Vehicle control method, device, system, equipment and medium

Abstract

The present disclosure relates to the field of unmanned driving technology, and in particular to a vehicle control method, device, system, equipment and medium. The vehicle control method is applied to a vehicle, comprising: when a preset planned route sent by a server is obtained, controlling the vehicle to travel along the preset planned route, wherein the preset planned route includes a starting point and one or more target sites; when the vehicle is parked at the target site, determining whether a preset authorization trigger condition is met; if the preset authorization trigger condition is met, enabling the authorization verification function based on the preset authorization verification rule. Through the technical solution of the present disclosure, there is no need for a safety officer to accompany the vehicle throughout the entire process, which saves manpower, avoids the use of software based on a tablet computer in the vehicle, and reduces costs.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a vehicle control method, device, system, equipment, and medium. Background Art

[0002] Currently, when operating an autonomous electric tractor (AET) in a logistics system, on-site personnel first load the vehicle with goods. The onboard safety officer then plans the route and starts the vehicle using the vehicle's human-machine interface (HMI). The AET then drives to the destination along the planned route. During the journey, the vehicle may need to stop at multiple stations, such as for loading and unloading. At these times, the safety officer uses the onboard HMI to control the vehicle to pause. After completing the required operations, the safety officer needs to start the vehicle again using the HMI, and this cycle continues until the vehicle reaches the destination. During this process, the safety officer must remain within the AET, and the operation is cumbersome. Furthermore, the onboard HMI is essentially software that requires a tablet computer to run. Both the tablet computer and the software incur significant costs, including computer procurement and software development. Software development and updates also require significant manpower, resulting in significant labor costs. Summary of the Invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a vehicle control method, device, system, equipment and medium, which does not require a safety officer to accompany the vehicle throughout the journey, saves manpower, avoids the use of software based on tablet computers in the vehicle, and reduces costs.

[0004] In a first aspect, an embodiment of the present disclosure provides a vehicle control method, applied to a vehicle, comprising:

[0005] When a preset planned route sent by the server is obtained, the vehicle is controlled to travel along the preset planned route, wherein the preset planned route includes a starting point and one or more target sites;

[0006] When the vehicle automatically stops at the target station, determining whether a preset authorization trigger condition is met;

[0007] If the preset authorization trigger condition is met, the authorization verification function is enabled based on the preset authorization verification rules;

[0008] The driving state of the vehicle is controlled based on the authorization verification result.

[0009] Optionally, the preset authorization triggering condition includes:

[0010] The vehicle has no faults and the destination station is not a terminal.

[0011] Optionally, enable the authorization verification function based on preset authorization verification rules, including:

[0012] Enable the card swiping authorization verification function;

[0013] After determining that the card swiping authorization verification is passed based on the first verification information, enabling the biometric feature recognition verification function;

[0014] After determining that the biometric feature recognition verification is passed based on the second verification information, the vehicle startup authorization verification function is enabled.

[0015] Optionally, the vehicle control method further includes:

[0016] When the preset authorization triggering condition is not met or the vehicle is moving, turning off the authorization verification function; and / or,

[0017] After any one of the card swiping authorization verification, biometric identification verification, and vehicle start authorization verification is passed, the authorization verification function that has passed the verification is closed.

[0018] Optionally, the vehicle control method further includes:

[0019] When the first verification information is not received within the first preset time threshold of the card swiping authorization verification, or the second verification information is not received within the second preset time threshold of the biometric identification verification, or the third verification information is not received within the third preset time threshold of the vehicle startup authorization verification, return to executing the authorization verification function based on the preset authorization verification rules.

[0020] Optionally, controlling the driving state of the vehicle based on the authorization verification result includes:

[0021] If the authorization verification is passed, the vehicle is started and controlled to continue traveling along the preset planned route to the next target site; otherwise, the vehicle remains parked.

[0022] Optionally, the vehicle control method further comprises: determining whether authorization verification is passed;

[0023] Determining whether authorization verification is passed includes:

[0024] If all of the following conditions are met, the authorization verification succeeds; otherwise, the authorization verification fails:

[0025] Determining that the card swiping authorization verification is passed based on the first verification information;

[0026] Determining that the biometric feature verification is passed based on the second verification information;

[0027] It is determined based on the third verification information that the vehicle startup authorization verification is passed.

[0028] In a second aspect, an embodiment of the present disclosure provides a vehicle control device, comprising:

[0029] A first control module is configured to control the vehicle to travel along a preset planned route when a preset planned route sent by the server is obtained, wherein the preset planned route includes a starting point and one or more target sites;

[0030] An authorization trigger condition judgment module is used to judge whether a preset authorization trigger condition is met when the vehicle automatically stops at the target station;

[0031] An authorization verification function activation module is used to activate the authorization verification function based on the preset authorization verification rules if the preset authorization trigger condition is met;

[0032] The second control module is used to control the driving state of the vehicle based on the authorization verification result.

