸货地点的行驶路线，并控制自动驾驶车辆按照所述行驶路线行驶到所述目标集装箱所在的装卸货地点，并等待装箱；在确定装箱完毕时，确定从当前位置到海关入口的候检区的第一行驶路线，并控制自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口的候检区。如果自动驾驶车辆当前装载的集装箱即为目标集装箱，则前述第一控制单元12具体实现如下：确定从当前位置到海关入口的候检区的第一行驶路线，并控制自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口的候检区。
第一控制单元12确定从自动驾驶车辆当前位置到所述海关入口的候检区的第一行驶路线，确定从当前位置到所述目标集装箱所在装卸货地点的行驶路线，具体可参见前述实施例一中的方式B1～方式B2，在此不再赘述。
优选地，所述第一确定单元13具体可通过以下任意一种方式实现：
方式K1、通过自动驾驶控制装置的通信接口从港区的查验系统接收所述自动驾驶车辆对应的查验通道。
方式K2、通过自动驾驶控制装置的通信接口从海关系统接收所述自动驾驶车辆对应的查验通道。
方式K3、通过车载摄像机采集位于候检区的电子屏的第二图像，并利用预置图像识别算法识别所述第二图像中的内容，以得到所述自动驾驶车辆对应的查验通道。
方式K4、利用预置的语音模型识别通过语音播报器播报的所述自动驾驶车辆对应的查验通道。
前述方式K1～方式K4具体可参见实施例一中的方式C1～方式C4，在此不再赘述。
优选地，所述第二获取单元15具体可通过以下任意一种方式实现：
方式L1、通过自动驾驶控制装置的通信接口从港区的查验系统接收所述查验通知。
方式L2、通过自动驾驶控制装置的通信接口从海关系统接收所述查验通知。
方式L3、通过车载摄像机采集位于查验通道的电子屏的第三图像，并利用预置图像识别算法识别所述第三图像中的内容，以得到所述查验通知。
方式L4、利用预置的语音模型识别通过语音播报器播报的所述查验通知。
前述方式L1～方式L4具体可参见实施例一中的方式D1～方式D4，在此不再赘述。
优选地，所述第三控制单元16具体用于：确定从所述查验通道到所述目标位置的第三行驶路线，并控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置。
优选地，所述第二确定单元17，具体可通过以下任意一种方式实现：
方式M1、判断重力传感器反馈的重力值小于等于预置的重力阈值且在预置时长内保持不 变时，确定所述目标集装箱落箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上。
方式M2、从港区的查验系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
方式M3、从海关系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
方式M4、从查验区内的装卸控制设备接收到落箱完毕指令时，确定所述目标集装箱落箱完毕。
方式M5、通过车载摄像机采集查验区内的电子屏的第四图像，并利用预置图像识别算法识别所述第四图像中的内容，以得到所述目标集装箱落箱完毕的通知。
方式M6、利用预置的语音模型识别通过语音播报器播报的所述目标集装箱落箱完毕的通知。
前述方式M1～方式M6具体可参见实施例一中的方式F1～方式F6，在此不再赘述。
实施例四
基于前述实施例二提供的一种自动驾驶控制方法的相同构思，本发明实施例四中，还提供一种自动驾驶控制装置，该自动驾驶控制装置2的结构如图5所示，包括：
第三获取单元21，用于获取去海关将目标集装箱运输到港区的运输任务，并触发第五控制单元22；
第五控制单元22，用于控制自动驾驶车辆行驶到海关入口的候检区；
第三确定单元23，用于确定所述自动驾驶车辆对应的查验通道，并触发第六控制单元24；
第六控制单元24，用于控制自动驾驶车辆行驶到所述查验通道；
第四获取单元25，用于获取提箱通知，并触发第七控制单元26；
第七控制单元26，用于控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
第四确定单元27，用于确定所述目标集装箱装箱完毕时，触发第八控制单元28；
第八控制单元28，用于控制所述自动驾驶车辆从所述查验区行驶到港区。
本发明实施例四中，自动驾驶控制装置2可以设置在车载端的DSP、FPGA控制器、工业电脑、行车电脑、ECU或者VCU上。第三获取单元21、第五控制单元22、第三确定单元23、第六控制单元24、第四获取单元25、第七控制单元26、第四确定单元27和第八控制单元28具体可通过DSP、FPGA、工业电脑、行车电脑、EUC或VCU的处理器(例如CPU等)实现。
本发明实施例中第五控制单元22控制自动驾驶车辆行驶到海关入口的候检区，可参见实施例三中的第一控制单元12，在此不再赘述。
本发明实施例中，第六控制单元24控制自动驾驶车辆行驶到所述查验通道，具体可参见 实施例三中的第二控制单元14，在此不再赘述。
