Method and apparatus for controlling work vehicle, electronic device and storage medium

Abstract

A control method and apparatus for a work vehicle, and an electronic device and a storage medium. The method is applied to a driverless device, and comprises: acquiring an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination (S301); determining a replaced work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replaced work destination, the replaced work destination being a work destination obtained by changing the initial work destination (S302); when it is determined, on the basis of the initial operation data and the target operation data, that the initial work destination is changed to the replaced work destination, determining whether the replaced work destination is rational (S303); when it is determined that the replaced work destination is rational, sending a destination change instruction to the work vehicle (S304); and controlling the work vehicle to travel towards the replaced work destination (S305). Therefore, the operation efficiency of the work vehicle can be improved.

Description

[0001] This disclosure claims a priority of Chinese Patent Application No. 2023107770745 filed on June 29, 2023, all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the field of unmanned driving technologies, and in particular to a method and apparatus for controlling a work vehicle, an electronic device, and a computer readable storage medium. BACKGROUND

[0003] With the development of unmanned driving technologies and the advancement of industrial automation, applications of unmanned driving in mining vehicles have emerged. As one of practical application scenarios of the unmanned driving technologies, mining areas are gradually realizing digitalization, intelligence and automation. At present, operations such as loading, transportation and dumping are mainly completed by unmanned mining vehicles.

[0004] In the related art, when selecting traveling routes for unmanned work vehicles, a management system usually analyzes the overall operation of a mining area, and specifies a work destination for each of the work vehicles in a work site based on analysis results. Further, the management system periodically or regularly calculates the overall operation efficiency of the mining area, and determines whether to trigger a change of the work destination based on calculation results and abnormal situations in the mining area. In the process of a work vehicle going to the work destination, if the management system changes the work destination of the work vehicle, the work vehicle may not be able to perform destination switching due to roads, networks and other reasons, and thus cannot reach the changed work destination. Alternatively, after performing the destination switching, the work vehicle needs to reach the changed work destination by means of detour, and thus there is a problem that the changed work destination is unreasonable. SUMMARY

[0005] In view of this, embodiments of the present disclosure provide a method and apparatus for controlling a work vehicle, an electronic device, and a computer readable storage medium, so as to solve problems in the related art that the work vehicle cannot reach the changed work destination, or the changed work destination is unreasonable.

[0006] According to a first aspect of the embodiments of the present disclosure, there is provided a method for controlling a work vehicle, including: obtaining an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle; determining a replacement work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality; determining whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; sending a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and controlling the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

[0007] According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for controlling a work vehicle, including: an obtaining module configured to obtain an initial work destination of a work vehicle, and calculate initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle; a determination module configured to determine a replacement work destination of the work vehicle, and calculate target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality; a judgment module configured to determine whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; a sending module configured to send a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and a control module configured to control the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

[0008] According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory for storing executable instructions of the at least one processor, wherein the at least one processor is used to execute the executable instructions to implement the steps of the foregoing method.

[0009] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer readable storage medium, wherein instructions in the computer readable storage medium, when executed by a processor of an electronic device, causing the electronic device to execute the steps of the foregoing method.

[0010] The above at least one technical solution adopted by the embodiments of the present disclosure can achieve the following beneficial effects: by obtaining an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle; determining a replacement work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality; determining whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; sending a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and controlling the work vehicle to travel from the current position of the work vehicle to the replacement work destination, it can be determined whether to change the work destination based on vehicle data before and after changing the work destination, and whether the changed work destination is reasonable based on the current position of the work vehicle and the road topology structure, thereby improving the rationality of the changed work destination, improving the flexibility of controlling the work vehicle, and improving the operation efficiency of the work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the accompanying drawings used in the description of the embodiments or the related art will be briefly introduced below. It is apparent that, the accompanying drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those of ordinary skill in the art from the provided drawings without creative efforts.

[0012] FIG. 1 is a schematic diagram of a method for controlling a work vehicle in a practical application scenario in the related art.

[0013] FIG. 2 is a schematic diagram of another method for controlling a work vehicle in a practical application scenario in the related art.

[0014] FIG. 3 is a flowchart of a method for controlling a work vehicle according to an exemplary embodiment of the present disclosure.

[0015] FIG. 4 is a flowchart of another method for controlling a work vehicle according to an exemplary embodiment of the present disclosure.

[0016] FIG. 5 is a schematic structural diagram of an apparatus for controlling a work vehicle according to an exemplary embodiment of the present disclosure.

[0017] FIG. 6 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure.

[0018] FIG. 7 is a schematic structural diagram of a computer system according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Hereinafter, embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present disclosure are illustrated in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided for a more thorough and complete understanding of this disclosure. It should be understood that the drawings and embodiments of the present disclosure are only used for exemplary purposes, and are not used to limit the protection scope of the present disclosure.

[0020] It should be understood that the various steps recorded in the method implementations of the present disclosure can be executed in a different order, and / or executed in parallel. In addition, method implementations can include additional steps and / or 4 omit to perform the illustrated steps. The scope of the present disclosure is not limited in this respect.