[0033] In a third aspect, an embodiment of the present disclosure provides a vehicle control system, including a server and one or more vehicles, wherein the server is communicatively connected to the one or more vehicles;

[0034] The server is configured to: configure one or more target sites and a preset planned route; set the preset planned route for the one or more vehicles, and send the preset planned route to the one or more vehicles, wherein the preset planned route includes the one or more target sites;

[0035] The vehicle is used to: when obtaining the preset planned route sent by the server, control the vehicle to travel along the preset planned route; when the vehicle automatically stops at the target site, determine whether the preset authorization trigger condition is met; if the preset authorization trigger condition is met, start the authorization verification function based on the preset authorization verification rule; and control the driving status of the vehicle based on the authorization verification result.

[0036] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:

[0037] memory and one or more processors;

[0038] In which, the memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the vehicle control method provided by any embodiment of the present disclosure.

[0039] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium on which computer-executable instructions are stored. When the computer-executable instructions are executed by a computing device, they can be used to implement the vehicle control method provided by any embodiment of the present disclosure.

[0040] The vehicle control method provided by the embodiment of the present disclosure controls the vehicle to travel along the preset planned route when the preset planned route sent by the server is obtained, wherein the preset planned route includes a starting point and one or more target stations; when the vehicle automatically stops at the target station, it is determined whether the preset authorization trigger condition is met; if the preset authorization trigger condition is met, the authorization verification function is enabled based on the preset authorization verification rule; and the driving state of the vehicle is controlled based on the authorization verification result. Therefore, the embodiment of the present disclosure configures the preset planned route on the server, sets the preset planned route for the vehicle and sends the preset planned route to the vehicle. When the vehicle obtains the preset planned route, the vehicle is controlled to travel along the preset planned route and automatically stops when it arrives at the target station. There is no need for a safety officer to accompany the vehicle throughout the entire process, which saves manpower and avoids the vehicle using software based on a tablet computer, which both consumes a considerable cost, thereby reducing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 A schematic flow chart of a vehicle control method provided in an embodiment of the present disclosure;

[0044] Figure 2 A schematic structural diagram of a vehicle control system provided by an embodiment of the present disclosure;

[0045] Figure 3 A schematic diagram of a remote management platform configuration site provided in an embodiment of the present disclosure;

[0046] Figure 4 A schematic diagram of a remote management platform configuration route provided in an embodiment of the present disclosure;

[0047] Figure 5 A schematic diagram of a remote management platform providing a preset planned route for a vehicle according to an embodiment of the present disclosure;

[0048] Figure 6 A schematic diagram of a preset authorization verification rule provided in an embodiment of the present disclosure;

[0049] Figure 7 A matrix diagram showing the availability status of various authorization verification functions in different scenarios provided by an embodiment of the present disclosure;

[0050] Figure 8 A schematic structural diagram of a vehicle control device provided in an embodiment of the present disclosure;

[0051] Figure 9 The present invention provides a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present invention. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0054] Figure 1 This is a flow chart of a vehicle control method provided by an embodiment of the present disclosure. The vehicle control method can be executed by a vehicle control device provided by an embodiment of the present disclosure, and the vehicle control device can be implemented in software and / or hardware. Figure 1 As shown, the vehicle control method includes the following steps:

[0055] S101. When a preset planned route sent by a server is obtained, a vehicle is controlled to travel along the preset planned route, wherein the preset planned route includes a starting point and one or more target sites.

[0056] Figure 2 This is a schematic diagram of the structure of a vehicle control system provided by an embodiment of the present disclosure. Figure 2 As shown, the vehicle control system includes a server 10 and one or more vehicles 20, and the server 10 is in communication connection with the one or more vehicles 20. Figure 2 Two vehicles 20 are shown as an example.

[0057] Figure 3 A schematic diagram of a remote management platform configuration site provided in an embodiment of the present disclosure is provided. Figure 4 A schematic diagram of a remote management platform configuration route provided in an embodiment of the present disclosure. Figure 5 A schematic diagram of a remote management platform provided in an embodiment of the present disclosure for setting a preset planned route for a vehicle. Specifically, the administrator configures the target site and route on the server 10 (such as the remote management platform), and can configure one or more target sites. The route can set a starting point and pass through the target site, that is, a stop site. The server 10 configures the preset planned route based on the target site and the route. Furthermore, the administrator sets a preset planned route for the vehicle 20 on the monitoring page of the remote management platform. As a result, the server 10 sends the preset planned route to the vehicle 20, and the vehicle 20 controls itself to travel along the preset planned route based on the received preset planned route. It should be noted that the preset planned route can include one or more target sites.

[0058] S102: When the vehicle automatically stops at the target station, it is determined whether a preset authorization triggering condition is satisfied. The preset authorization triggering condition is used to determine whether the authorization verification function can be enabled.

[0059] Specifically, when the vehicle reaches the target site, it automatically stops at the target site and determines whether the vehicle meets the preset authorization trigger conditions.