本发明实施例中，第七控制单元26控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，具体实现可如下：确定查验通道到所述目标位置的行驶路线，并控制所述自动驾驶车辆按照该行驶路线行驶到所述目标位置。其中第七控制单元26确定查验通道到所述目标位置的行驶路线，具体实现可如下：根据预存的电子地图数据，规划从查验通道到所述目标位置的行驶路线；或者，从所述提箱通知中获取所述从查验通道到所述目标位置的行驶路线。
优选地，所述第三获取单元21，具体可通过以下任意一种方式实现：
方式N1、通过自动驾驶控制装置的通信接口从港区的查验系统接收所述运输任务。
方式N2、通过自动驾驶控制装置的通信接口从海关系统接收所述运输任务。
前述方式N1～方式N2具体可参见实施例二中的方式G1～方式G2，在此不再赘述。
优选地，所述第四获取单元25，具体可通过以下任意一种方式实现：
方式O1、通过自动驾驶控制装置的通信接口从港区的查验系统接收所述提箱通知。
方式O2、通过自动驾驶控制装置的通信接口从海关系统接收所述提箱通知。
方式O3、通过车载摄像机采集位于查验通道的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述提箱通知。
方式O4、利用预置的语音模型识别通过语音播报器播报的所述提箱通知。
前述方式O1～方式O4具体可参见实施例二中的方式H1～方式H4，在此不再赘述。
优选地，第四确定单元27，具体可通过以下任意一种方式实现：
方式P1、判断重力传感器反馈的重力值大于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱装箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上。
方式P2、从港区的查验系统接收到装箱完毕指令时，确定所述目标集装箱装箱完毕。
方式P3、从海关系统接收到装箱完毕指令时，确定所述目标集装箱落箱完毕。
方式P4、从查验区内的装卸控制设备接收到装箱完毕指令时，确定所述目标集装箱装箱完毕。
方式P5、通过车载摄像机采集查验区内的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述目标集装箱装箱完毕的通知。
方式P6、利用预置的语音模型识别通过语音播报器播报的所述目标集装箱装箱完毕的通知。
前述方式P1～方式P6具体可参见实施例二中的方式I1～方式I6，在此不再赘述。
本发明实施例中，可以在一些自动驾驶车辆上设置实施例三中所述的自动驾驶控制装置1，即可通过这些自动驾驶车辆将港区内的集装箱拉到海关进行海关查验。也可以在另一些自动驾驶车辆上设置实施例四中所述的自动驾驶控制装置2，即可通过这些自动驾驶车辆从海关将集装箱拉回到港区。当然，还可以在一些自动驾驶车辆上设置对应的自动驾驶控制装置(假设称为自动驾驶控制装置3)既可以实现自动驾驶控制装置1的功能，又可以实现自动驾驶装置2的功能，即可通过这些自动驾驶车辆既可以将港区内的集装箱拉到海关进行海关查验，也可以从海关将集装箱拉回到港区。自动驾驶装置3的结构可如图6所示，其中的各个单元模块详见实施例三和实施例四中相应的单元模块，在此不再赘述。
实施例五
基于前述实施例一提供的一种自动驾驶控制方法的相同构思，本发明实施例五提供一种自动驾驶控制装置，该自动驾驶控制装置1的结构如图7所示，包括：一个处理器71和至少一个存储器72，至少一个存储器72中存储有至少一条机器可执行指令，处理器71执行至少一条机器可执行指令以执行实施例一中图1所示的处理。这里不再赘述。
实施例六
基于前述实施例二提供的一种自动驾驶控制方法的相同构思，本发明实施例六提供一种自动驾驶控制装置，该自动驾驶控制装置1的结构如图8所示，包括：一个处理器81和至少一个存储器82，至少一个存储器82中存储有至少一条机器可执行指令，处理器81执行至少一条机器可执行指令以执行实施例二中图3所示的处理。这里不再赘述。
以上结合具体实施例描述了本发明的基本原理，但是，需要指出的是，对本领域普通技术人员而言，能够理解本发明的方法和装置的全部或者任何步骤或者部件可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件固件、软件或者他们的组合加以实现，这是本领域普通技术人员在阅读了本发明的说明的情况下运用它们的基本编程技能就能实现的。
本领域普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以 采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的上述实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括上述实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (26)

  1. 一种自动驾驶车辆控制方法，其特征在于，包括：
    获取将目标集装箱运输到海关进行查验的海关查验任务；
    控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
    确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
