An unmanned container truck control method, controller, control system and container truck

Abstract

This application relates to the field of driverless, and particularly to a control method, a controller, a control system and a truck for driverless trucks. This method obtains the status feedback information of the actuators of the truck; according to the status feedback information of the actuators, it judges whether the operating status of the truck and the actuators is normal. When the operating status of the truck and the actuators is normal, it generates control instructions, which are used to control the actuators to park, brake the truck or control the actuators to switch. When the operating status of the truck or the actuators is abnormal, it controls the truck to stop in a hierarchical manner. This control method for driverless trucks continuously obtains the current status feedback information of the truck actuators to judge the communication situation of each actuator and whether each device fails. When the communication or device of the actuator fails, it brakes or parks the truck in time to reduce the probability of safety accidents caused by the inability to brake in time during the driving of driverless trucks.

Description

Technical Field

[0001] This application relates to the field of driverless, and particularly to a method for controlling an unmanned container truck, a controller, a control system and a container truck. Background Art

[0002] As a major trading country, China has strong import and export demands, and the daily cargo throughput completed by ports across the country is also increasing continuously. The container trucks at ports with large throughput usually need to operate 24 hours a day. A large number of experienced drivers are required in the port area, and the labor cost in many ports accounts for 70% of the overall cost.

[0003] To save labor costs and improve the operation efficiency of port container trucks, the driverless container truck technology has increasingly replaced part of the manual driving, which makes how to ensure the safety during the driverless container truck driving process become one of the primary problems. Among them, the vehicle braking system and the parking system are the last barriers to ensure vehicle safety. When a vehicle breaks down, the most important thing is to ensure that the vehicle stops safely and then further troubleshoot the faults. Especially for driverless vehicles, when a certain component or communication of the vehicle has problems and the vehicle operation cannot be controlled accurately in real time, the vehicle is in a dangerous state and prone to accidents, causing unnecessary losses. Summary of the Invention

[0004] In view of this, this application provides a method for controlling an unmanned container truck, a controller, a control system and a container truck, which solves or improves the technical problem in the prior art that when a certain component or communication of a driverless container truck has problems, the vehicle operation cannot be controlled accurately in real time, resulting in safety accidents.

[0005] According to the first aspect of this application, this application provides a method for controlling an unmanned container truck, which includes: obtaining the status feedback information of the actuators of the container truck; wherein, the actuators include a wire-controlled parking system, a wire-controlled braking system, a wire-controlled steering system, a motor drive system and a vehicle control system, and the status feedback information comes from the wire-controlled parking system, the wire-controlled braking system, the wire-controlled steering system, the motor drive system and the vehicle control system respectively; according to the status feedback information of the actuators, judging whether the running status of the container truck and the actuators is normal, and when the running status of the container truck and the actuators is normal, generating a control command, the control command is used to control the actuators to park, brake the container truck or control the actuators to switch, and when the running status of the container truck or the actuators is abnormal, hierarchically controlling the container truck to stop.

[0006] In one embodiment, obtaining the status feedback information of the actuator of the articulated truck includes: obtaining the status feedback information of the electronic parking brake system; according to the status feedback information of the actuator, determining whether the operating status of the articulated truck and the actuator is normal. When the operating status of the articulated truck or the actuator is abnormal, controlling the articulated truck to stop in a hierarchical manner, including: when the status feedback information of the electronic parking brake system is that the electronic parking brake system is abnormal, generating a first braking instruction and a first drive clearing instruction; wherein, the first braking instruction is used to control the motor drive system and the electronic braking system to brake the articulated truck, and the first drive clearing instruction is used to terminate the use of the electronic parking brake system.

[0007] In one embodiment, when the status feedback information of the electronic parking brake system is that the electronic parking brake system is normal, according to the status feedback information of the actuator, determining whether the operating status of the articulated truck and the actuator is normal. When the operating status of the articulated truck or the actuator is abnormal, controlling the articulated truck to stop in a hierarchical manner, including: obtaining the emergency stop information of the articulated truck; when the emergency stop information of the articulated truck is that the articulated truck makes an emergency stop, obtaining the vehicle speed information of the articulated truck; when the vehicle speed of the articulated truck is greater than a first preset speed, generating an electronic braking instruction and a second drive clearing instruction, the electronic braking instruction is used to control the electronic braking system to brake the articulated truck, and the second drive clearing instruction is used to terminate the use of the electronic parking brake system and the electronic power steering system; when the vehicle speed of the articulated truck is less than or equal to the first preset speed, generating an electronic parking instruction and a third drive clearing instruction, the electronic parking instruction is used to control the electronic parking brake system to park the articulated truck, and the third drive clearing instruction is used to terminate the use of the electronic power steering system.

[0008] In one embodiment, according to the status feedback information of the actuator, determining whether the operating status of the articulated truck and the actuator is normal. When the operating status of the articulated truck or the actuator is abnormal, controlling the articulated truck to stop in a hierarchical manner further includes: when the emergency stop information of the articulated truck is that the articulated truck does not make an emergency stop, obtaining the status feedback information of the electronic braking system; when the status feedback information of the electronic braking system is that the electronic braking system is abnormal, obtaining the status feedback information of the vehicle control system; when the status feedback information of the vehicle control system is that the vehicle control system is abnormal, generating the electronic parking instruction and the second drive clearing instruction.

[0009] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the status feedback information of the electronic braking system indicates that the electronic braking system is abnormal and the status feedback information of the vehicle control system indicates that the vehicle control system is normal, the vehicle speed information of the container truck is obtained; when the vehicle speed of the container truck is greater than a second preset speed, an electric braking command and a second drive clearing command are generated, and the electric braking command is used to control the motor drive system to brake the container truck; when the vehicle speed of the container truck is less than or equal to the second preset speed, a by-wire parking command and the second drive clearing command are generated.

[0010] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the status feedback information of the electronic braking system indicates that the electronic braking system is normal, the status feedback information of the by-wire steering system is obtained; when the status feedback information of the by-wire steering system indicates that the by-wire steering system is abnormal, the vehicle speed information of the container truck is obtained; when the vehicle speed of the container truck is greater than a third preset speed, the electronic braking command and the second drive clearing command are generated; when the vehicle speed of the container truck is less than or equal to the third preset speed, the by-wire parking command and the third drive clearing command are generated.

[0011] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the status feedback information of the by-wire steering system indicates that the by-wire steering system is normal, the status feedback information of the vehicle control system is obtained; when the status feedback information of the vehicle control system indicates that the vehicle control system is abnormal, the vehicle speed information of the container truck is obtained; when the vehicle speed of the container truck is greater than a fourth preset speed, the electronic braking command and the third drive clearing command are generated; when the vehicle speed of the container truck is less than or equal to the fourth preset speed, the by-wire parking command and the third drive clearing command are generated.

[0012] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the status feedback information of the vehicle control system indicates that the vehicle control system is normal, obtaining the status feedback information of the autonomous heartbeat signal of the container truck; when the status feedback information of the autonomous heartbeat signal of the container truck indicates that the autonomous heartbeat signal of the container truck is abnormal, obtaining the vehicle speed information of the container truck; when the vehicle speed of the container truck is greater than a fifth preset speed, generating the electronic braking control instruction and the second drive clearing instruction; when the vehicle speed of the container truck is less than or equal to the fifth preset speed, generating the electronic parking control instruction and the third drive clearing instruction.

[0013] In one embodiment, based on the status feedback information of the actuator and the operating status of the container truck, a control instruction is generated, and it further includes: when the status feedback information of the autonomous heartbeat signal of the container truck indicates that the autonomous heartbeat signal of the container truck is normal, obtaining the previous frame status of the container truck; when the previous frame status of the container truck is an abnormal status, obtaining the vehicle speed information of the container truck and the parking status information of the container truck; when the vehicle speed of the container truck is less than or equal to a sixth preset speed and the container truck is in a parked state, generating the manual driving instruction and the fourth clearing instruction, where the manual driving instruction is used to control the container truck to enter the manual driving mode, and the fourth clearing instruction is used to terminate the use of the electronic parking system, the electronic braking system, and the electronic steering system.

[0014] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the container truck is not in a parked state and the vehicle speed of the container truck is greater than the sixth preset speed, generating the electronic braking control instruction and the second drive clearing instruction; when the container truck is not in a parked state and the vehicle speed of the container truck is less than or equal to the sixth preset speed, generating the electronic parking control instruction and the third drive clearing instruction.

[0015] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the status feedback information of the previous frame of the container truck is normal for the previous frame of the container truck, obtain the chassis request enable status of the container truck; when the chassis request enable status of the container truck is that the chassis request is not enabled, obtain the vehicle speed information and the parking status information of the container truck; when the vehicle speed of the container truck is less than the seventh preset speed and the container truck is in a parked state, generate the manual driving instruction and the fourth clearing instruction.