[0060] Optionally, when the vehicle is docked at a target station, if the vehicle is fault-free and the target station is not a terminal, the preset authorization trigger condition is determined to be satisfied. Exemplarily, when the vehicle is docked at the target station, a fault detection unit detects faults in various components of the vehicle and various modules in the intelligent driving system. For example, a fault in a sensor group installed on the vehicle can be detected; another example is a fault in a functional module of the intelligent driving system, such as the perception module, planning module, and control module. In some embodiments, the fault detection unit can detect faults by monitoring the heartbeat of each module or component, as well as information such as the operating status and data reported by each module or component, to determine whether each module or component has failed, thereby determining whether the vehicle has failed. Simultaneously, the vehicle determines whether there is a next target station based on the preset planned route. If there is a next target station, then the vehicle's target station is not a terminal. Otherwise, the vehicle's target station is a terminal. Thus, if the vehicle is determined to be fault-free and the target station is not a terminal, the preset authorization trigger condition is determined to be satisfied. If the vehicle is determined to be faulty and / or the target station is a terminal, the preset authorization trigger condition is determined to be unsatisfied.

[0061] S103: If the preset authorization triggering condition is met, the authorization verification function is enabled based on the preset authorization verification rule.

[0062] At present, in order to enhance the safety of driverless vehicles, the safety officer is required to authorize by swiping the NFC card in all vehicle operations such as selecting a site, planning a route, starting the vehicle, pausing the vehicle, continuing to drive and exiting the trip. However, this authorization method is prone to proxy swiping, which is not secure enough. In particular, when an unknown person obtains the card lost by the safety officer, the consequences will be difficult to estimate. Therefore, the disclosed embodiment increases the authorization verification means and enhances the authorization method through multiple authorization verifications, which can avoid the situation where an unknown person swipes the card to obtain authorization due to card loss, thereby improving security. In some embodiments, the authorization verification function is enabled based on preset authorization verification rules, including: enabling the card swiping authorization verification function; enabling the biometric identification verification function after determining that the card swiping authorization verification has passed based on the first verification information; enabling the vehicle start authorization verification function after determining that the biometric identification verification has passed based on the second verification information. The vehicle start authorization verification function is used to verify whether to start the vehicle.

[0063] Specifically, Figure 6 A schematic diagram of a preset authorization verification rule provided in an embodiment of the present disclosure, such as Figure 6 As shown, when the vehicle arrives at the target site and stops automatically, based on S102, when it is determined that the vehicle meets the preset authorization trigger conditions, the vehicle first turns on the card swiping authorization verification function. After the vehicle completes the task (such as loading and unloading goods) at the current target site, the on-site operator uses the card reader on the vehicle to swipe the card and enter the first verification information. The vehicle reads the first verification information through the card reader and verifies the first verification information. After the verification is successful, the vehicle sends an indication message, which can be set as a voice prompt or a light prompt to remind the on-site operator that the first verification information has been verified. Furthermore, the vehicle turns on the biometric recognition verification function, and the biometric recognition can be set to include face recognition. Identification and / or fingerprint recognition, such as starting the camera to capture facial information or the vehicle displays a fingerprint input port, the on-site operator enters the corresponding biometric identification verification information, that is, the second verification information. After the verification is successful, the vehicle can issue the same instruction information to remind the on-site operator that the second verification information has been verified. Furthermore, the vehicle turns on the vehicle start authorization verification function, and a start button can be set to implement the vehicle start authorization verification. For example, the start button is a physical button on the vehicle, or a virtual button on the HMI, or a virtual button on the remote management platform. After the on-site operator or remote administrator presses the start button, the vehicle starts and goes to the next target site along the preset planned path.

[0064] It should be noted that the preset authorization verification rules of the embodiment of the present disclosure may not be limited to the above-mentioned authorization verification sequence and authorization verification method.

[0065] Optionally, the vehicle control method also includes: turning off the authorization verification function when the preset authorization trigger conditions are not met or the vehicle is driving; and / or, turning off the authorization verification function that has passed the verification after any one of the card swiping authorization verification, biometric recognition verification and vehicle start authorization verification is passed.

[0066] Specifically, when a vehicle breaks down, or when the vehicle is parked at a terminal, or when the vehicle is driving, the authorization verification function is turned off, that is, the authorization verification function is not turned on.

[0067] Based on the above embodiment, when the authorization verification function is turned on, the card swipe authorization verification function is turned off after the card swipe authorization verification passes; when the biometric identification verification passes, the biometric identification verification function continues to be turned off; when the vehicle start authorization verification passes, the vehicle start authorization verification function continues to be turned off. In this way, turning off the authorization verification function when a vehicle malfunctions can prevent the vehicle from driving with the malfunction and improve vehicle driving safety; turning off the authorization verification function when the vehicle is parked at a terminal can avoid unnecessary power consumption of the authorization verification device and prevent the vehicle from starting without reason; turning off the authorization verification function while the vehicle is driving can avoid unnecessary power consumption of the authorization verification device; turning off the authorized verification function that has passed verification can avoid unnecessary power consumption of the authorization verification device and prevent erroneous operation of the authorization verification device corresponding to the authorized verification function that has passed verification.

[0068] In some embodiments, the vehicle control method further includes: if the first verification information is not received within a first preset time threshold for the card swipe authorization verification, or if the second verification information is not received within a second preset time threshold for the biometric identification verification, or if the third verification information is not received within a third preset time threshold for the vehicle start authorization verification, returning to executing the authorization verification function based on the preset authorization verification rules. In this way, when any of the card swipe authorization verification, biometric identification verification, and vehicle start authorization verification times out, the system returns to the card swipe authorization verification for re-verification, thereby improving the security of the authorization verification.