    获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
    确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。
  2. 根据权利要求1所述的方法，其特征在于，获取将目标集装箱运输到海关进行查验的海关查验任务，具体包括：
    从港区的查验系统接收所述海关查验任务；
    或者，从海关系统接收所述海关查验任务；
    或者，通过车载摄像机采集电子屏的第一图像，并利用预置图像识别算法识别所述第一图像中的内容，以得到所述海关查验任务；
    或者，利用预置的语音模型识别通过语音播报器播报的所述海关查验任务。
  3. 根据权利要求1所述的方法，其特征在于，控制自动驾驶车辆将目标集装箱运输到海关入口的候检区，具体包括：
    确定从自动驾驶车辆当前位置到所述海关入口的候检区的第一行驶路线，并控制所述自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口候检区。
  4. 根据权利要求3所述的方法，其特征在于，控制所述自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口候检区的过程中，若根据车载传感器反馈的感知信息确定当前道路前方有收费站时，判断所述自动驾驶车辆是否为不停车电子收费系统ETC车辆；
    若是，则控制自动驾驶车辆从ETC车道通过所述收费站，并控制所述自动驾驶车辆继续按照所述第一行驶路线行驶；
    若否，则控制自动驾驶车辆停止在所述收费站，并进行自动缴费，在通过车载传感器反馈的感知信息确定收费站放行时，控制所述自动驾驶车辆继续按照所述第一行驶路线行驶。
  5. 根据权利要求1所述的方法，其特征在于，确定所述自动驾驶车辆对应的查验通道，具体包括：
    从港区的查验系统接收所述自动驾驶车辆对应的查验通道；
    或者，从海关系统接收所述自动驾驶车辆对应的查验通道；
    或者，通过车载摄像机采集位于候检区的电子屏的第二图像，并利用预置图像识别算法识别所述第二图像中的内容，以得到所述自动驾驶车辆对应的查验通道；
    或者，利用预置的语音模型识别通过语音播报器播报的所述自动驾驶车辆对应的查验通道。
  6. 根据权利要求1所述的方法，其特征在于，获取海关决定查验所述目标集装箱的查验通知，具体包括：
    从港区的查验系统接收所述查验通知；
    或者，从海关系统接收所述查验通知；
    或者，通过车载摄像机采集位于查验通道的电子屏的第三图像，并利用预置图像识别算法识别所述第三图像中的内容，以得到所述查验通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述查验通知。
  7. 根据权利要求1所述的方法，其特征在于，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，具体包括：
    确定从所述查验通道到所述目标位置的第三行驶路线，并控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置。
  8. 根据权利要求7所述的方法，其特征在于，控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置之前，还包括：
    通过车载传感器反馈的感知信息判断所述查验通道是否放行；
    若是，则执行所述控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置的步骤，若否则原地等待。
  9. 根据权利要求1所述的方法，其特征在于，确定所述目标集装箱落箱完毕，具体包括：
    判断重力传感器反馈的重力值小于等于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱落箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上；
    或者，从港区的查验系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从海关系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从查验区内的装卸控制设备接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，通过车载摄像机采集查验区内的电子屏的第四图像，并利用预置图像识别算法识别所述第四图像中的内容，以得到所述目标集装箱落箱完毕的通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述目标集装箱落箱完毕的通知。
  10. 一种自动驾驶车辆控制方法，其特征在于，包括：
    获取去海关将目标集装箱运输到港区的运输任务；
    控制自动驾驶车辆行驶到海关入口的候检区；
    确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