[0021] The term “including” and its variants as used herein are open-ended including, that is, “including but not limited to”; the term “based on” is “at least in part based on”; the term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. Related definitions of other terms will be given in the following description. It should be noted that the concepts of “first” and “second” mentioned in the present disclosure are only used to distinguish apparatuses, modules or units, and are not used to limit the order or interdependence of the functions performed by these apparatuses, modules or units.

[0022] It should be noted that the modification with “a” or “a plurality of’ mentioned in the present disclosure is illustrative and not restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as “one or more”.

[0023] The names of messages or information exchanged between multiple apparatuses in the implements of the present disclosure are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0024] Unmanned driving technology is a technology that recognizes a surrounding environment in which a vehicle is located and a state of the vehicle through various on-board sensors such as cameras, laser radars, millimeter-wave radars, global positioning system (GPS) and inertial sensors, and autonomously makes analysis and judgment according to obtained environmental information such as a road topology structure, traffic information, a vehicle position and obstacle information, so as to autonomously control the movement of the vehicle and finally realize unmanned driving. Unmanned driving technology includes multi-sensor fusion technology, signal processing technology, communication technology, artificial intelligence technology and computer technology.

[0025] With the development of unmanned driving technologies and the advancement of industrial automation, applications of unmanned driving in mining vehicles have emerged. As one of practical application scenarios of the unmanned driving technologies, mining areas are gradually realizing digitalization, intelligence and automation. In an application scenario of unmanned driving in the mining areas, it is very important to plan traveling routes of work vehicles reasonably. At present, when selecting the traveling routes for unmanned work vehicles, a management system usually analyzes the overall operation of a mining area, and specifies a work destination for each of the work vehicles in a work site based on analysis results. Further, the management system periodically or regularly calculates the overall operation efficiency of the mining area, and determines whether to trigger a change of the work destination based on calculation results and abnormal situations in the mining area. In the process of a work vehicle going to a work destination, the management system will determine whether it is necessary to change a new work destination based on a real-time position, a task state and the work destination of the work vehicle.

[0026] Hereinafter, a practical application scenario of a method for controlling a work vehicle in the related art will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram of a method for controlling a work vehicle in a practical application scenario in the related art, and FIG. 2 is a schematic diagram of another method for controlling a work vehicle in a practical application scenario in the related art. In FIG. 1 and FIG. 2, T represents a work vehicle, LAI, LA2 and LA3 respectively represent a first loading area, a second loading area and a third loading area; UA1 and UA2 respectively represent a first unloading area and a second unloading area, JI and J2 respectively represent a first intersection area and a second intersection area, and connecting lines between the areas represent traveling routes of the work vehicle.

[0027] Specifically, assuming that a work destination of the work vehicle T is the first loading area LAI, in the process of the work vehicle T traveling from the first unloading area UA1 to the first loading area LAI, if a management system determines that it is necessary to adjust the work destination of the work vehicle T due to efficiency reasons or abnormal reasons, for example, changing the work destination of the work vehicle T to the third loading area LA3, the management system sends a destination change instruction to the work vehicle T. As shown in FIG. 1, after receiving the destination change instruction, if the work vehicle T cannot switch the work destination to the third loading area LA3 before reaching the second intersection area J2 due to roads, networks and other reasons, the work vehicle T will miss the second intersection area J2, and thus cannot reach the third loading area LA3. As shown in FIG. 2, after receiving the destination change instruction, if the work vehicle T has passed through the second intersection area J2, the work vehicle T can only continue to travel to the first intersection area JI or the first loading area LAI, and then travel to the second intersection area J2 again by turning around to reach the third loading area LA3.

[0028] It can be seen that in a case where the management system changes the work destination of the work vehicle, the existing method for controlling the work vehicle has a problem that the work vehicle cannot reach the changed work destination, or, there is a problem that the changed work destination is unreasonable.

[0029] Hereinafter, a method and apparatus for controlling a work vehicle according to embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0030] FIG. 3 is a flowchart of a method for controlling a work vehicle according to an exemplary embodiment of the present disclosure. The method for controlling the work vehicle in FIG. 3 can be performed by a server in a management system or an electronic device. As shown in FIG. 3, the method for controlling the work vehicle includes:

[0031] S301, an initial work destination of a work vehicle is obtained, and initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination is calculated, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;

[0032] S3 02, a replacement work destination of the work vehicle is determined, and target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination is calculated, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality;

[0033] S3 03, it is determined whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data;

[0034] S304, a destination change instruction is sent to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and

[0035] S3 05, the work vehicle is controlled to travel from the current position of the work vehicle to the replacement work destination.

[0036] Specifically, taking the server in the management system as an example, the management system usually comprehensively considers overall operation situations (including equipment failures, closed operation areas, and the like) of a mining area and specifies a work destination for each work vehicle in a work site. In a case where the work vehicle already has an initial work destination, the server controls the work vehicle to travel towards the initial work destination, and calculates initial operation data of the work vehicle from a current position of the work vehicle to the initial work destination, so as to analyze the operation efficiency of the whole transportation system based on the initial operation data. The management system periodically or regularly calculates the overall operation efficiency of the mining area, and determines whether to trigger a change of the work destination based on calculation results and abnormal situations in the mining area. When it is determined that the initial work destination of the work vehicle needs to be changed to the replacement work destination, the server calculates target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination.