[0016] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a hierarchical manner, and it further includes: when the chassis of the container truck is in a state where the chassis request is not enabled, the container truck is in a non-parked state, and the vehicle speed of the container truck is greater than the seventh preset speed, generate the electronic braking instruction and the second drive clearing instruction; when the chassis is in a state where the chassis request is not enabled, the container truck is in a non-parked state, and the vehicle speed of the container truck is less than or equal to the seventh preset speed, generate the electronic parking instruction and the third drive clearing instruction.

[0017] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck and the actuator is normal, a control instruction is generated, and it further includes: when the chassis is in a state where the chassis request is enabled, obtain the current mode of the container truck; wherein, the current mode of the container truck includes an automatic driving mode, a chassis enable mode, and a manual driving mode; when the current mode of the container truck is the automatic driving mode and a request for automatic driving instruction is received, generate an automatic driving instruction, and the automatic driving instruction is used to control the electronic parking system, the electronic braking system, and the electronic steering system to perform automatic driving on the container truck.

[0018] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck and the actuator is normal, control instructions are generated, and it further includes: when the current mode of the container truck is the autonomous driving mode and the request for autonomous driving instruction is not received, the vehicle speed information and the parking status information of the container truck are obtained; when the vehicle speed of the container truck is less than the eighth preset speed and the container truck is in the parked state, the manual driving instruction is generated; when the container truck is not in the parked state and the vehicle speed of the container truck is greater than the eighth preset speed, the wire-controlled braking instruction and the second drive clearing instruction are generated; when the container truck is not in the parked state and the vehicle speed of the container truck is less than or equal to the eighth preset speed, the wire-controlled parking instruction and the third drive clearing instruction are generated.

[0019] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck and the actuator is normal, control instructions are generated, and it further includes: when the current mode of the container truck is the chassis enable mode, the request for autonomous driving instruction is obtained; when the request for autonomous driving instruction is a rising edge instruction, the autonomous driving instruction is generated.

[0020] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck and the actuator is normal, control instructions are generated, and it further includes: when the current mode of the container truck is the manual driving mode, the chassis of the container truck is in the chassis enable state, and the request for autonomous driving instruction is not a rising edge instruction, the vehicle speed information of the container truck is obtained; when the vehicle speed of the container truck is less than the ninth preset speed, a wire-controlled chassis enable instruction is generated, and the wire-controlled chassis enable instruction is used to control the container truck to enter the wire-controlled chassis enable mode; when the vehicle speed of the container truck is greater than or equal to the ninth preset speed, a braking enable mode instruction is generated, and the braking enable mode instruction is used to control the container truck to enter the braking enable mode.

[0021] In one embodiment, based on the status feedback information of the actuator, it is determined whether the operating status of the container truck and the actuator is normal. When the operating status of the container truck and the actuator is normal, a control instruction is generated, and it further includes: when the current mode of the container truck is the manual driving mode, the chassis of the container truck is in a non-enabled state, and the request for an autonomous driving instruction is not a rising-edge instruction, the vehicle speed information of the container truck is obtained; when the vehicle speed of the container truck is less than the eleventh preset speed, a manual driving-request chassis automatic instruction is generated, and the manual driving-request chassis automatic instruction is used to request to control the container truck to enter the chassis automatic mode in the manual driving mode; when the vehicle speed of the container truck is greater than or equal to the eleventh preset speed, a manual driving-deceleration instruction is generated, and the manual driving-deceleration instruction is used to request to control the container truck to enter the chassis automatic mode in a decelerated state.

[0022] In one embodiment, before obtaining the status feedback information of the by-wire parking system, the unmanned container truck control method further includes: obtaining the current status of the driverless switch, and when the driverless switch is in the on state, obtaining the status feedback information of the by-wire parking system.

[0023] According to the second aspect of the present application, the present application provides an unmanned container truck controller, which includes: a status feedback information acquisition module for acquiring the status feedback information of the actuator of the container truck; a status feedback information response module for determining whether the operating status of the container truck and the actuator is normal, and when the operating status of the container truck and the actuator is normal, generating a control instruction, the control instruction is used to control the actuator to park, brake the container truck or control the actuator to switch, and when the operating status of the container truck or the actuator is abnormal, hierarchically control the container truck to stop.

[0024] According to the third aspect of the present application, the present application provides an unmanned container truck control system, which is applicable to the above-mentioned unmanned container truck control method, and includes: an actuator, the actuator is communicatively connected to the controller, wherein the actuator includes: a by-wire parking system, the by-wire parking system is communicatively connected to the controller and is used for by-wire parking of the container truck; a by-wire braking system, the by-wire braking system is communicatively connected to the controller and is used for by-wire braking of the container truck; a by-wire steering system, the by-wire steering system is communicatively connected to the controller and is used for by-wire steering of the container truck; a vehicle control system, the vehicle control system is communicatively connected to the controller and is used for vehicle control of the container truck; a motor drive system, the motor drive system is communicatively connected to the controller, and the motor drive system is used for electric braking of the container truck.

[0025] In one embodiment, this unmanned container truck control system further includes: an unmanned driving switch, which is used to control the container truck to enter the unmanned driving mode.

[0026] According to the fourth aspect of the present application, the present application provides a container truck, which includes: the above-mentioned unmanned container truck control system.

[0027] The present application provides an unmanned container truck control method, a controller, a control system and a container truck. This unmanned container truck control method includes obtaining the status feedback information of the actuators of the container truck; judging whether the operating status of the container truck and the actuators is normal according to the status feedback information of the actuators. When the operating status of the container truck and the actuators is normal, generating a control instruction, which is used to control the actuators to park or brake the container truck or control the actuators to switch. When the operating status of the container truck or the actuators is abnormal, the container truck is controlled to stop in a hierarchical manner. This unmanned container truck control method continuously obtains the current status feedback information of the actuators of the container truck to judge the communication situation of each actuator and whether each device fails. When a communication or device failure of the actuator occurs, the container truck is braked or parked in time to reduce the probability of a safety accident due to the inability to brake in time during the driving of the unmanned container truck. Description of the Drawings

[0028] Figure 1 The figure shows a schematic flow chart of the unmanned container truck control method provided by an embodiment of the present application.

[0029] Figure 2 The figure shows a schematic flow chart of the unmanned container truck control method provided by another embodiment of the present application.

[0030] Figure 3 The figure shows a schematic flow chart of the control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application.

[0031] Figure 4 The figure shows a schematic flow chart of the control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application.

[0032] Figure 5 The figure shows a schematic flow chart of the control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application.

[0033] Figure 6 The figure shows a schematic flow chart of the control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application.

[0034] Figure 7The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0035] Figure 8 The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0036] Figure 9 The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0037] Figure 10 The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0038] Figure 11 The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0039] Figure 12 The figure shows a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application.

[0040] Figure 13 The figure shows a schematic structural diagram of an unmanned container truck controller provided by another embodiment of the present application.

[0041] Figure 14 The figure shows a schematic structural diagram of an unmanned container truck control system provided by another embodiment of the present application.

[0042] Figure 15 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0043] Explanation of reference numerals: 100, controller; 101, status feedback information acquisition module; 102, operating status acquisition module; 103, status feedback information response module; 200, actuator; 201, electronic parking brake system; 202, electronic braking system; 203, electronic steering system; 204, vehicle control system; 205, motor drive system; 206, driverless switch; 600, electronic device; 601, processor; 602, memory; 603, input device; 604, output device. Detailed implementation manners

[0044] In the description of this application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back, top, bottom...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0045] In addition, the mention of "embodiment" in this document means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0047] Figure 1 The following shows a schematic flowchart of an unmanned container truck control method provided by an embodiment of this application. As Figure 1 shown, this unmanned container truck control method specifically includes the following steps:

[0048] Step 100: Obtain the status feedback information of the actuator of the container truck.

[0049] In the transportation field, a container truck, also known as a "truck for containers", is usually used in foreign trade imports and exports. The execution mechanism refers to the chassis mechanism of the container truck, including power mechanisms for operations such as driving, braking, steering, and parking of the container truck. For example, it can include a wire-controlled parking system, a wire-controlled braking system, a wire-controlled steering system, an electric drive system, and a vehicle control system. The status feedback information comes from the wire-controlled parking system, the wire-controlled braking system, the wire-controlled steering system, the electric drive system, and the vehicle control system, etc. The status feedback information is the feedback information on whether the communication status of the above-mentioned mechanisms is normal and whether each device in the mechanism is normal at a certain moment. The status feedback information of the above-mentioned mechanisms of the container truck is obtained in real time to judge whether the execution mechanism can operate normally. When the execution mechanism feedback information indicates a fault in this execution mechanism, the control center can make a timely response to reduce the occurrence of safety accidents caused by mechanism failures.