[0069] Specifically, a first preset time threshold is set for the card swiping authorization verification. If the first verification information is not received within the first preset time threshold, a first timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the card swiping authorization verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. A second preset time threshold is set for the biometric identification verification. If the second verification information is not received within the second preset time threshold, a second timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the biometric identification verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. A third preset time threshold is set for the vehicle startup authorization verification. If the third verification information is not received within the third preset time threshold, a third timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the vehicle startup authorization verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. It should be noted that different timeout reminder messages can be set for card swiping authorization verification timeout, biometric recognition verification timeout and vehicle start authorization verification timeout, such as different colors or flashing methods of the button light and different reminder messages issued by the horn.

[0070] In some embodiments, when any of the card swipe authorization verification, biometric identification verification, and vehicle start authorization verification times out, a camera can be activated to detect whether there are authorized on-site operators nearby. If an authorized on-site operator is detected, a timeout reminder message is issued; if no authorized on-site operator is detected, an alarm message is sent to the server, which notifies the on-site operator to perform authorization verification as soon as possible.

[0071] S104: Control the driving state of the vehicle based on the authorization verification result.

[0072] Optionally, refer to Figure 6 , controlling the driving state of the vehicle based on the authorization verification result, including: if the authorization verification is passed, starting the vehicle and controlling the vehicle to continue driving along the preset planned route to the next target station; otherwise, maintaining the parking state.

[0073] Specifically, according to the authorization verification result of S103, the driving state of the vehicle is controlled. If the vehicle authorization verification is passed, the vehicle is started and controlled to continue driving along the preset planned route to the next target station; if the vehicle authorization verification is not passed, the vehicle remains in the parked state.

[0074] It should be noted that if the vehicle deviates from the geographical range of the target site when starting the vehicle, the vehicle can automatically drive into the geographical range of the target site.

[0075] Exemplarily, the card swiping authorization verification is determined to be passed based on the first verification information, the biometric identification verification is determined to be passed based on the second verification information, and the vehicle startup authorization verification is determined to be passed based on the third verification information. If the above-mentioned card swiping authorization verification, biometric identification verification and vehicle startup authorization verification are passed, it can be determined that the vehicle authorization verification is passed; if any one of the above-mentioned card swiping authorization verification, biometric identification verification and vehicle startup authorization verification fails, it can be determined that the vehicle authorization verification fails.

[0076] Based on the above embodiments, in a specific embodiment of the present disclosure, Figure 7 A matrix diagram showing the availability status of each authorization verification function in different scenarios is shown. Figure 7 "×" means unavailable, that is, the corresponding authorization verification function is closed, "√" means available, that is, the corresponding authorization verification function is opened. The authorization verification equipment includes a card reader (for card swiping authorization verification), a face recognition device and / or a fingerprint recognition device (for biometric recognition verification) and a button (for vehicle start authorization verification). Figure 6 and Figure 7When the vehicle is in motion, when the target stop is the terminal (i.e., there is no next stop), or when the vehicle is faulty, the card swiping authorization verification function, the biometric identification verification function, and the vehicle start authorization verification function are disabled. Accordingly, the card reader, face recognition and / or fingerprint recognition device, and the button are all unavailable. When the vehicle is in motion, the button light is off and the horn is silent. When there is no next stop, the button light is on continuously and the horn issues a vehicle arrival reminder message. When the vehicle is faulty, the button light is on continuously and the horn issues a fault reminder message. The button light may have different lighting colors for no next stop and vehicle faults. When the vehicle stops at the target stop and the target stop is not the terminal (i.e., there is a next stop), the card swiping authorization verification function is enabled, the biometric identification verification function, and the vehicle start authorization verification function are disabled. Accordingly, the card reader is available, and the face recognition and / or fingerprint recognition device, as well as the button, are all unavailable. At this time, the button light is on continuously and the horn issues a vehicle arrival reminder message. During the authorization verification process, if the card swiping authorization verification times out, it returns to the switch state of each authorization verification function when there is the next stop, and the card swiping authorization verification is performed again. At this time, the button light flashes, and the horn issues a timeout reminder; if the card swiping authorization verification fails, the card swiping authorization verification is performed again. At this time, the button light flashes, and the horn issues a verification failure reminder; if the card swiping authorization verification is successful, the biometric recognition verification function is turned on, and the card swiping authorization verification function and the vehicle start authorization verification function are turned off. Accordingly, the face recognition device and / or fingerprint recognition device are available, and the card reader and button are unavailable. At this time, the button light flashes, and the horn issues a success reminder message; afterwards, if the biometric recognition verification times out, it returns to the switch state of each authorization verification function when there is the next stop, and the card swiping authorization verification is performed again. At this time, the button light flashes, and the horn issues a timeout reminder; if the biometric recognition verification fails, it is re-performed. Perform biometric identification verification. At this time, the button light flashes and the horn issues a verification failure reminder; if the biometric identification verification is successful, the vehicle startup authorization verification function is turned on, the card swiping authorization verification function and the biometric identification verification function are turned off, and accordingly, the button is available, the card reader and the face recognition device and / or fingerprint recognition device are not available. At this time, the button light flashes and the horn issues a success reminder message; afterwards, if the vehicle startup authorization verification times out, it returns to the switch state of each authorization verification function when there is the next stop, and the card swiping authorization verification is performed again. At this time, the button light flashes and the horn issues a timeout reminder; if the vehicle startup authorization verification is successful, the card swiping authorization verification function, the biometric identification verification function and the vehicle startup authorization verification function are all turned off. Accordingly, the card reader, face recognition device and / or fingerprint recognition device and the button are not available. At this time, the button light is off and the horn issues a success reminder message.