[0037] Further, the server compares the target operation data with the initial operation data, and determines whether to change the initial work destination to the replacement work destination based on comparison results. When it is determined that the initial work destination is changed to the replacement work destination, the server determines whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure. When it is determined that the replacement work destination is reasonable, the server sends a destination change instruction to instruct the work vehicle to change the initial work destination to the replacement work destination, and controls the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

[0038] Here, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content delivery network (CDN), big data and artificial intelligence platform, and the embodiment of the present disclosure does not limit this.

[0039] The management system can analyze, predict and suggest the overall operation situations of the mining area by analyzing and processing data uploaded by work vehicles, so as to improve the operation efficiency of the mining area, reduce the energy consumption in the operation process and reduce the occurrence of production accidents. In addition, the management system can also generate work tasks and work paths of the work vehicles, and call the work vehicles in an operation area based on the work tasks and work paths.

[0040] It should be noted that the management system can be provided in a cloud (for example, a cloud intelligent management system, a cloud dispatching platform, and the like) or in a vehicle (for example, a vehicle-side system, a vehicle-side unmanned driving system, and the like), and the embodiment of the present disclosure does not limit this.

[0041] An operation can be all kinds of social activities that cause terrain changes, including but not limited to road construction (affecting the flatness of the ground, and the like), placing objects in specific areas (increasing a height of some areas), removing the objects from the specific areas (reducing the height of some areas), and causing road terrain changes (concave or convex in some areas) during activities. For example, the excavation operation refers to an operation of dumping stripped materials such as earth and rocks at a dumping site.

[0042] The operation area (namely, working area) refers to an area where the work vehicles are located in the process of loading, transportation, soil ejecting and other operations in a strip mine area, that is, an area range that the work vehicles can identify along a driving direction. The operation area can be in a closed space, an open space, or a space environment without roads. The closed space can be, for example, a strip mine environment. In the embodiment of the present disclosure, the operation area refers to an area where the unmanned work vehicles are located in the process of the loading, transportation, soil ejecting and other operations in a strip mine area.

[0043] The work tasks can include but not limited to work serial numbers, work types and work contents. The work types can include recurring works and temporary works. The recurring works refer to works that need to be repeated, and the temporary works refer to works that need to be performed only once. The work contents can include but not limited to a target loading area, a target unloading area and a target loading capacity.

[0044] The work vehicle refers to a vehicle equipped with an automatic driving system, that is, the unmanned vehicle, which perceives the surrounding environment of the vehicle through an on-board perception system, and controls the steering and speed of the vehicle according to the road, vehicle position, obstacle information, and the like obtained by perceiving, so that the vehicle can run on the road safely and reliably. In the embodiment of the present disclosure, the work vehicle can include but not limited to wide-bodied vehicles, large mining trucks, collection vehicles and forklifts equipped with data acquisition apparatuses, and the acquisition apparatuses can include but not limited to laser radars, millimeter wave radars, ultrasonic radars, video cameras, and the like.

[0045] The current position refers to a position where the work vehicle is currently located, that is, a real-time position of the work vehicle, which can be obtained through positioning apparatuses installed on the work vehicle. The initial work destination refers to a preset work position where the work vehicle needs to reach. The replacement work destination refers to a new work position after changing the initial work destination according to actual needs.

[0046] The initial operation data can include but not limited to driving data, efficiency data and abnormal data. The driving data is used to represent the real-time position, the driving speed and the driving direction of the work vehicle. The efficiency data is used to reflect utilization situations of the work vehicles in terms of time, mileage, speed, tonnage and vehicle power. The driving data is a main basis for analyzing the utilization efficiency and transportation cost of the work vehicles and an important basis for measuring the overall operation efficiency of the mining area. The abnormal data is used to represent abnormal situations in the operation area, for example, excavator failures, closed loading areas, and the like. The degree of abnormality can include but not limited to the number of abnormal situations, the level of abnormal situations, the number of equipment failures and the level of equipment failures.

[0047] According to the technical solutions provided by the embodiment of the present disclosure, by obtaining an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle; determining a replacement work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality; determining whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; sending a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and controlling the work vehicle to travel from the current position of the work vehicle to the replacement work destination, it can be determined whether to change the work destination based on vehicle data before and after changing the work destination, and whether the changed work destination is reasonable based on the current position of the work vehicle and the road topology structure, thereby improving the rationality of the changed work destination, improving the flexibility of controlling the work vehicle, and improving the operation efficiency of the work vehicle.

[0048] In some embodiments, the initial operation data includes initial efficiency data and the target operation data includes target efficiency data, determining to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data includes: if the target efficiency data is greater than the initial efficiency data, determining to change the initial work destination to the replacement work destination.