    获取提箱通知，控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
    确定所述目标集装箱装箱完毕时，控制所述自动驾驶车辆从所述查验区行驶到港区。
  11. 根据权利要求10所述的方法，其特征在于，获取去海关将目标集装箱运输到港区的运输任务，具体包括：
    从港区的查验系统接收所述运输任务；
    或者，从海关系统接收所述运输任务。
  12. 根据权利要求10所述的方法，其特征在于，获取提箱通知，具体包括：
    从港区的查验系统接收所述提箱通知；
    或者，从海关系统接收所述提箱通知；
    或者，通过车载摄像机采集位于查验通道的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述提箱通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述提箱通知。
  13. 根据权利要求10所述的方法，其特征在于，确定所述目标集装箱装箱完毕，具体包括：
    判断重力传感器反馈的重力值大于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱装箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上；
    或者，从港区的查验系统接收到装箱完毕指令时，确定所述目标集装箱装箱完毕；
    或者，从海关系统接收到装箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从查验区内的装卸控制设备接收到装箱完毕指令时，确定所述目标集装箱装箱完毕；
    或者，通过车载摄像机采集查验区内的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述目标集装箱装箱完毕的通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述目标集装箱装箱完毕的通知。
  14. 一种自动驾驶控制装置，其特征在于，包括：
    第一获取单元，用于获取将目标集装箱运输到海关进行查验的海关查验任务；
    第一控制单元，用于控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
    第一确定单元，用于确定所述自动驾驶车辆对应的查验通道，并触发第二控制单元；
    第二控制单元，用于控制自动驾驶车辆行驶到所述查验通道；
    第二获取单元，用于获取海关决定查验所述目标集装箱的查验通知，并触发第三控制单元；
    第三控制单元，用于控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位 置，等待落箱；
    第二确定单元，用于确定所述目标集装箱落箱完毕时触发第四控制单元；
    第四控制单元，用于控制所述自动驾驶车辆驶离所述查验区。
  15. 根据权利要求14所述的装置，其特征在于，所述第一获取单元具体用于：
    通过自动驾驶控制装置的通信接口从港区查验系统接收所述海关查验任务；
    或者，通过自动驾驶控制装置的通信接口从海关系统接收所述海关查验任务；
    或者，通过车载摄像机采集电子屏的第一图像，并利用预置图像识别算法识别所述第一图像中的内容，以得到所述海关查验任务；
    或者，利用预置的语音模型识别通过语音播报器播报的所述海关查验任务。
  16. 根据权利要求14所述的装置，其特征在于，第一控制单元，具体用于：
    确定从自动驾驶车辆当前位置到所述海关入口的候检区的第一行驶路线，并控制所述自动驾驶车辆按照所述第一行驶路线行驶到所述海关入口候检区。
  17. 根据权利要求14所述的装置，其特征在于，第一确定单元具体用于：
    通过自动驾驶控制装置的通信接口从港区的查验系统接收所述自动驾驶车辆对应的查验通道；
    或者，通过自动驾驶控制装置的通信接口从海关系统接收所述自动驾驶车辆对应的查验通道；
    或者，通过车载摄像机采集位于候检区的电子屏的第二图像，并利用预置图像识别算法识别所述第二图像中的内容，以得到所述自动驾驶车辆对应的查验通道；
    或者，利用预置的语音模型识别通过语音播报器播报的所述自动驾驶车辆对应的查验通道。
  18. 根据权利要求14所述的装置，其特征在于，第二获取单元具体用于：
    通过自动驾驶控制装置的通信接口从港区的查验系统接收所述查验通知；
    或者，通过自动驾驶控制装置的通信接口从海关系统接收所述查验通知；
    或者，通过车载摄像机采集位于查验通道的电子屏的第三图像，并利用预置图像识别算法识别所述第三图像中的内容，以得到所述查验通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述查验通知。
  19. 根据权利要求14所述的装置，其特征在于，所述第三控制单元具体用于：
    确定从所述查验通道到所述目标位置的第三行驶路线，并控制自动驾驶车辆根据所述第三行驶路线行驶到所述目标位置。