[0050] Step 200: Determine whether the operating status of the container truck and the execution mechanism is normal.

[0051] The operating status of the container truck includes the vehicle speed of the container truck, whether the container truck needs to make an emergency stop, whether the container truck is in a parked state, etc.; the operating status of the execution mechanism is whether the execution mechanism is in a normal state or an abnormal state currently.

[0052] When the judgment result of step 200 is that the operating status of the container truck and the execution mechanism is "normal", execute step 2000:

[0053] Step 2000: When the operating status of the container truck and the execution mechanism is normal, generate a control instruction.

[0054] The control instruction refers to an instruction used to control the execution mechanism to park or brake the container truck or to control the execution mechanism to make a switch. This control instruction can be issued by the control center, received and executed by the execution mechanism of the container truck. According to whether the status of each execution mechanism of the container truck is normal or not at different times, a corresponding control instruction is generated to control the execution mechanism to make a corresponding reaction, and to brake or park the container truck in a timely manner, so as to make the container truck stop in time and reduce the probability of accidents.

[0055] When the judgment result of step 200 is that the operating status of the container truck or the execution mechanism is "abnormal", execute step 2001:

[0056] Step 2001: When the operating status of the container truck or the execution mechanism is abnormal, control the container truck to stop in a hierarchical manner.

[0057] When the driving environment of the container truck itself is abnormal, or the communication of its actuators is abnormal, or the devices of its actuators are abnormal, the container truck will not be able to continue driving and must stop safely to effectively reduce the occurrence of accidents. Therefore, at this time, it is necessary to classify and safely stop the container truck according to the actuators with problems. Among them, the meaning of classification is to use the normal actuators that can brake the container truck to stop the container truck according to the actuators with problems, so as to improve the safety and reliability of the parking process.

[0058] The unmanned container truck control method provided in this application includes obtaining the status feedback information of the actuators of the container truck; judging whether the operating status of the container truck and the actuators is normal according to the status feedback information of the actuators. When the operating status of the container truck and the actuators is normal, a control instruction is generated. The control instruction is used to control the actuator to park or brake the container truck or control the actuator to switch. When the operating status of the container truck or the actuator is abnormal, the container truck is controlled to stop in a classified manner. This unmanned container truck control method continuously obtains the current status feedback information of the container truck actuators to judge the communication conditions of each actuator and whether each device has failed. When the communication or device of the actuator fails, the container truck is timely braked or parked to reduce the probability of safety accidents occurring during the driving of the unmanned container truck due to the inability to brake in time.

[0059] In a possible implementation manner, Figure 2 The figure shows a schematic flow chart of the unmanned container truck control method provided by another embodiment of this application. As Figure 2 shown, the actuators of the container truck may specifically include an electronically controlled parking system (EPB), an electronically controlled braking system (EBS), an electronically controlled steering system (EPS), a motor drive system, and a vehicle control unit (VCU). For the specific types of the above actuators, step 100 of this unmanned container truck control method may further include the following steps:

[0060] Step 101: Obtain the status feedback information of the electronically controlled parking system.

[0061] The Electric Park Brake (EPB) system integrates the temporary braking during driving and the long-term braking after parking using wire control technology, and is a wire control system that realizes parking braking through electronic control. The status feedback information of the EPB system includes the communication status of the EPB system and fault code information, that is, whether the system can communicate normally and whether there are any faults. When the status feedback information of the EPB system indicates normal communication status and no faults, the truck can proceed to judge the status of the next actuator. When the communication status of the EPB system is abnormal or there are faults, the truck should be controlled to stop immediately, and it can only continue to run after the faults are eliminated, so as to reduce the risk of safety accidents during the driving of driverless trucks.

[0062] As Figure 2 shown, based on step 101, step 2001 may include step 201:

[0063] Step 201: When the status feedback information of the EPB system is that the EPB system is abnormal, generate a first braking instruction and a first drive clear instruction.

[0064] The first braking instruction is used to control the motor drive system and the wire control braking system to brake the truck. Among them, the motor drive system uses the power motor to reverse for energy recovery to brake the truck; the first drive clear instruction is used to terminate the use of the EPB system. When the EPB system is abnormal, the control center should immediately perform a braking operation on the truck to prevent the truck from continuing to drive or operate when it cannot park normally, so as to further improve the reliability of the safe operation of driverless trucks.

[0065] Specifically, as Figure 2 shown, when the status feedback information of the EPB system is that the EPB system is normal, step 2001 may further include the following steps:

[0066] Step 2002: Obtain the emergency stop information of the truck.

[0067] The emergency stop information of the truck refers to whether the truck needs to perform an emergency stop currently, or the braking distance measured by the millimeter-wave radar of the truck is too small. When the EPB system of the truck is normal, it is necessary to obtain the status of other actuators of the truck and the running state of the truck to further judge whether there are current driving risks for the truck, so as to ensure the safe operation and safe control of the truck.

[0068] Step 2003: When the emergency stop information of the truck is that the truck needs to perform an emergency stop, obtain the vehicle speed information of the truck.

[0069] When the truck needs to make an emergency stop, it is necessary to obtain the current vehicle speed of the truck to determine whether to brake or park the truck based on its speed, so as to generate the correct control instructions.

[0070] As Figure 2 shown, based on steps 2002 - 2003, when the vehicle speed of the truck is greater than the first preset speed, step 2001 may include:

[0071] Step 2101: When the vehicle speed of the truck is greater than the first preset speed, generate a wire control braking instruction and a second drive zeroing instruction.

[0072] The first preset speed may be 0.1 km / h; the wire control braking instruction is used to control the wire control braking system to brake the truck, and the second drive zeroing instruction is used to terminate the use of the wire control parking system and the wire control steering system. When the current vehicle speed of the truck is greater than 0.1 km / h, it can be considered that the truck is still in a driving state. At this time, the wire control braking system should be used to brake the truck, and it is impossible to directly use the wire control parking system to park the truck. And just perform a stop and termination operation on the wire control parking system and the wire control steering system. Through the above process, the timely braking of the truck is realized, so that the truck can stop as soon as possible and reduce the probability of safety accidents.

[0073] When the vehicle speed of the truck is less than or equal to the first preset speed, step 2001 may include the following steps:

[0074] Step 2102: When the vehicle speed of the truck is less than or equal to the first preset speed, generate a wire control parking instruction and a third drive zeroing instruction.

[0075] The wire control parking instruction is used to control the wire control parking system to park the truck, and the third drive zeroing instruction is used to terminate the use of the wire control steering system. When the vehicle speed of the truck is less than or equal to 0.1 km / h, it can be considered that the truck is basically in a parked state at this time. The wire control parking system can be directly used to perform a parking operation on the truck, and then the use of the wire control steering system and the wire control parking system can be terminated.

[0076] In a possible implementation manner, Figure 3 shown is a schematic flowchart of a control instruction generation method in an unmanned truck control method provided by another embodiment of the present application. As Figure 3 shown, when the emergency stop information of the truck is not an emergency stop, step 2001 may include the following steps;

[0077] Step 2103: When the emergency stop information of the truck is that the truck does not make an emergency stop, obtain the status feedback information of the wire control braking system.

[0078] A wire control braking system is a braking system that performs braking operations electronically. It uses sensors to transmit input signals to a central processor, and sends signals to corresponding actuators through the control logic of the central processor to complete relevant operations of the driver. When the heavy truck does not need to make an emergency stop currently, it is possible to further obtain whether the communication of the wire control braking system is normal and the status information of the air pump, so as to determine whether the wire control braking system can operate normally.

[0079] Step 2104: When the status feedback information of the wire control braking system is that the wire control braking system is abnormal, obtain the status feedback information of the vehicle control system of the heavy truck.

[0080] The vehicle control system is the core control component of an autonomous vehicle. It calculates parameters such as the motor output torque required for operation based on the driver's operation intentions such as the accelerator pedal position, gear, and brake pedal force, and the state of charge of the battery, so as to coordinate the movement of each power component and ensure the normal driving of the electric vehicle. When the wire control braking system is abnormal, it should first be determined whether the vehicle control system can be used normally, that is, to determine whether the communication status of the vehicle control system is normal and whether the heartbeat response of the vehicle control system is normal, so as to determine whether the heavy truck can be operated correspondingly using the vehicle control system.

[0081] Step 2105: When the status feedback information of the vehicle control system of the heavy truck is that the vehicle control system is abnormal, generate a wire control parking instruction and a second drive zeroing instruction.

[0082] When the vehicle control system is abnormal, it means that its communication status or heartbeat response is abnormal. Then, the wire control parking system directly performs parking processing on the heavy truck, and when the parking operation is completed, the use of the wire control parking system and the wire control steering system will be terminated.