[0077] Therefore, a vehicle control method provided by an embodiment of the present disclosure configures a preset planned route on the server side, sets a preset planned route for the vehicle and sends the preset planned route to the vehicle. When the vehicle obtains the preset planned route, the vehicle is controlled to travel along the preset planned route and automatically stops when it reaches the target station. There is no need for a security officer to accompany the vehicle throughout the entire process, which saves manpower and avoids the use of software based on a tablet computer as a carrier for the vehicle. Both the tablet computer and the software will consume a considerable cost, thereby reducing cost. In addition, the embodiment of the present disclosure sets preset authorization verification rules, and the preset authorization verification rules include card swiping authorization verification, biometric recognition verification and vehicle startup authorization verification, thereby increasing authorization verification means and enhancing the authorization method. It can avoid the situation where an unknown person swipes the card to obtain authorization due to card loss, thereby improving security.

[0078] The embodiment of the present disclosure also provides a vehicle control system. Figure 2 A schematic diagram of a vehicle control system provided for the implementation of the present disclosure is shown in FIG. Figure 2 As shown, the vehicle control system includes a server 10 and one or more vehicles 20. Figure 2 Two vehicles 20 are shown as an example, and the service end 10 is communicatively connected with one or more vehicles 20 .

[0079] The server 10 is used to: configure one or more target sites and a preset planned route; set a preset planned route for one or more vehicles 20, and send the preset planned route to one or more vehicles 20, wherein the preset planned route includes one or more target sites.

[0080] Vehicle 20 is used to: when obtaining the preset planned route sent by the server 10, control vehicle 20 to travel along the preset planned route; when vehicle 20 automatically stops at the target site, determine whether the preset authorization trigger condition is met; if the preset authorization trigger condition is met, start the authorization verification function based on the preset authorization verification rules; and control the driving status of vehicle 20 based on the authorization verification result.

[0081] Specifically, if Figure 2 As shown, an administrator configures a preset planned route on server 10, sets the preset planned route for vehicle 20, and sends the preset planned route to vehicle 20. The preset planned route includes a starting point and one or more destination stations. When vehicle 20 obtains the preset planned route sent by server 10, it is controlled to drive along the preset planned route. When vehicle 20 reaches the destination station, it is controlled to automatically stop at the destination station.

[0082] Based on the above embodiment, when the vehicle automatically stops at the target station, it is determined whether the preset authorization trigger condition is satisfied. Specifically, if the vehicle determines that the vehicle is not faulty and the target station is not the terminal, the preset authorization trigger condition is determined to be satisfied. If the vehicle determines that the vehicle is faulty and / or the target station is the terminal, the preset authorization trigger condition is determined not to be satisfied.

[0083] Optionally, if a preset authorization trigger condition is met, the vehicle activates an authorization verification function based on preset authorization verification rules. In some embodiments, the vehicle activates a card swipe authorization verification function, and after determining that the card swipe authorization verification has passed based on the first verification information, activates a biometric recognition verification function. After determining that the biometric recognition verification has passed based on the second verification information, activates a vehicle start authorization verification function.

[0084] Specifically, when the vehicle automatically stops at the target site and determines that the vehicle meets the preset authorization trigger conditions, the vehicle first turns on the card swiping authorization verification function. After the vehicle completes the task (such as loading and unloading goods) at the current target site, the on-site operator uses the card reader on the vehicle body to swipe the card to enter the first verification information. The vehicle reads the first verification information through the card reader and verifies the first verification information. After the verification is successful, the vehicle sends an indication message, which can be set as a voice prompt or a light prompt to remind the on-site operator that the first verification information has been verified. Furthermore, the vehicle turns on the biometric recognition verification function, and the biometric recognition can be set to include face recognition and / or Or fingerprint recognition, for example, starting the camera to capture facial information or the vehicle displays a fingerprint input port, the on-site operator enters the corresponding biometric recognition verification information, that is, the second verification information. After the verification is successful, the vehicle can issue the same instruction information to remind the on-site operator that the second verification information has been verified. Furthermore, the vehicle turns on the vehicle start authorization verification function, and a start button can be set to implement the vehicle start authorization verification. For example, the start button is a physical button on the vehicle, or a virtual button on the HMI, or a virtual button on the remote management platform. After the on-site operator or remote administrator presses the start button, the vehicle starts and goes to the next target site along the preset planned path.

[0085] In some embodiments, when the preset authorization trigger conditions are not met or the vehicle is driving, the vehicle turns off the authorization verification function; and / or, after any one of the card swiping authorization verification, biometric recognition verification and vehicle start authorization verification is passed, the vehicle turns off the verified authorization verification function.