[0049] Specifically, the initial operation data can include the initial efficiency data, and the target operation data can include the target efficiency data. After obtaining the initial efficiency data and the target efficiency data, the server can compare the initial efficiency data with the target efficiency data. If the target efficiency data is greater than the initial efficiency data, it means that the transportation efficiency of the work vehicle has been improved after adjusting the work destination from the initial work destination to the replacement work destination, and thus it can be determined that changing the work destination to the replacement work destination is a reasonable and more efficient solution, that is, the initial work destination can be changed to the replacement work destination. If the target efficiency data is equal to the initial efficiency data, it means that there is no change in the transportation efficiency of the work vehicle after adjusting the work destination from the initial work destination to the replacement work destination, and thus the significance of changing the work destination is not significant. If the target efficiency data is less than the initial efficiency data, it means that the transportation efficiency of the work vehicle has not improved but decreased after adjusting the work destination from the initial work destination to the replacement work destination, and thus the solution of changing the work destination is unreasonable, that is, the initial work destination cannot be changed to the replacement work destination.

[0050] Here, the initial efficiency data and the target efficiency data can reflect the utilization situations of the work vehicles in terms of time, mileage, speed, tonnage and vehicle power, and are the main basis for analyzing the utilization efficiency and transportation cost of the work vehicles, and also the important basis for measuring the overall operation efficiency of the mining area. In the embodiment of the present disclosure, the initial efficiency data is used to represent a transportation volume in a unit time, that is, the transportation efficiency of the work vehicle traveling from the current position to the initial work destination, and the target efficiency data is used to represent the transportation efficiency of the work vehicle traveling from the current position to the replacement work destination.

[0051] It should be noted that the initial efficiency data and the target efficiency data can also be used to represent mining efficiency, excavation efficiency, transportation time and queuing time of work vehicles, and the embodiment of the present disclosure does not limit this.

[0052] According to the technical solutions provided by the embodiment of the present disclosure, by determining the rationality of the change of the work destination based on the vehicle data before and after changing the work destination, it is possible to more accurately determine whether the changed work destination is reasonable and more efficient, thereby improving the accuracy and reliability of the data, improving the flexibility of controlling the work vehicle, and further improving the operation efficiency of the work vehicle.

[0053] In some embodiments, the initial operation data further includes initial abnormal data and the target operation data further includes target abnormal data, determining to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data includes: when the target efficiency data is greater than the initial efficiency data, if an abnormal degree of the target abnormal data is less than or equal to an abnormal degree of the initial abnormal data, determining to change the initial work destination to the replacement work destination.

[0054] Specifically, the initial operation data can further include initial abnormal data, and the target operation data can further include target abnormal data. In a case where the target efficiency data is greater than the initial efficiency data, considering that there may be abnormal situations in the operation area, for example, the work vehicle cannot work due to equipment failure, and the operation area is closed due to falling rocks, and the like, the server can further obtain the initial abnormal data and target abnormal data of the work vehicle, and compare the target abnormal data with the initial abnormal data. If an abnormal degree of the target abnormal data is less than an abnormal degree of the initial abnormal data, it means that after adjusting the work destination from the initial work destination to the replacement work destination, the occurrence probability of the abnormal situations can be prevented or reduced, and thus it can be determined that changing the work destination to the replacement work destination is a reasonable and more efficient solution, that is, the initial work destination can be changed to the replacement work destination. If the abnormal degree of the target abnormal data is equal to the abnormal degree of the initial abnormal data, it means that the adjustment of the work destination will not improve the abnormal situations, however, since the adjustment of the work destination can improve the transportation efficiency of the work vehicle, it can be determined that changing the work destination to the replacement work destination is also a relatively reasonable and more efficient solution, that is, the initial work destination can be changed to the replacement work destination. If the abnormal degree of the target abnormal data is greater than the abnormal degree of the initial abnormal data, it means that the adjustment of the work destination will lead to more abnormal situations, and thus the solution of changing the work destination is unreasonable, that is, the initial work destination cannot be changed to the replacement work destination.

[0055] According to the technical solutions provided by the embodiment of the present disclosure, by determining the rationality of changing the work destination based on the initial abnormal data and the target abnormal data when the target efficiency data is greater than the initial efficiency data, it is possible to more accurately determine whether the changed work destination is reasonable and more efficient, thereby improving the accuracy and reliability of the data, improving the flexibility of controlling the work vehicle, and further improving the operation efficiency of the work vehicle.

[0056] In some embodiments, determining whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure includes: if the work vehicle has driven into a preset range from an intersection, determining that the replacement work destination is unreasonable; or if it is not possible to generate a traveling route from the current position to the replacement work destination based on the current position of the work vehicle and the road topology structure, determining that the replacement work destination is unreasonable; or if an efficiency loss is greater than an efficiency difference between the target efficiency data and the initial efficiency data, determining that the replacement work destination is unreasonable, wherein the efficiency loss is caused by a presence of a U-turn traveling road section, a detour traveling road section and / or a turn-back traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure.

[0057] Specifically, when it is determined to change the initial work destination to the replacement work destination, the server can judge the rationality of the replacement work destination based on the current position of the work vehicle and the road topology structure. Conditions for judging the rationality can be designed according to actual needs, and the embodiment of the present disclosure does not limit this. In practical applications, methods for determining that the replacement work destination is unreasonable can include but not limited to the following examples.