[0083] Optionally, as Figure 3 shown, step 2001 can further include:

[0084] Step 2106: When the status feedback information of the wire control braking system is that the wire control braking system is abnormal and the status feedback information of the vehicle control system is that the vehicle control system is normal, obtain the vehicle speed information of the heavy truck.

[0085] When the wire control braking system is abnormal but the vehicle control system is normal, the current vehicle speed of the heavy truck should be obtained to determine whether to brake or park the heavy truck.

[0086] Step 2107: When the vehicle speed of the heavy truck is greater than the second preset speed, generate an electric braking instruction and a second drive zeroing instruction.

[0087] The second preset speed is the critical speed of the heavy truck when the electronic braking system is abnormal but the vehicle control system is normal, preferably 3 km / h. When the current vehicle speed of the heavy truck is greater than 3 km / h, electric braking is applied to the heavy truck, and at the same time, the use of the electronic parking system and the electronic steering system is terminated. In the above scenario, the vehicle speed of the heavy truck is relatively fast, and it is necessary to rely on the motor drive system to brake the heavy truck to ensure the safety of the heavy truck.

[0088] When the vehicle speed of the heavy truck is less than or equal to the second preset speed, after step 2106, the following step 2108 is performed:

[0089] Step 2108: When the vehicle speed of the heavy truck is less than or equal to the second preset speed, an electronic parking instruction and a second drive zeroing instruction are generated.

[0090] When the current vehicle speed of the heavy truck is less than or equal to 3 km / h, it can be considered that the vehicle speed of the heavy truck is relatively low. The electronic parking system can be used to decelerate and brake the heavy truck without relying on the motor drive system. After the parking operation is executed, the electronic steering system and the electronic parking system are zeroed.

[0091] In a possible implementation manner, Figure 4 The following shows a schematic flow diagram of a control instruction generation method in an unmanned heavy truck control method provided by another embodiment of the present application. As Figure 3 and Figure 4 shown, when the status feedback information of the electronic braking system is that the electronic braking system is normal, step 2001 may further include the following steps:

[0092] Step 2109: When the status feedback information of the electronic braking system is that the electronic braking system is normal, obtain the status feedback information of the electronic steering system of the heavy truck.

[0093] The electronic steering system is an execution system that realizes the steering of the heavy truck through electronic control. When both the electronic parking system and the electronic braking system are normal, it is necessary to further judge whether the electronic steering system is normal, that is, to obtain whether the communication status of the electronic steering system is normal and whether the oil pump status is normal, so as to ensure the safe driving of the unmanned heavy truck.

[0094] Step 2110: When the status feedback information of the electronic steering system is that the electronic steering system is abnormal, obtain the vehicle speed information of the heavy truck.

[0095] When the electronic steering system is abnormal, it is first necessary to stop the heavy truck. Therefore, obtaining the vehicle speed of the heavy truck is the key to judging whether to brake and stop the heavy truck or park the heavy truck.

[0096] Step 2111: When the vehicle speed of the heavy truck is greater than the third preset speed, generate an electronic braking instruction and a second drive zeroing instruction.

[0097] The third preset speed is preferably 0.1 km / h. That is, when the speed of the heavy truck is greater than 0.1 km / h, it is considered that the heavy truck is still in a driving state. At this time, a wire control braking instruction is generated, and the wire control braking system is used to perform wire control braking operation on the heavy truck, and at the same time, the use of the wire control parking system and the wire control steering system is terminated.

[0098] Specifically, as Figure 4 shown, when the speed of the heavy truck is less than or equal to the third preset speed, after step 2110, it is:

[0099] Step 2112: When the speed of the heavy truck is less than or equal to the third preset speed, a wire control parking instruction and a third drive zeroing instruction are generated.

[0100] When the speed of the heavy truck is less than or equal to 0.1 km / h, it can be considered that the heavy truck has almost stopped. At this time, the wire control parking system can be directly used to perform wire control parking operation on the heavy truck to achieve the purpose of parking the heavy truck, and at the same time, the use of the wire control steering system can be terminated.

[0101] In a possible implementation manner, Figure 5 shown is a schematic flow chart of a control instruction generation method in an unmanned heavy truck control method provided by another embodiment of the present application. As Figure 4 and Figure 5 shown, when the status feedback information of the wire control steering system is that the wire control steering system is normal, step 2001 may further include:

[0102] Step 2113: When the status feedback information of the wire control steering system is that the wire control steering system is normal, obtain the status feedback information of the vehicle control system of the heavy truck.

[0103] Similarly to step 2109, when the wire control parking system, the wire control steering system, and the wire control steering system are all normal, it is possible to further determine whether the vehicle control system is normal, that is, to determine whether the communication status of the vehicle control system is normal and whether the heartbeat response is normal, so as to further ensure the driving safety of the unmanned heavy truck.

[0104] Step 2114: When the status feedback information of the vehicle control system of the heavy truck is that the vehicle control system is abnormal, obtain the speed information of the heavy truck.

[0105] When the communication status of the vehicle control system is abnormal or the heartbeat response is abnormal, it is necessary to perform a parking process on the heavy truck and it can only be used after the abnormality is eliminated. Therefore, it is necessary to obtain the current speed of the heavy truck to determine whether to perform a braking process or a parking process on the heavy truck.

[0106] Step 2115: When the speed of the heavy truck is greater than the fourth preset speed, generate a wire control braking instruction and a third drive zeroing instruction.

[0107] The fourth preset speed is preferably 0.1 km / h. When the speed of the heavy truck is greater than 0.1 km / h, it is considered that the heavy truck is in a driving state, and thus braking treatment should be performed on the heavy truck. Therefore, a by-wire braking instruction is generated, and the by-wire braking system is used to brake the heavy truck. At the same time, the use of the by-wire steering system and the by-wire parking system is terminated to ensure that the heavy truck can stop quickly.

[0108] Specifically, as Figure 5 shown, when the speed of the heavy truck is less than or equal to the fourth preset speed, after step 2114, the following steps are:

[0109] Step 2116: When the speed of the heavy truck is less than or equal to the fourth preset speed, a by-wire parking instruction and a third drive zeroing instruction are generated.

[0110] When the speed of the heavy truck is less than or equal to 0.1 km / h, it can be considered that the heavy truck is approaching a stop state. At this time, the heavy truck can be parked by using the by-wire parking system.

[0111] In a possible implementation manner, Figure 6 shown is a schematic flowchart of a control instruction generation method in an unmanned heavy truck control method provided by another embodiment of the present application. As Figure 5 and Figure 6 shown, when the status feedback information of the vehicle control system is that the vehicle control system is normal, step 2001 may further include the following steps:

[0112] Step 2117: When the status feedback information of the vehicle control system is that the vehicle control system is normal, obtain the status feedback information of the self-driving heartbeat signal of the heavy truck.

[0113] The heartbeat signal refers to a very small data packet sent by one of the two interconnected parties to the other party at regular intervals. The other party determines whether to reply with a very small data packet after receiving the data packet as needed. The self-driving heartbeat signal refers to the heartbeat signal between the control center and the chassis of the heavy truck. When the above-mentioned actuators are all normal, it is necessary to determine whether the communication status between the chassis and the control center is normal to further eliminate faults and repair in time when stopping.

[0114] Step 2118: When the status feedback information of the self-driving heartbeat signal of the heavy truck is that the self-driving heartbeat signal of the heavy truck is abnormal, obtain the speed information of the heavy truck.

[0115] When the self-driving heartbeat signal between the chassis of the heavy truck and the control center is abnormal, it indicates that the communication between the chassis and the control center is abnormal. Similarly, it is necessary to perform a parking process on the heavy truck to reduce the probability of accidents. Therefore, it is necessary to obtain the vehicle speed to determine how to brake.

[0116] Step 2119: When the speed of the container truck is greater than the fifth preset speed, generate a wire control braking instruction and a second drive zeroing instruction.

[0117] The fifth preset speed is preferably 0.1 km / h. When the vehicle speed is greater than 0.1 km / h, it can be considered that the container truck is in a driving state at present. Therefore, it is necessary to use the wire control braking system to perform wire control braking on the container truck, and at the same time terminate the use of the wire control parking system and the wire control steering system.

[0118] Specifically, as Figure 6 shown, when the speed of the container truck is less than or equal to the fifth preset speed, step 2118 is the following step 2120:

[0119] Step 2120: When the speed of the container truck is less than or equal to the fifth preset speed, generate a wire control parking instruction and a third drive zeroing instruction.

[0120] When the speed of the container truck is less than or equal to 0.1 km / h, it can be considered that the container truck is approaching a stop state at this time. Therefore, using the wire control parking system to perform wire control parking on the container truck can achieve parking.