[0086] Specifically, when a vehicle breaks down, or when the vehicle is parked at a terminal, or when the vehicle is driving, the vehicle turns off the authorization verification function, that is, does not turn on the authorization verification function.

[0087] Based on the above embodiment, when the vehicle's authorization verification function is enabled, the card swipe authorization verification function is disabled after the card swipe authorization verification passes. When the biometric identification verification passes, the biometric identification verification function continues to be disabled. When the vehicle startup authorization verification passes, the vehicle startup authorization verification function continues to be disabled. In this way, disabling the authorization verification function when a vehicle malfunctions can prevent the vehicle from driving with the malfunction, thereby improving vehicle driving safety. Disabling the authorization verification function when the vehicle is parked at a terminal can avoid unnecessary power consumption of the authorization verification device and prevent the vehicle from starting without reason. Disabling the authorization verification function while the vehicle is driving can avoid unnecessary power consumption of the authorization verification device. Disabling the authorized verification function that has passed verification can avoid unnecessary power consumption of the authorization verification device and prevent erroneous operation of the authorization verification device corresponding to the authorized verification function that has passed verification.

[0088] In some embodiments, if the first verification message is not received within the first preset time threshold for card swipe authorization verification, or the second verification message is not received within the second preset time threshold for biometric identification verification, or the third verification message is not received within the third preset time threshold for vehicle start authorization verification, the vehicle returns to executing the authorization verification function based on the preset authorization verification rules. In this way, if any of the card swipe authorization verification, biometric identification verification, and vehicle start authorization verification times out, the vehicle returns to the card swipe authorization verification for re-verification, thereby improving the security of authorization verification.

[0089] Specifically, a first preset time threshold is set for the card swiping authorization verification. If the vehicle does not receive the first verification information within the first preset time threshold, a first timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the card swiping authorization verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. A second preset time threshold is set for the biometric identification verification. If the vehicle does not receive the second verification information within the second preset time threshold, a second timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the biometric identification verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. A third preset time threshold is set for the vehicle startup authorization verification. If the vehicle does not receive the third verification information within the third preset time threshold, a third timeout reminder message will be issued, such as a flashing button light and / or a horn honking, to remind the on-site operator that the vehicle startup authorization verification has timed out, so that the on-site operator can re-perform the card swiping authorization verification. It should be noted that different timeout reminder messages can be set for card swiping authorization verification timeout, biometric recognition verification timeout and vehicle start authorization verification timeout, such as different colors or flashing methods of the button light and different reminder messages issued by the horn.

[0090] In some embodiments, if any of the following verification steps (card swipe authorization, biometric identification, or vehicle start authorization) times out, the vehicle can activate its camera to detect nearby authorized on-site operators. If an authorized on-site operator is detected, the vehicle issues a timeout reminder message. If no authorized on-site operator is detected, the vehicle sends an alarm message to the service, which notifies the on-site operator to perform authorization verification as soon as possible.

[0091] In some embodiments, if the authorization verification is passed, the vehicle is started and controlled to continue driving along the preset planned route to the next target site; if the vehicle authorization verification is not passed, the vehicle remains in a parked state.

[0092] Exemplarily, the vehicle determines that the card swiping authorization verification is passed based on the first verification information, determines that the biometric identification verification is passed based on the second verification information, and determines that the vehicle startup authorization verification is passed based on the third verification information. If the above-mentioned card swiping authorization verification, biometric identification verification and vehicle startup authorization verification are passed, it can be determined that the vehicle authorization verification is passed; if any one of the above-mentioned card swiping authorization verification, biometric identification verification and vehicle startup authorization verification fails, it can be determined that the vehicle authorization verification is failed.

[0093] Therefore, the vehicle control system provided by the embodiment of the present disclosure includes a service end and a vehicle. The information such as the vehicle destination and the passing stations is defined by the service end and then sent to the vehicle. The vehicle will automatically stop at the station and the terminal. There is no need for a safety officer to accompany the vehicle throughout the journey. At the stop, the on-site operator can directly issue a command to the vehicle through quick operation of the vehicle body to make it go to the next station / terminal. This can reduce the operating cost of unmanned logistics and improve operational efficiency. In addition, the embodiment of the present disclosure increases the means of authorization verification by setting preset authorization verification rules. The preset authorization verification rules include card swiping authorization verification, biometric identification verification and vehicle startup authorization verification, thereby enhancing the authorization method. This can avoid the situation where an unknown person swipes the card to obtain authorization due to card loss, thereby improving security.

[0094] An embodiment of the present disclosure also provides a vehicle control device. Figure 8 A schematic diagram of the structure of a vehicle control device provided for the implementation of the present disclosure is shown as follows: Figure 8As shown, the vehicle control device includes: a first control module 801, which is used to control the vehicle to travel along the preset planned route when the preset planned route sent by the server is obtained, wherein the preset planned route includes a starting point and one or more target sites; an authorization trigger condition judgment module 802, which is used to judge whether the preset authorization trigger condition is met when the vehicle automatically stops at the target site; an authorization verification function activation module 803, which is used to activate the authorization verification function based on the preset authorization verification rules if the preset authorization trigger condition is met; and a second control module 804, which is used to control the driving state of the vehicle based on the authorization verification result.