[0058] Example 1

[0059] If the work vehicle has driven into a preset range from an intersection, that is, the current position of the work vehicle is in or near the intersection, it is uncertain whether changing the initial work destination to the replacement work destination can ensure the work vehicle to switch the traveling route to the replacement work destination in time, and thus it can be considered that changing the replacement work destination is unreasonable.

[0060] Here, the preset range can be a distance threshold set in advance according to empirical data, or a distance threshold obtained by adjusting the set distance threshold according to actual needs, which is not limited by the embodiment of the present disclosure. For example, the distance threshold can be any value from 500 meters to 2000 meters. Preferably, in the embodiment of the present disclosure, if the distance threshold is 1000 meters, the preset range can be a range with the intersection of roads as a center and 1000 meters as a radius.

[0061] The traveling route refers to a trajectory from one destination to another destination or from a starting point to a certain destination. Furthermore, a route selected from a plurality of routes can be determined as an optimal route. In the embodiment of the present disclosure, the optimal route refers to the shortest route.

[0062] Example 2

[0063] If the traveling route from the current position to the replacement work destination cannot be generated based on the current position of the work vehicle and the road topology structure, that is, a suitable traveling route from the current position to the replacement work destination cannot be found, it can be considered that changing the replacement work destination is unreasonable.

[0064] Example 3

[0065] If there are U-turn traveling road sections, detour traveling road sections and / or turn-back traveling road sections in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle may suffer additional efficiency loss due to U-turn, detour, turn-back, and the like. If the efficiency loss is greater than the efficiency difference between the target efficiency data and the initial efficiency data, it indicates that the efficiency loss is greater than the expected efficiency improvement, and thus it can be considered that changing the replacement work destination is unreasonable.

[0066] According to the technical solutions provided by the embodiment of the present disclosure, by judging the rationality of the replacement work destination, the problem that the work vehicle cannot reach the replacement work destination or the operation efficiency of the work vehicle is reduced due to unreasonable changes of the replacement work destination can be avoided.

[0067] In some embodiments, the method further includes: in response to the destination change instruction, determining, by the work vehicle, whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure; and changing, by the work vehicle, the initial work destination to the replacement work destination when it is determined that the replacement work destination is reasonable.

[0068] Specifically, considering that the communication and / or calculation delay between the management system and the work vehicle may cause the judgment of the management system to be invalid, for example, during a high-speed operation of the work vehicle, there may be a deviation between a position of the work vehicle at the time when performing calculations by the management system and a position of the work vehicle at the time when performing calculations by the vehicle system due to the delay. After receiving the destination change instruction, the work vehicle can further judge the rationality of the replacement work destination based on the current position of the work vehicle and the road topology structure to determine whether to change the initial work destination to the replacement work destination, and when it is determined that the replacement work destination is reasonable, the work vehicle can change the initial work destination to the replacement work destination. Here, the conditions forjudging the rationality can be designed according to the actual needs, and the embodiment of the present disclosure does not limit this. In practical applications, methods for determining that the replacement work destination is unreasonable can include but not limited to the following examples.

[0069] Example 1

[0070] If the traveling route from the current position to the replacement work destination cannot be generated based on the current position of the work vehicle and the road topology structure, that is, a suitable traveling route from the current position to the replacement work destination cannot be found, it can be considered that changing the replacement work destination is unreasonable.

[0071] Example 2

[0072] If there is a U-turn traveling road section (for example, a U-turn) in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle may suffer additional efficiency loss greater than the expected efficiency improvement due to the U-turn, and thus it can be considered that changing the replacement work destination is unreasonable.

[0073] Example 3

[0074] If there is a turn-back traveling road section (for example, reversing) in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle may suffer additional efficiency loss greater than the expected efficiency improvement due to the turn-back, and thus it can be considered that changing the replacement work destination is unreasonable.

[0075] Example 4

[0076] If there is a detour traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle may suffer additional efficiency loss greater than the expected efficiency improvement due to the detour, and thus it can be considered that changing the replacement work destination is unreasonable.

[0077] According to the technical solutions provided by the embodiment of the present disclosure, by performing a secondary judgment on the rationality of the replacement work destination by the work vehicle, the problem that the judgment of the management system may be invalid due to communication and / or calculation delay between the management system and the work vehicle can be avoided, thereby improving the rationality of the changed work destination, and improving the operation efficiency of the work vehicle.

[0078] In some embodiments, the method further includes: when it is determined that the replacement work destination is unreasonable, recalculating initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and redetermining an initial work destination of the work vehicle.

[0079] Specifically, in a case where the replacement work destination is determined to be unreasonable, considering that the current position of the work vehicle changes in real time, in order to ensure the accuracy of analysis results, the server needs to recalculate initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and redetermine an initial work destination of the work vehicle, that is, steps S301 to S305 as described above need to be re-executed.