[0121] Optionally, Figure 7 shown is a schematic flowchart of a control instruction generation method in an unmanned container truck control method provided by another embodiment of the present application. As Figure 6 and Figure 7 shown, when the status feedback information of the container truck's self-driving heartbeat signal is that the container truck's self-driving heartbeat signal is normal, step 2001 may further include the following steps:

[0122] Step 2121: When the status feedback information of the container truck's self-driving heartbeat is that the container truck's self-driving heartbeat is normal, obtain the previous frame status of the container truck.

[0123] The previous frame status refers to the status of the container truck at the previous moment, that is, the driving status of the container truck itself, so as to switch the driving mode of the next frame according to different statuses of the previous frame of the container truck.

[0124] Step 2122: When the previous frame status of the container truck is an abnormal status, obtain the vehicle speed information of the container truck and the parking status information of the container truck.

[0125] The parking status information of the container truck refers to whether the container truck is currently in a parked state. When the previous frame of the container truck is in an abnormal status, it means that there is an abnormality in the container truck itself or the chassis mechanism, and it is impossible to continue autonomous driving and it is necessary to enter the manual driving mode or park the container truck to ensure the safety of the container truck.

[0126] Step 2123: When the speed of the truck is less than or equal to the sixth preset speed and the truck is in a parked state, generate a manual driving instruction and a fourth clearing instruction.

[0127] The manual driving instruction is used to control the truck to enter the manual driving mode, and the fourth clearing instruction is used to terminate the use of the electronic parking system, the electronic braking system, and the electronic steering system. The sixth preset speed is preferably 0.1 km / h. When the current speed of the truck is less than or equal to 0.1 km / h or the current state of the truck is the parked state, it can be considered that the truck is approaching the stop state at this time. Therefore, the driverless mode of the truck can be changed to the manual driving mode. At this time, the torque, the electronic parking system, the electronic steering system, and the electronic braking system are all cleared, and operations such as driving, braking, steering, and parking are all controlled manually to ensure the safety of the truck.

[0128] In another possible implementation, as Figure 7 shown, when the speed of the truck is greater than or equal to the sixth preset speed or the truck is in an unparked state, after step 2122, the following step 2124 or step 2125 is performed:

[0129] Step 2124: When the truck is in an unparked state and the speed of the truck is greater than the sixth preset speed, generate an electronic braking instruction and a second driving clearing instruction.

[0130] When the speed of the truck is greater than 0.1 km / h and the truck is currently in an unparked state, it is necessary to brake the truck first to make the truck stop and park first to ensure the safety of the truck. Therefore, in the above situation, the electronic braking system should be used to perform electronic braking on the truck first, so that the truck is first braked from the driving state. After stopping and parking, the faults of the truck are eliminated.

[0131] Step 2125: When the truck is in an unparked state and the speed of the truck is less than or equal to the sixth preset speed, generate an electronic parking instruction and a third driving clearing instruction.

[0132] When the speed of the unparked truck is 0.1 km / h or less than 0.1 km / h, it can be considered that the truck is in a state close to stopping at this time. At this time, the electronic parking system is used to perform electronic parking on the truck to make the truck park, and at the same time, the electronic steering system is cleared.

[0133] Specifically, Figure 8 shown is a schematic flowchart of a control instruction generation method in the driverless truck control method provided by another embodiment of the present application. As Figure 7 and Figure 8 shown, when the previous frame status feedback information of the truck is normal for the previous frame of the truck, step 2001 may further include the following steps:

[0134] Step 2126: When the status feedback information of the previous frame of the container truck is that the previous frame of the container truck is normal, obtain the chassis request enabling status of the container truck.

[0135] The chassis refers to the combination of four parts on an automobile, namely the powertrain, running gear, steering system, and braking system, which supports and installs the automobile engine and its various components and assemblies, forms the overall shape of the automobile, bears the engine power, and ensures normal driving. The enabling of the chassis request of the container truck means that all the actuators in the chassis are in normal condition and can perform various operations normally.

[0136] Step 2127: When the chassis request enabling status of the container truck is that the chassis request is not enabled, obtain the vehicle speed information and the parking status information of the container truck.

[0137] If the chassis request of the container truck is not enabled, it means that there are some actuators in the chassis of the container truck that cannot be used normally at this time. Therefore, it is impossible to continue with autonomous driving, and the container truck needs to be controlled to enter the manual driving mode. However, it is still necessary to judge the vehicle speed and parking status information of the container truck to determine whether it can directly enter the manual driving mode.

[0138] Step 2128: When the vehicle speed of the container truck is less than the seventh preset speed and the container truck is in the parked state, generate a manual driving instruction and a fourth clearing instruction.

[0139] The seventh preset speed is preferably 0.1 km / h. When the vehicle speed of the container truck is less than 0.1 km / h and the container truck is in the parked state at this time, it means that the container truck can directly enter the manual driving mode at this time. Therefore, a manual driving instruction is generated and the electronic brake system, electronic parking system, and electronic steering system are all cleared.

[0140] Optionally, as Figure 8 shown, when the chassis of the container truck is in the state that the chassis request is not enabled, the container truck is in the non-parked state, and the vehicle speed of the container truck is greater than the seventh preset speed, after step 2127, the following step 2129 or step 2130 can be performed:

[0141] Step 2129: When the chassis is in the state that the chassis request is not enabled, the container truck is in the non-parked state, and the vehicle speed of the container truck is greater than the seventh preset speed, generate an electronic brake instruction and a second drive clearing instruction.

[0142] When the container truck does not meet the condition that the vehicle speed is less than 0.1 km / h and greater than 0.1 km / h, the container truck should be braked first. After the container truck stops and becomes in the parked state, it can be converted to the manual driving mode. Therefore, in this case, the container truck should be electronically braked by using the electronic brake system first, and the electronic parking system and the electronic steering system should be cleared.

[0143] Step 2130: When the chassis request of the chassis is not enabled, the truck is in an unparked state, and the vehicle speed of the truck is less than or equal to the seventh preset speed, generate a by-wire parking instruction and a third drive zeroing instruction.

[0144] When the truck is in an unparked state but the vehicle speed is less than 0.1 km / h, it can be considered that the truck is approaching a stopped state at this time. At this time, the by-wire parking system can be used to perform by-wire parking on the truck.

[0145] In a possible implementation manner, Figure 9 The figure shows a schematic flow chart of a control instruction generation method in an unmanned truck control method provided by another embodiment of the present application. As Figure 8 and Figure 9 shown, when the chassis of the truck is in a chassis request enabled state, step 2000 may further include the following steps:

[0146] Step 2131: When the chassis request is enabled, obtain the current mode of the truck.

[0147] The current mode of the truck includes an autonomous driving mode, a chassis enabled mode, and a manual driving mode. When the chassis request of the truck is enabled, it means that each actuator included in the chassis can operate normally. Therefore, the current mode of the truck can be obtained to determine whether a mode switch is required.

[0148] Step 2132: When the current mode of the truck is the autonomous driving mode and a request for autonomous driving instruction is received, generate an autonomous driving instruction.

[0149] The request for autonomous driving instruction is an instruction input by the driver received by the control center, which is used to request the truck to enter the autonomous driving mode. The autonomous driving instruction is used to control the by-wire parking system, the by-wire braking system, and the by-wire steering system to perform autonomous driving on the truck. When a request for autonomous driving instruction is received and the current chassis of the truck is enabled, it means that the truck can enter the autonomous driving mode, and then an autonomous driving instruction is generated.

[0150] Specifically, as Figure 9 shown, when the current mode of the truck is the autonomous driving mode and a request for autonomous driving instruction is not received, the steps after step 2131 may be as follows:

[0151] Step 2133: When the current mode of the truck is the autonomous driving mode and a request for autonomous driving instruction is not received, obtain the vehicle speed information and the parking state information of the truck.

[0152] When a request for autonomous driving instruction is not received, the truck should be controlled to enter the manual driving mode or park. Therefore, the vehicle speed information and the parking information of the truck need to be obtained.

[0153] Step 2134: Generate a manual driving instruction when the speed of the container truck is less than the eighth preset speed and the container truck is in a parked state.

[0154] The eighth preset speed can be 0.1 km / h. When the speed of the container truck is less than 0.1 km / h and the current container truck is in a parked state, it indicates that the container truck can directly enter the manual driving mode. At this time, just generate a manual driving instruction.

[0155] Specifically, as Figure 10 shown, when the container truck is not in a parked state, the container truck should first be parked. At this time, it is necessary to decide whether to brake or park the container truck according to the speed of the container truck, as shown in the following step 2135 or step 2136:

[0156] Step 2135: When the container truck is not in a parked state and the speed of the container truck is greater than the eighth preset speed, generate a line control braking instruction and a second drive zeroing instruction.