  20. 根据权利要求14所述的装置，其特征在于，所述第二确定单元，具体用于：
    判断重力传感器反馈的重力值小于等于预置的重力阈值且在预置时长内保持不变时，确 定所述目标集装箱落箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上；
    或者，从港区的查验系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从海关系统接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从查验区内的装卸控制设备接收到落箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，通过车载摄像机采集查验区内的电子屏的第四图像，并利用预置图像识别算法识别所述第四图像中的内容，以得到所述目标集装箱落箱完毕的通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述目标集装箱落箱完毕的通知。
  21. 一种自动驾驶控制装置，其特征在于，包括：
    第三获取单元，用于获取去海关将目标集装箱运输到港区的运输任务，并触发第五控制单元；
    第五控制单元，用于控制自动驾驶车辆行驶到海关入口的候检区；
    第三确定单元，用于确定所述自动驾驶车辆对应的查验通道，并触发第六控制单元；
    第六控制单元，用于控制自动驾驶车辆行驶到所述查验通道；
    第四获取单元，用于获取提箱通知，并触发第七控制单元；
    第七控制单元，用于控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
    第四确定单元，用于确定所述目标集装箱装箱完毕时，触发第八控制单元；
    第八控制单元，用于控制所述自动驾驶车辆从所述查验区行驶到港区。
  22. 根据权利要求21所述的装置，其特征在于，所述第三获取单元，具体用于：
    通过自动驾驶控制装置的通信接口从港区的查验系统接收所述运输任务；
    或者，通过自动驾驶控制装置的通信接口从海关系统接收所述运输任务。
  23. 根据权利要求21所述的装置，其特征在于，所述第四获取单元，具体用于：
    通过自动驾驶控制装置的通信接口从港区的查验系统接收所述提箱通知；
    或者，通过自动驾驶控制装置的通信接口从海关系统接收所述提箱通知；
    或者，通过车载摄像机采集位于查验通道的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述提箱通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述提箱通知。
  24. 根据权利要求21所述的装置，其特征在于，所述第四确定单元，具体用于：
    判断重力传感器反馈的重力值大于预置的重力阈值且在预置时长内保持不变时，确定所述目标集装箱装箱完毕，所述重力传感器安装在所述自动驾驶车辆的板车上；
    或者，从港区的查验系统接收到装箱完毕指令时，确定所述目标集装箱装箱完毕；
    或者，从海关系统接收到装箱完毕指令时，确定所述目标集装箱落箱完毕；
    或者，从查验区内的装卸控制设备接收到装箱完毕指令时，确定所述目标集装箱装箱完毕；
    或者，通过车载摄像机采集查验区内的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，以得到所述目标集装箱装箱完毕的通知；
    或者，利用预置的语音模型识别通过语音播报器播报的所述目标集装箱装箱完毕的通知。
  25. 一种自动驾驶控制装置，其特征在于，包括一个处理器和至少一个存储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
    获取将目标集装箱运输到海关进行查验的海关查验任务；
    控制自动驾驶车辆将目标集装箱运输到海关入口的候检区；
    确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
    获取海关决定查验所述目标集装箱的查验通知，控制自动驾驶车辆行驶到所述查验通知中指定的查验区中的目标位置，等待落箱；
    确定所述目标集装箱落箱完毕时，控制所述自动驾驶车辆驶离所述查验区。
  26. 一种自动驾驶控制装置，其特征在于，包括一个处理器和至少一个存储器，至少一个存储器中存储有至少一条机器可执行指令，处理器执行至少一条机器可执行指令以执行：
    获取去海关将目标集装箱运输到港区的运输任务；
    控制自动驾驶车辆行驶到海关入口的候检区；
    确定所述自动驾驶车辆对应的查验通道，并控制自动驾驶车辆行驶到所述查验通道；
    获取提箱通知，控制所述自动驾驶车辆行驶到所述提箱通知中指定的查验区中的目标位置，等待装箱；
    确定所述目标集装箱装箱完毕时，控制所述自动驾驶车辆从所述查验区行驶到港区。
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