[0080] All the optional technical solutions mentioned above can be combined to form the optional embodiments disclosed in the present disclosure, and will not be elaborated here. In addition, a serial number of each step in the above embodiments does not mean an order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0081] FIG. 4 is a flowchart of another method for controlling a work vehicle according to an exemplary embodiment of the present disclosure. The method for controlling the work vehicle in FIG. 4 can be performed by a server in a management system or an electronic device. As shown in FIG. 4, the method for controlling the work vehicle includes:

[0082] S401, an initial work destination of a work vehicle is obtained, and initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination is calculated, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;

[0083] S402, a replacement work destination of the work vehicle is determined, and target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination is calculated, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality;

[0084] S403, it is determined whether to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data, if yes, S404 is performed; otherwise, return to S401;

[0085] S404, it is determined whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure, if yes, S405 is performed; otherwise, return to S401;

[0086] S405, a destination change instruction is sent to the work vehicle, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination;

[0087] S406, in response to the destination change instruction, the work vehicle determines whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure, if yes, S407 is performed; otherwise, return to S401;

[0088] S407, the work vehicle changes the initial work destination to the replacement work destination;

[0089] S408, the work vehicle is controlled to travel from the current position of the work vehicle to the replacement work destination.

[0090] According to the technical solutions provided by the embodiment of the present disclosure, by determining whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; and sending the destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable to instruct the work vehicle to change the initial work destination to the replacement work destination; further, after receiving the destination change instruction, determining, by the work vehicle, whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure, and changing, by the work vehicle, the initial work destination to the replacement work destination when it is determined that the replacement work destination is reasonable, the management system and the work vehicle can determine the rationality of the replacement work destination respectively, thereby avoiding the problem that the judgment of the management system may be invalid due to communication and / or calculation delay between the management system and the work vehicle, improving the rationality of the changed work destination, and improving the operation efficiency of the work vehicle.

[0091] When each function module is obtained through division based on each corresponding function, the embodiments of the present disclosure provide an apparatus for controlling a work vehicle, which can be a server or a chip applied to the server. FIG. 5 is a schematic structural diagram of an apparatus for controlling a work vehicle according to an exemplary embodiment of the present disclosure. As shown in FIG. 5, the apparatus 500 for controlling a work vehicle includes:

[0092] an obtaining module 501 configured to obtain an initial work destination of a work vehicle, and calculate initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;

[0093] a determination module 502 configured to determine a replacement work destination of the work vehicle, and calculate target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality;

[0094] a judgment module 503 configured to determine whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data;

[0095] a sending module 504 configured to send a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and

[0096] a control module 505 configured to control the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

[0097] According to the technical solutions provided by the embodiment of the present disclosure, by obtaining an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle; determining a replacement work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality; determining whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data; sending a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; and controlling the work vehicle to travel from the current position of the work vehicle to the replacement work destination, it can be determined whether to change the work destination based on vehicle data before and after changing the work destination, and whether the changed work destination is reasonable based on the current position of the work vehicle and the road topology structure, thereby improving the rationality of the changed work destination, improving the flexibility of controlling the work vehicle, and improving the operation efficiency of the work vehicle.

[0098] In some embodiments, the initial operation data includes initial efficiency data and the target operation data includes target efficiency data, if the target efficiency data is greater than the initial efficiency data, the judgment module 503 of FIG. 5 determines to change the initial work destination to the replacement work destination.

[0099] In some embodiments, the initial operation data further includes initial abnormal data and the target operation data further includes target abnormal data, when the target efficiency data is greater than the initial efficiency data, if an abnormal degree of the target abnormal data is less than or equal to an abnormal degree of the initial abnormal data, the judgment module 503 of FIG. 5 determines to change the initial work destination to the replacement work destination.

[0100] In some embodiments, if the work vehicle has driven into a preset range from an intersection, the judgment module 503 of FIG. 5 determines that the replacement work destination is unreasonable; or if it is not possible to generate a traveling route from the current position to the replacement work destination based on the current position of the work vehicle and the road topology structure, the judgment module 503 of FIG. 5 determines that the replacement work destination is unreasonable; or if an efficiency loss is greater than an efficiency difference between the target efficiency data and the initial efficiency data, the judgment module 503 of FIG. 5 determines that the replacement work destination is unreasonable, wherein the efficiency loss is caused by a presence of a U-turn traveling road section, a detour traveling road section and / or a turn-back traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure.

[0101] In some embodiments, in response to the destination change instruction, the work vehicle determines whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure; and the work vehicle changes the initial work destination to the replacement work destination when it is determined that the replacement work destination is reasonable.

[0102] In some embodiments, if it is not possible to generate a traveling route from the current position to the replacement work destination based on the current position of the work vehicle and the road topology structure, the work vehicle determines that the replacement work destination is unreasonable; or if there is a U-turn traveling road section in the traveling route from the current position to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle determines that the replacement work destination is unreasonable; or if there is a turn-back traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, the work vehicle determines that the replacement work destination is unreasonable.

[0103] In some embodiments, the method further includes a calculation module 506, wherein when it is determined that the replacement work destination is unreasonable, the calculation module 506 of FIG. 5 is configured to recalculate initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and the determination module 502 of FIG. 5 redetermines an initial work destination of the work vehicle.

[0104] For an implementation process of functions and roles of each module in the apparatus, refer to an implementation process of a corresponding step in the previous method. Details are not described here again.

[0105] The embodiments of the present disclosure further provide an electronic device, including: at least one processor; and a memory for storing instructions executable by the at least one processor, wherein the at least one processor is configured to execute the instructions to implement the above method for controlling the work vehicle disclosed in the embodiments of the present disclosure.