[0157] When the speed of the container truck is greater than 0.1 km / h, it can be considered that the container truck is not in a stopped state at this time. Therefore, it is necessary to generate a line control braking instruction to brake the container truck, and at the same time, zero the line control parking system and the line control steering system.

[0158] Step 2136: When the container truck is not in a parked state and the speed of the container truck is less than or equal to the eighth preset speed, generate a line control parking instruction and a third drive zeroing instruction.

[0159] When the speed of the container truck is less than 0.1 km / h, it can be considered that the container truck is in a stopped state at this time. Therefore, it is only necessary to use the line control parking system to perform line control parking on the container truck.

[0160] Specifically, Figure 10 shown is a schematic flow diagram of a control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application. As Figure 9 and Figure 10 shown, when the current mode of the container truck is the chassis enable mode, the steps after step 2131 can be as follows:

[0161] Step 2137: When the current mode of the container truck is the chassis enable mode, obtain a request for an autonomous driving instruction.

[0162] When the current mode of the container truck is the chassis request enable mode, it indicates that the chassis of the container truck is normal. Waiting to receive a request for an autonomous driving instruction, it can enter the autonomous driving mode.

[0163] Step 2138: When the request for an autonomous driving instruction is a rising edge instruction, generate an autonomous driving instruction.

[0164] As can be seen from the above, when the request for an autonomous driving instruction is a rising edge instruction, the mode switching process of the container truck is more controllable and reliable.

[0165] In a possible implementation, as Figure 10 shown, when the current mode of the container truck is the chassis enable mode, but the received request for an autonomous driving instruction is not a rising edge instruction, step 2000 may include the following steps:

[0166] Step 2139: When the request for an autonomous driving instruction is not a rising edge instruction, obtain the vehicle speed information of the container truck.

[0167] When the request for an autonomous driving instruction is not a rising edge instruction, the container truck cannot be controlled to enter the autonomous driving mode. Therefore, it is necessary to obtain the vehicle speed information of the container truck, so as to generate the next instruction according to the vehicle speed of the container truck.

[0168] Step 2140: When the vehicle speed of the container truck is less than the ninth preset speed, generate a by-wire chassis enable instruction.

[0169] The ninth preset speed is preferably 0.1 km / h. The by-wire chassis enable instruction is used to control the container truck to enter the by-wire chassis enable mode, that is, when the vehicle speed of the container truck is less than 0.1 km / h, control the container truck to enter the by-wire chassis enable mode. At this time, the torque, by-wire parking system, by-wire braking system, and by-wire steering system are all cleared, and each system waits for enable control.

[0170] Step 2141: When the vehicle speed of the container truck is greater than or equal to the ninth preset speed, generate a braking enable instruction.

[0171] The braking enable instruction is used to control the container truck to enter the enable mode under braking. At this time, there is braking deceleration in the by-wire braking system, and the torque, by-wire steering system, and by-wire parking system are all cleared, waiting for enable control.

[0172] Specifically, Figure 11 shown is a schematic flow chart of a control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application. As Figure 10 and Figure 11 shown, when the current mode of the container truck is the manual driving mode, step 2000 may specifically include the following steps:

[0173] Step 2142: When the current mode of the container truck is the manual driving mode, the chassis of the container truck is in the chassis enable state, and the request for an autonomous driving instruction is not a rising edge instruction, obtain the vehicle speed information of the container truck.

[0174] When the current mode of the container truck is the manual driving mode, when the chassis of the container truck is in the enabled state and the request for the automatic driving instruction is a non-rising edge instruction, it is necessary to generate the next instruction in combination with the vehicle speed information of the container truck.

[0175] Step 2143: When the vehicle speed of the container truck is less than the tenth preset speed, generate a by-wire chassis enabling instruction.

[0176] The tenth preset speed is preferably 0.1 km / h. The by-wire chassis enabling instruction is used to control the container truck to enter the by-wire chassis enabling mode. At this time, the torque, by-wire steering system, by-wire braking system, and by-wire parking system are all cleared, waiting for enabling control.

[0177] Step 2144: When the vehicle speed of the container truck is greater than or equal to the tenth preset speed, generate a braking enabling mode instruction.

[0178] The braking enabling mode instruction is used to control the container truck to enter the chassis enabling mode under braking. When the vehicle speed of the container truck is greater than or equal to 0.1 km / h, control the container truck to enter the chassis enabling mode under braking. At this time, there is braking deceleration in the by-wire braking system, and the torque, by-wire parking system, and by-wire steering system are all cleared, waiting for enabling.

[0179] Optionally, Figure 12 The figure shows a schematic flow chart of the control instruction generation method in the unmanned container truck control method provided by another embodiment of the present application. As Figure 12 shown, when the current mode of the container truck is the manual driving mode, when the chassis of the container truck is in the non-enabled state and the request for the automatic driving instruction is a non-rising edge instruction, step 210 may further include the following steps:

[0180] Step 2145: When the current mode of the container truck is the manual driving mode, the chassis of the container truck is in the non-enabled state, and the request for the automatic driving instruction is a non-rising edge instruction, obtain the vehicle speed information of the container truck.

[0181] At this time, it is necessary to generate a control instruction according to the vehicle speed information of the container truck to make the control instruction more accurate.

[0182] Step 2146: When the vehicle speed of the container truck is less than the eleventh preset speed, generate a manual driving - request chassis automatic instruction.

[0183] The manual driving - request chassis automatic instruction is used to request to control the container truck to enter the chassis automatic mode in the manual driving mode. At this time, the torque, by-wire braking system, by-wire steering system, and by-wire parking system are all cleared.

[0184] Step 2147: When the vehicle speed of the container truck is greater than or equal to the eleventh preset speed, generate a manual driving - deceleration instruction.

[0185] The manual driving - deceleration instruction is used to request the control of the container truck to enter the automatic chassis mode under deceleration. This request for the chassis to enter the automatic mode causes the brake - by - wire system to decelerate, and the torque, steer - by - wire system, and electronic parking brake system are all reset to zero.

[0186] Optionally, as Figure 2 shown, before step 101, this method for controlling an unmanned container truck may further include step 1001:

[0187] Step 1001: Obtain the current state of the driverless switch. When the driverless switch is in the on state, obtain the status feedback information of the electronic parking brake system.

[0188] The driverless switch on the control panel is used to turn on the driverless mode. When this switch is not turned on, it means that the container truck is in the manual driving mode, and the driving, braking, steering, and parking of the container truck are all manually controlled.

[0189] In addition, according to the second aspect of the present application, the present application also provides an unmanned container truck controller.

[0190] Figure 13 The following shows a schematic structural diagram of an unmanned container truck controller provided by another embodiment of the present application. As Figure 13 shown, this unmanned container truck controller 100 (hereinafter simply referred to as "controller 100") may specifically include a status feedback information acquisition module 101, an operating status acquisition module 102, and a status feedback information response module 103. Among them, the status feedback information acquisition module 101 is used to determine whether the operating status of the container truck and the actuator 200 is normal. When the operating status of the container truck and the actuator 200 is normal, generate a control instruction. The control instruction is used to control the actuator 200 to park or brake the container truck or control the actuator 200 to switch. When the operating status of the container truck or the actuator 200 is abnormal, hierarchically control the container truck to stop.

[0191] The unmanned container truck controller 100 provided by this application includes a status feedback information acquisition module 101 and a status feedback information response module 103, which can acquire the status feedback information of the actuator 200 of the container truck; generate a control instruction according to the status feedback information of the actuator 200, and can also perform hierarchical parking on the container truck when the operating status of the container truck or the actuator is abnormal, wherein the control instruction is used to control the actuator 200 to park or brake the container truck or control the actuator 200 to switch. This unmanned container truck control method continuously acquires the current status feedback information of the actuator 200 of the container truck to judge the communication situation of each actuator 200 and whether each device fails. When the communication or device of the actuator 200 fails, the container truck is braked or parked in time to reduce the probability of safety accidents caused by the inability to brake in time during the driving process of the unmanned container truck.

[0192] In a possible implementation manner, as Figure 13 shown, this controller 100 may further include an operating status acquisition module 102, and this operating status acquisition module 102 is used to acquire the operating status of the container truck, including the vehicle speed information and driving status information of the container truck, etc., so that the status feedback information response module 103 can generate a control instruction according to the status feedback information of the actuator 200 and the operating status of the container truck, and improve the accuracy and reliability of the control instruction.

[0193] According to the third aspect of this application, this application also provides an unmanned container truck control system, which is applicable to the unmanned container truck control method in the above embodiments.

[0194] Figure 14 The following shows the structural schematic diagram of the unmanned container truck control system provided by another embodiment of this application. As Figure 14 shown, this unmanned container truck control system may specifically include the controller 100 in the above embodiments and an actuator 200 communicatively connected to the controller 100.