[0095] The vehicle control device disclosed in the above embodiments can execute the vehicle control method disclosed in the above embodiments, and has the same or corresponding beneficial effects. To avoid repetition, they will not be described here.

[0096] An embodiment of the present disclosure also provides an electronic device, comprising: a memory and one or more processors; wherein the memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the vehicle control method described in any embodiment of the present disclosure.

[0097] Figure 9 Schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present disclosure. Figure 9 As shown, the electronic device 900 includes a central processing unit (CPU) 901, which can perform various processes in the aforementioned embodiments according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage portion 808 into a random access memory (RAM) 903. Various programs and data required for the operation of the electronic device 800 are also stored in the RAM 903. The CPU 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0098] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output section 907 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card or a modem. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 910 as needed, so that computer programs read therefrom can be installed into the storage section 908 as needed.

[0099] In particular, according to embodiments of the present disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a computer-readable medium, the computer program comprising program code for executing the aforementioned obstacle avoidance method. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909 and / or installed from removable media 911.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the devices, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the diagram or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, as well as the combination of boxes in the block diagram and / or flow chart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0101] The units or modules described in the embodiments of the present disclosure may be implemented in software or hardware. The units or modules described may also be provided in a processor, and the names of these units or modules do not, in certain circumstances, limit the units or modules themselves.

[0102] In addition, embodiments of the present disclosure further provide a computer-readable storage medium. This computer-readable storage medium may be included in the apparatus described in the aforementioned embodiments, or may be a separate computer-readable storage medium not incorporated into the apparatus. The computer-readable storage medium stores computer-executable instructions. When executed by a computing device, the computer-executable instructions can be used to implement the vehicle control method described in any embodiment of the present disclosure.

[0103] Solution 1: A vehicle control method, applied to a vehicle, comprising:

[0104] When a preset planned route sent by the server is obtained, the vehicle is controlled to travel along the preset planned route, wherein the preset planned route includes a starting point and one or more target sites;

[0105] When the vehicle automatically stops at the target station, determining whether a preset authorization trigger condition is met;

[0106] If the preset authorization trigger condition is met, the authorization verification function is enabled based on the preset authorization verification rules;

[0107] The driving state of the vehicle is controlled based on the authorization verification result.

[0108] Solution 2: According to the vehicle control method of Solution 1, the preset authorization triggering condition includes:

[0109] The vehicle has no faults and the destination station is not a terminal.

[0110] Solution 3: According to the vehicle control method of Solution 2, the authorization verification function is enabled based on preset authorization verification rules, including:

[0111] Enable the card swiping authorization verification function;

[0112] After determining that the card swiping authorization verification is passed based on the first verification information, enabling the biometric feature recognition verification function;

[0113] After determining that the biometric feature recognition verification is passed based on the second verification information, the vehicle startup authorization verification function is enabled.

[0114] Solution 4: The vehicle control method according to Solution 3, further comprising:

[0115] When the preset authorization triggering condition is not met or the vehicle is moving, turning off the authorization verification function; and / or,

[0116] After any one of the card swiping authorization verification, biometric identification verification, and vehicle start authorization verification is passed, the authorization verification function that has passed the verification is closed.

[0117] Solution 5: The vehicle control method according to Solution 3, further comprising:

[0118] When the first verification information is not received within the first preset time threshold of the card swiping authorization verification, or the second verification information is not received within the second preset time threshold of the biometric identification verification, or the third verification information is not received within the third preset time threshold of the vehicle startup authorization verification, return to executing the authorization verification function based on the preset authorization verification rules.

[0119] Solution 6: The vehicle control method according to Solution 3, controlling the driving state of the vehicle based on the authorization verification result, comprising:

[0120] If the authorization verification is passed, the vehicle is started and controlled to continue traveling along the preset planned route to the next target site; otherwise, the vehicle remains parked.

[0121] Solution 7: The vehicle control method according to Solution 6, further comprising: determining whether the authorization verification is passed;

[0122] Determining whether authorization verification is passed includes:

[0123] If all of the following conditions are met, the authorization verification succeeds; otherwise, the authorization verification fails:

[0124] Determining that the card swiping authorization verification is passed based on the first verification information;

[0125] Determining that the biometric feature verification is passed based on the second verification information;

[0126] It is determined based on the third verification information that the vehicle startup authorization verification is passed.

[0127] Solution 8: A vehicle control device, comprising:

[0128] A first control module is configured to control the vehicle to travel along a preset planned route when a preset planned route sent by the server is obtained, wherein the preset planned route includes a starting point and one or more target sites;

[0129] An authorization trigger condition judgment module is used to judge whether a preset authorization trigger condition is met when the vehicle automatically stops at the target station;

[0130] An authorization verification function activation module is used to activate the authorization verification function based on the preset authorization verification rules if the preset authorization trigger condition is met;

[0131] The second control module is used to control the driving state of the vehicle based on the authorization verification result.