[0106] FIG. 6 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in FIG. 6, the electronic device 600 includes at least one processor 601 and a memory 602 coupled to the processor 601, and the processor 601 can execute corresponding steps in the above method disclosed in the embodiment of the present disclosure.

[0107] The processor 601 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip with signal processing capabilities. The respective steps in the foregoing method disclosed in the embodiment of the present disclosure can be completed by using an integrated logic circuit of hardware in the processor 601 or an instruction in a form of software. The foregoing processor 601 can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or another programmable logic device, a discrete gate or a transistor logic device, or a discrete hardware component. The general purpose processor can be a microprocessor or the processor can be any conventional processor or the like. The steps in the methods disclosed with reference to the embodiments of the present disclosure can be directly embodied as to be executed and completed by a hardware decoding processor or to be executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in the memory 602 in the art, for example, a RAM, a flash memory, a ROM, a programmable ROM, an electrically-erasable programmable memory, a register, or the like. The processor 601 reads information in the memory 602, and completes the steps in the foregoing methods in combination with hardware thereof.

[0108] In addition, various operations / processing according to the present disclosure, when implemented by software and / or firmware, can install a program constituting the software from a storage medium or a network to a computer system with a dedicated hardware structure, for example, a computer system 700 shown in FIG. 7, which, when having various programs installed thereon, can perform various functions, including functions described above. FIG. 7 is a schematic structural diagram of a computer system according to an exemplary embodiment of the present disclosure.

[0109] The computer system 700 is intended to represent various forms of digital electronic computer devices such as a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The computer system 700 can further represent various forms of mobile apparatuses such as a personal digital assistant, a cellular phone, a smartphone, a wearable device, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0110] As shown in FIG. 7, the computer system 700 includes a computing unit 701, which can perform various appropriate actions and processing according to a computer program stored in a read only memory (ROM) 702 or a computer program loaded from a storage unit 708 to a random access memory (RAM) 703. The RAM 703 can further store various programs and data required for the operation of the computer system 700. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0111] Multiple components in the computer system 700 are connected to the I / O interface 705, including: an input unit 706, an output unit 707, the storage unit 708, and a communication unit 709. The input unit 706 can be any type of device capable of entering information to the computer system 700. The input unit 706 can receive entered digit or character information, and generate a key signal input related to user settings and / or function control of the electronic device. The output unit 707 can be any type of device capable of presenting information, and can include but not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 708 can include but not limited to a magnetic disk and an optical disc. The communication unit 709 allows the computer system 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunications networks, and can include but not limited to a modem, a network interface card, an infrared communication device, a wireless communication transceiver and / or a chipset, for example, a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0112] The computing unit 701 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include but not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The computing unit 701 performs the various methods and processing described above. For example, in some embodiments, the above method disclosed in the embodiments of the present disclosure can be implemented as a computer software program, which is tangibly contained in a machine readable medium such as the storage unit 708. In some embodiments, a part or all of the computer programs can be loaded and / or installed onto the computer system 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 can be configured, by any other suitable means (for example, by means of firmware), to perform the above method disclosed in the embodiments of the present disclosure.

[0113] The embodiment of the present disclosure further provide a computer readable storage medium, wherein instructions in the computer readable storage medium, when executed by a processor of an electronic device, causing the electronic device to perform the above method disclosed in the embodiments of the present disclosure.

[0114] The computer readable storage medium in the embodiment of the present disclosure can be a tangible medium, which can contain or store programs that can be used by or in combination with instruction execution systems, apparatuses, or devices. The above computer readable storage medium can include but not limited to electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices; or any suitable combination of the above. More specifically, the above computer readable storage medium can include one or more wire-based electrical connections, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a convenient compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0115] The above computer readable storage medium can be included in the above electronic device, or can also be separate and not assembled into the electronic device.

[0116] The embodiment of the present disclosure further provide a computer program product including a computer program, wherein the computer program, when executed by a processor, causing the processor to implement the above method disclosed in the embodiments of the present disclosure.

[0117] In the embodiment of the present disclosure, computer program codes for performing operations of the present disclosure can be written in one or more programming languages or any combination thereof, the programming language including but not limited to an object-oriented programming language such as Java, Smalltalk, C++, also including a conventional procedural programming language such as a “C” programming language or a similar programming language. The program codes can be executed entirely on a user’s computer, partly on the user’s computer, as a stand-alone software package, partly on the user’s computer and partly on a remote computer, or entirely on the remote computer or server. In a scenario where the remote computer is involved, the remote computer can be connected to the user’s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer.

[0118] Flowcharts and block diagrams in the drawings illustrate the possible architecture, functions, and operations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagram or block diagram can represent one module, program segment, or portion of code, which includes one or more executable instructions for implementing specified logical functions. It should also be noted that, in some alternative implementations, the functions noted in the blocks can also occur in a different order from the order noted in the drawings. For example, two blocks shown in succession can, in fact, be executed substantially in parallel, or they can sometimes be executed in the reverse order, which depends upon the functions involved. It will also be noted that each block in the block diagrams and / or flowcharts, and a combination of the blocks in the block diagrams and / or flowcharts, can be implemented by a special-purpose hardware-based system that performs the specified functions or operations, or a combination of special-purpose hardware and computer instructions.