[0195] This unmanned container truck control system provided by the present application includes the above-mentioned controller 100. This controller 100 includes a status feedback information acquisition module 101 and a status feedback information response module 103, and it can acquire the status feedback information of the actuator 200 of the container truck; according to the status feedback information of the actuator 200, a control instruction is generated, and the control instruction is used to control the actuator 200 to park or brake the container truck or control the actuator 200 to switch, and it can also perform hierarchical parking on the container truck when the operating status of the container truck or the actuator is abnormal. This unmanned container truck control method continuously acquires the current status feedback information of the actuator 200 of the container truck to judge the communication situation of each actuator 200 and whether each device fails. When the communication or device of the actuator 200 fails, the container truck is braked or parked in time to reduce the probability of safety accidents occurring during the driving of the unmanned container truck due to the inability to brake in time.

[0196] Specifically, as Figure 15 shown, the actuator 200 may further include an electronic parking brake system 201, an electronic braking system 202, an electronic steering system 203, a vehicle control system 204, and an electric drive system 205. Among them, the electronic parking brake system 201 is communicatively connected to the controller 100 and is used to perform electronic parking on the container truck; the electronic braking system 202 is communicatively connected to the controller 100 and is used to perform electronic braking on the container truck; the electronic steering system 203 is communicatively connected to the controller 100 and is used to perform electronic steering on the container truck; the vehicle control system 204 is communicatively connected to the controller 100 and is used to perform vehicle control on the container truck; the electric drive system 205 is communicatively connected to the controller 100, and the electric drive system 205 is used to perform electric braking on the container truck. Only after each of the above-mentioned actuators 200 receives the corresponding instruction and performs the corresponding operation can the unmanned container truck drive safely.

[0197] Optionally, as Figure 15 shown, this unmanned container truck control system may further include an unmanned driving switch 206, and this unmanned driving switch 206 is used to control the container truck to enter the unmanned driving mode, the automatic driving mode, or the chassis enable mode.

[0198] In addition, according to the fourth aspect of the present application, the present application also provides a container truck, and this container truck includes the above-mentioned unmanned container truck control system.

[0199] The container truck provided by this application includes a controller 100 and an actuator 200. The controller 100 includes a status feedback information acquisition module 101, an operating status acquisition module 102, and a status feedback information response module 103, which can acquire the status feedback information of the actuator 200 of the container truck; generate a control instruction according to the status feedback information of the actuator 200, and the control instruction is used to control the actuator 200 to park or brake the container truck or control the actuator 200 to switch. This unmanned container truck control method continuously acquires the current status feedback information of the actuator 200 of the container truck to judge the communication situation of each actuator 200 and whether each device fails. When the communication or device of the actuator 200 fails, the container truck is braked or parked in time to reduce the probability of safety accidents caused by the inability to brake in time during the driving process of the unmanned container truck.

[0200] Next, refer to Figure 15 to describe the electronic device according to an embodiment of the present application. Figure 15 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0201] As Figure 15 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0202] The processor 601 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0203] The memory 601 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage media, and the processor 601 may run the program information to implement the unmanned container truck control method of each embodiment of the present application described above or other desired functions.

[0204] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0205] The input device 603 may include, for example, a keyboard, a mouse, and the like.

[0206] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network, and remote output devices connected thereto, etc.

[0207] Of course, for simplicity, Figure 15 only some of the components related to the present application in the electronic device 600 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0208] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, and when the computer program information is run by a processor, the processor is caused to execute the steps in the unmanned container carrier control method according to various embodiments of the present application described in this specification.

[0209] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0210] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program information is stored, and when the computer program information is run by a processor, the processor is caused to execute the steps in the unmanned container carrier control method according to various embodiments of the present application described in this specification.

[0211] The computer-readable storage medium can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable 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 portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0212] The basic principles of the present application have been described in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the specific details disclosed above are only for illustrative and facilitating understanding purposes, rather than limitations. The above details do not limit the present application to necessarily implement using the above specific details.

[0213] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0214] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0215] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features invented herein.

[0216] The above are only the preferred embodiments of the creation of the present application and are not used to limit the creation of the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the creation of the present application shall be included within the protection scope of the creation of the present application.

Claims

1. An unmanned truck control method, characterized in that, it includes: Obtaining the status feedback information of the actuators of the truck; wherein, the actuators include a wire-controlled parking system, a wire-controlled braking system, a wire-controlled steering system, a motor drive system, and a vehicle control system, and the status feedback information comes from the wire-controlled parking system, the wire-controlled braking system, the wire-controlled steering system, the motor drive system, and the vehicle control system respectively; According to the status feedback information of the actuators, judging whether the operating status of the truck and the actuators is normal. When the operating status of the truck and the actuators is normal, generating a control command, the control command is used to control the actuators to park or brake the truck or control the actuators to switch. When the operating status of the truck or the actuators is abnormal, controlling the truck to stop in a hierarchical manner; The obtaining the status feedback information of the actuators of the truck includes: Obtaining the status feedback information of the wire-controlled parking system; When the status feedback information of the wire-controlled parking system is that the wire-controlled parking system is normal, obtaining the emergency stop information of the truck; When the emergency stop information of the truck is that the truck is in an emergency stop, obtaining the vehicle speed information of the truck; when the vehicle speed of the truck is greater than a first preset speed, generating a wire-controlled braking command and a second drive clearing command, the wire-controlled braking command is used to control the wire-controlled braking system to brake the truck, and the second drive clearing command is used to terminate the use of the wire-controlled parking system and the wire-controlled steering system; when the vehicle speed of the truck is less than or equal to the first preset speed, generating a wire-controlled parking command and a third drive clearing command, the wire-controlled parking command is used to control the wire-controlled parking system to park the truck, and the third drive clearing command is used to terminate the use of the wire-controlled steering system.

2. The unmanned truck control method according to claim 1, characterized in that, The judging whether the operating status of the truck and the actuators is normal according to the status feedback information of the actuators, and when the operating status of the truck or the actuators is abnormal, controlling the truck to stop in a hierarchical manner includes: When the status feedback information of the wire-controlled parking system is that the wire-controlled parking system is abnormal, generating a first braking command and a first drive clearing command; wherein, the first braking command is used to control the motor drive system and the wire-controlled braking system to brake the truck, and the first drive clearing command is used to terminate the use of the wire-controlled parking system.

3. The unmanned truck control method according to claim 2, characterized in that, The judging whether the operating status of the truck and the actuators is normal according to the status feedback information of the actuators, and when the operating status of the truck or the actuators is abnormal, controlling the truck to stop in a hierarchical manner further includes: When the emergency stop information of the truck is that the truck is not in an emergency stop, obtaining the status feedback information of the wire-controlled braking system; When the status feedback information of the wire control braking system indicates that the wire control braking system is abnormal, obtain the status feedback information of the vehicle control system. When the status feedback information of the vehicle control system indicates that the vehicle control system is abnormal, generate the wire-controlled parking instruction and the second drive clearing instruction.

4. The unmanned container truck control method according to claim 3, characterized in that judging whether the operating states of the container truck and the actuators are normal according to the status feedback information of the actuators, and when the operating state of the container truck or the actuators is abnormal, hierarchically controlling the container truck to stop, further comprising: When the status feedback information of the wire control braking system indicates that the wire control braking system is abnormal and the status feedback information of the vehicle control system indicates that the vehicle control system is normal, obtain the vehicle speed information of the container truck. When the vehicle speed of the container truck is greater than a second preset speed, generate an electric braking instruction and the second drive clearing instruction, and the electric braking instruction is used to control the motor drive system to brake the container truck. When the vehicle speed of the container truck is less than or equal to the second preset speed, generate the wire-controlled parking instruction and the second drive clearing instruction.

5. The unmanned container truck control method according to claim 3, characterized in that judging whether the operating states of the container truck and the actuators are normal according to the status feedback information of the actuators, and when the operating state of the container truck or the actuators is abnormal, hierarchically controlling the container truck to stop, further comprising: When the status feedback information of the wire control braking system indicates that the wire control braking system is normal, obtain the status feedback information of the wire control steering system. When the status feedback information of the wire control steering system indicates that the wire control steering system is abnormal, obtain the vehicle speed information of the container truck. When the vehicle speed of the container truck is greater than a third preset speed, generate the wire control braking instruction and the second drive clearing instruction. When the vehicle speed of the container truck is less than or equal to the third preset speed, generate the wire-controlled parking instruction and the third drive clearing instruction.