[0132] Solution 9: A vehicle control system, comprising a server and one or more vehicles, wherein the server is communicatively connected to the one or more vehicles;

[0133] The server is configured to: configure one or more target sites and a preset planned route; set the preset planned route for the one or more vehicles, and send the preset planned route to the one or more vehicles, wherein the preset planned route includes the one or more target sites;

[0134] The vehicle is used to: when obtaining the preset planned route sent by the server, control the vehicle to travel along the preset planned route; when the vehicle automatically stops at the target site, determine whether the preset authorization trigger condition is met; if the preset authorization trigger condition is met, start the authorization verification function based on the preset authorization verification rule; and control the driving status of the vehicle based on the authorization verification result.

[0135] Solution 10. An electronic device, comprising:

[0136] memory and one or more processors;

[0137] In which, the memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the vehicle control method as described in any one of Schemes 1-7.

[0138] Option 11. A computer-readable storage medium having computer-executable instructions stored thereon. When the computer-executable instructions are executed by a computing device, they can be used to implement the vehicle control method as described in any one of Options 1-7.

[0139] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0140] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, applied to a vehicle, characterized in that: include: When a preset planned route sent by the server is obtained, the vehicle is controlled to travel along the preset planned route, wherein the preset planned route includes a starting point and one or more target sites; When the vehicle automatically stops at the target station, it is determined whether a preset authorization trigger condition is met, and the preset authorization trigger condition is used to determine whether the authorization verification function can be enabled; If the preset authorization trigger condition is met, the multi-authorization verification function is enabled based on the preset authorization verification rules; The driving state of the vehicle is controlled based on the authorization verification result.

2. The vehicle control method according to claim 1, characterized in that: The preset authorization triggering conditions include: The vehicle has no faults and the destination station is not a terminal.

3. The vehicle control method according to claim 2, characterized in that: Enable authorization verification based on preset authorization verification rules, including: Enable the card swiping authorization verification function; After determining that the card swiping authorization verification is passed based on the first verification information, enabling the biometric feature recognition verification function; After determining that the biometric feature recognition verification is passed based on the second verification information, the vehicle startup authorization verification function is enabled.

4. The vehicle control method according to claim 3, characterized in that: The method further comprises: When the preset authorization triggering condition is not met or the vehicle is moving, turning off the authorization verification function; and / or, After any one of the card swiping authorization verification, biometric identification verification, and vehicle start authorization verification is passed, the authorization verification function that has passed the verification is closed.

5. The vehicle control method according to claim 3, characterized in that: The method further comprises: When the first verification information is not received within the first preset time threshold of the card swiping authorization verification, or the second verification information is not received within the second preset time threshold of the biometric identification verification, or the third verification information is not received within the third preset time threshold of the vehicle startup authorization verification, return to executing the authorization verification function based on the preset authorization verification rules.

6. The vehicle control method according to claim 3, characterized in that: Controlling the driving state of the vehicle based on the authorization verification result includes: If the authorization verification is passed, the vehicle is started and controlled to continue traveling along the preset planned route to the next target site; otherwise, the vehicle remains parked.

7. The vehicle control method according to claim 6, characterized in that: The method further includes: determining whether the authorization verification is passed; Determining whether authorization verification is passed includes: If all of the following conditions are met, the authorization verification succeeds; otherwise, the authorization verification fails: Determining that the card swiping authorization verification is passed based on the first verification information; Determining that the biometric feature verification is passed based on the second verification information; It is determined based on the third verification information that the vehicle startup authorization verification is passed.

8. A vehicle control device, characterized in that: include: A first control module is configured to control the vehicle to travel along a preset planned route when a preset planned route sent by the server is obtained, wherein the preset planned route includes a starting point and one or more target sites; An authorization trigger condition judgment module is used to judge whether a preset authorization trigger condition is met when the vehicle automatically stops at the target station. The preset authorization trigger condition is used to judge whether the authorization verification function can be enabled; An authorization verification function activation module is used to activate the multiple authorization verification function based on the preset authorization verification rules if the preset authorization trigger condition is met; The second control module is used to control the driving state of the vehicle based on the authorization verification result.

9. A vehicle control system, characterized in that: The system comprises a server and one or more vehicles, wherein the server is in communication with the one or more vehicles; The server is used to: configure one or more target sites and preset planned routes; Setting the preset planned route for the one or more vehicles and sending the preset planned route to the one or more vehicles, wherein the preset planned route includes the one or more target sites; The vehicle is used to: when the preset planned route sent by the server is obtained, control the vehicle to travel along the preset planned route; when the vehicle automatically stops at the target site, determine whether the preset authorization trigger condition is met, and the preset authorization trigger condition is used to judge whether the authorization verification function can be enabled; if the preset authorization trigger condition is met, enable the multiple authorization verification function based on the preset authorization verification rule; and control the driving status of the vehicle based on the authorization verification result.

10. An electronic device, characterized in that: include: memory and one or more processors; The memory is communicatively connected to the one or more processors, and the memory stores instructions that can be executed by the one or more processors. When the instructions are executed by the one or more processors, the electronic device is used to implement the vehicle control method as described in any one of claims 1-7.

11. A computer-readable storage medium having computer-executable instructions stored thereon, characterized in that: When the computer-executable instructions are executed by a computing device, they can be used to implement the vehicle control method according to any one of claims 1 to 7.

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