[0119] The modules, components, or units described in the embodiments of the present disclosure can be implemented by software or hardware. A name of a module, component, or unit does not constitute a qualification for the module, component, or unit itself in a certain situation.

[0120] The functions described above herein can be at least partially executed by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that can be used include a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), a system on chip (SOC), a complex programmable logic device (CPLD), and the like.

[0121] The above description is only some of the embodiments of the present disclosure and an explanation of applied technical principles. It should be appreciated by those skilled in the art that the disclosure scope involved in the present disclosure is not limited to a technical solution formed by a specific combination of the above features, but also encompasses another technical solution formed by an arbitrary combination of the above features or their equivalent features without departing from the above disclosure concepts. For example, it is a technical solution formed by replacing the above features with technical features having functions similar to the disclosed (but not limited to) in the present disclosure.

[0122] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be appreciated by those skilled in the art that modifications can be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the attached claims.

Claims

1. A method for controlling a work vehicle, comprising:obtaining an initial work destination of a work vehicle, and calculating initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;determining a replacement work destination of the work vehicle, and calculating target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality;determining whether the replacement work destination is reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data;sending a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; andcontrolling the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

2. The method according to claim 1, wherein the initial operation data comprises initial efficiency data and the target operation data comprises target efficiency data, determining to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data comprises:if the target efficiency data is greater than the initial efficiency data, determining to change the initial work destination to the replacement work destination.

3. The method according to claim 2, wherein the initial operation data further comprises initial abnormal data and the target operation data further comprises target abnormal data, determining to change the initial work destination to the replacement work destination based 25on the initial operation data and the target operation data comprises:when the target efficiency data is greater than the initial efficiency data, if an abnormal degree of the target abnormal data is less than or equal to an abnormal degree of the initial abnormal data, determining to change the initial work destination to the replacement work destination.

4. The method according to claim 2, wherein determining whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure comprises:if the work vehicle has driven into a preset range from an intersection, determining that the replacement work destination is unreasonable; orif it is not possible to generate a traveling route from the current position to the replacement work destination based on the current position of the work vehicle and the road topology structure, determining that the replacement work destination is unreasonable; orif an efficiency loss is greater than an efficiency difference between the target efficiency data and the initial efficiency data, determining that the replacement work destination is unreasonable, wherein the efficiency loss is caused by a presence of a U-turn traveling road section, a detour traveling road section and / or a turn-back traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure.

5. The method according to claim 1, wherein the method further comprises:in response to the destination change instruction, determining, by the work vehicle, whether the replacement work destination is reasonable based on the current position of the work vehicle and the road topology structure; andchanging, by the work vehicle, the initial work destination to the replacement work destination when it is determined that the replacement work destination is reasonable.

6. The method according to claim 5, wherein determining, by the work vehicle, whether the replacement work destination is reasonable based on the current position of the workif it is not possible to generate a traveling route from the current position to the replacement work destination based on the current position of the work vehicle and the road topology structure, determining, by the work vehicle, that the replacement work destination is unreasonable; orif there is a U-turn traveling road section in the traveling route from the current position to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, determining, by the work vehicle, that the replacement work destination is unreasonable; orif there is a turn-back traveling road section in the traveling route from the current position of the work vehicle to the replacement work destination generated based on the current position of the work vehicle and the road topology structure, determining, by the work vehicle, that the replacement work destination is unreasonable.

7. The method according to any one of claims 1 to 6, wherein the method further comprises:when it is determined that the replacement work destination is unreasonable, recalculating initial operation data of the work vehicle traveling from the current position of the work vehicle to the initial work destination, and redetermining an initial work destination of the work vehicle.

8. An apparatus for controlling a work vehicle, comprising:an obtaining module configured to obtain an initial work destination of a work vehicle, and calculate initial operation data of the work vehicle traveling from a current position of the work vehicle to the initial work destination, wherein the work vehicle is an autonomous vehicle or an unmanned vehicle;a determination module configured to determine a replacement work destination of the work vehicle, and calculate target operation data of the work vehicle traveling from the current position of the work vehicle to the replacement work destination, wherein the replacement work destination is obtained by a management system periodically triggering or triggering to change the work destination based on an abnormality;a judgment module configured to determine whether the replacement work destination is27reasonable based on the current position of the work vehicle and a road topology structure when it is determined to change the initial work destination to the replacement work destination based on the initial operation data and the target operation data;a sending module configured to send a destination change instruction to the work vehicle when it is determined that the replacement work destination is reasonable, wherein the destination change instruction is used to instruct the work vehicle to change the initial work destination to the replacement work destination; anda control module configured to control the work vehicle to travel from the current position of the work vehicle to the replacement work destination.

9. An electronic device, comprising:at least one processor; anda memory for storing executable instructions of the at least one processor,wherein the at least one processor is used to execute the executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer readable storage medium, wherein instructions in the computer readable storage medium, when executed by a processor of an electronic device, causing the electronic device to execute the method according to any one of claims 1 to 7.

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