6. The unmanned container truck control method according to claim 5, characterized in that judging whether the operating states of the container truck and the actuators are normal according to the status feedback information of the actuators, and when the operating state of the container truck or the actuators is abnormal, hierarchically controlling the container truck to stop, further comprising: When the status feedback information of the wire control steering system indicates that the wire control steering system is normal, obtain the status feedback information of the vehicle control system. When the status feedback information of the vehicle control system indicates that the vehicle control system is abnormal, obtain the vehicle speed information of the container truck. When the vehicle speed of the container truck is greater than a fourth preset speed, generate the wire control braking instruction and the third drive clearing instruction. When the vehicle speed of the container truck is less than or equal to the fourth preset speed, generate the wire-controlled parking instruction and the third drive clearing instruction.

7. The unmanned container truck control method according to claim 6, characterized in that Judging whether the operating states of the container truck and the actuator are normal according to the state feedback information of the actuator. When the operating state of the container truck or the actuator is abnormal, controlling the container truck to stop in a hierarchical manner, further including: When the state feedback information of the vehicle control system is that the vehicle control system is normal, obtaining the state feedback information of the autonomous heartbeat signal of the container truck; When the state feedback information of the autonomous heartbeat signal of the container truck is that the autonomous heartbeat signal of the container truck is abnormal, obtaining the vehicle speed information of the container truck; When the vehicle speed of the container truck is greater than the fifth preset speed, generating the electronic braking control instruction and the second drive clearing instruction; When the vehicle speed of the container truck is less than or equal to the fifth preset speed, generating the electronic parking control instruction and the third drive clearing instruction.

8. The unmanned container truck control method according to claim 7, wherein, Generating a control instruction according to the state feedback information of the actuator and the operating state of the container truck, further including: When the state feedback information of the autonomous heartbeat signal of the container truck is that the autonomous heartbeat signal of the container truck is normal, obtaining the previous frame state of the container truck; When the previous frame state of the container truck is an abnormal state, obtaining the vehicle speed information and the parking state information of the container truck; When the vehicle speed of the container truck is less than or equal to the sixth preset speed and the container truck is in a parked state, generating the manual driving instruction and the fourth clearing instruction, where the manual driving instruction is used to control the container truck to enter the manual driving mode, and the fourth clearing instruction is used to terminate the use of the electronic parking system, the electronic braking system, and the electronic steering system.

9. The unmanned container truck control method according to claim 8, wherein, Judging whether the operating states of the container truck and the actuator are normal according to the state feedback information of the actuator. When the operating state of the container truck or the actuator is abnormal, controlling the container truck to stop in a hierarchical manner, further including: When the container truck is not in a parked state and the vehicle speed of the container truck is greater than the sixth preset speed, generating the electronic braking control instruction and the second drive clearing instruction; When the container truck is not in a parked state and the vehicle speed of the container truck is less than or equal to the sixth preset speed, generating the electronic parking control instruction and the third drive clearing instruction.

10. The unmanned container truck control method according to claim 8, wherein, Judging whether the operating states of the container truck and the actuator are normal according to the state feedback information of the actuator. When the operating state of the container truck or the actuator is abnormal, controlling the container truck to stop in a hierarchical manner, further including: When the state feedback information of the previous frame of the container truck is that the previous frame of the container truck is normal, obtaining the chassis request enable state of the container truck; When the chassis request enable state of the container truck is that the chassis request is not enabled, obtaining the vehicle speed information and the parking state information of the container truck; When the vehicle speed of the container truck is less than the seventh preset speed and the container truck is in a parked state, generating the manual driving instruction and the fourth clearing instruction.

11. The unmanned truck control method according to claim 10, characterized in that, judging whether the operating states of the truck and the actuator are normal according to the status feedback information of the actuator, and when the operating state of the truck or the actuator is abnormal, hierarchically controlling the truck to stop, further comprising: when the chassis of the truck has the chassis request disabled, the truck is in an unparked state, and the speed of the truck is greater than the seventh preset speed, generating the electronic braking instruction and the second drive clearing instruction; when the chassis has the chassis request disabled, the truck is in an unparked state, and the speed of the truck is less than or equal to the seventh preset speed, generating the electronic parking instruction and the third drive clearing instruction.

12. The unmanned truck control method according to claim 10, characterized in that, judging whether the operating states of the truck and the actuator are normal according to the status feedback information of the actuator, and when the operating states of the truck and the actuator are normal, generating a control instruction, further comprising: when the chassis has the chassis request enabled, obtaining the current mode of the truck; wherein, the current mode of the truck includes an automatic driving mode, a chassis enabled mode, and a manual driving mode; when the current mode of the truck is the automatic driving mode and a request for automatic driving instruction is received, generating an automatic driving instruction for controlling the electronic parking system, the electronic braking system, and the electronic steering system to perform automatic driving on the truck.

13. The unmanned truck control method according to claim 12, characterized in that, judging whether the operating states of the truck and the actuator are normal according to the status feedback information of the actuator, and when the operating states of the truck and the actuator are normal, generating a control instruction, further comprising: when the current mode of the truck is the automatic driving mode and the request for automatic driving instruction is not received, obtaining the vehicle speed information and the parking state information of the truck; when the speed of the truck is less than the eighth preset speed and the truck is in a parked state, generating the manual driving instruction; when the truck is in an unparked state and the speed of the truck is greater than the eighth preset speed, generating the electronic braking instruction and the second drive clearing instruction; when the truck is in an unparked state and the speed of the truck is less than or equal to the eighth preset speed, generating the electronic parking instruction and the third drive clearing instruction.

14. The unmanned truck control method according to claim 12, characterized in that, judging whether the operating states of the truck and the actuator are normal according to the status feedback information of the actuator, and when the operating states of the truck and the actuator are normal, generating a control instruction, further comprising: when the current mode of the truck is the chassis enabled mode, obtaining the request for automatic driving instruction; when the request for automatic driving instruction is a rising edge instruction, generating the automatic driving instruction.

15. The unmanned container truck control method according to claim 12, characterized in that, judging whether the running states of the container truck and the actuator are normal according to the state feedback information of the actuator, and when the running states of the container truck and the actuator are normal, generating a control instruction, further comprising: when the current mode of the container truck is the manual driving mode, the chassis of the container truck is in the chassis enabled state, and the requested autonomous driving instruction is not a rising edge instruction, acquiring the vehicle speed information of the container truck; when the vehicle speed of the container truck is less than the ninth preset speed, generating a by-wire chassis enable instruction for controlling the container truck to enter the by-wire chassis enable mode; when the vehicle speed of the container truck is greater than or equal to the ninth preset speed, generating a braking enable mode instruction for controlling the container truck to enter the braking enable mode.

16. The unmanned container truck control method according to claim 15, characterized in that, judging whether the running states of the container truck and the actuator are normal according to the state feedback information of the actuator, and when the running states of the container truck and the actuator are normal, generating a control instruction, further comprising: when the current mode of the container truck is the manual driving mode, the chassis of the container truck is in the chassis not enabled state, and the requested autonomous driving instruction is not a rising edge instruction, acquiring the vehicle speed information of the container truck; when the vehicle speed of the container truck is less than the eleventh preset speed, generating a manual driving-request chassis automatic instruction for requesting to control the container truck to enter the chassis automatic mode in the manual driving mode; when the vehicle speed of the container truck is greater than or equal to the eleventh preset speed, generating a manual driving-deceleration instruction for requesting to control the container truck to enter the chassis automatic mode in the deceleration state.

17. The unmanned container truck control method according to claim 1, characterized in that, before acquiring the state feedback information of the by-wire parking system, the unmanned container truck control method further comprises: acquiring the current state of the driverless switch, and when the driverless switch is in the on state, acquiring the state feedback information of the by-wire parking system.

18. An unmanned container truck controller, characterized in that, comprising: a state feedback information acquisition module (101) for acquiring the state feedback information of an actuator (200) of the container truck; the state feedback information of the actuator (200) includes the state feedback information of the by-wire parking system; a state feedback information response module (103) for judging whether the running states of the container truck and the actuator are normal, and when the running states of the container truck and the actuator are normal, generating a control instruction for controlling the actuator to park or brake the container truck or controlling the actuator to switch, and when the running state of the container truck or the actuator is abnormal, hierarchically controlling the container truck to stop; When the status feedback information of the by-wire parking system is that the by-wire parking system is normal, the status feedback information acquisition module (101) acquires the emergency stop information of the heavy truck; when the emergency stop information of the heavy truck is that the heavy truck makes an emergency stop, it acquires the vehicle speed information of the heavy truck; when the vehicle speed of the heavy truck is greater than a first preset speed, it generates a by-wire braking instruction and a second drive clearing instruction, where the by-wire braking instruction is used to control the by-wire braking system to brake the heavy truck, and the second drive clearing instruction is used to terminate the use of the by-wire parking system and the by-wire steering system; when the vehicle speed of the heavy truck is less than or equal to the first preset speed, it generates a by-wire parking instruction and a third drive clearing instruction, where the by-wire parking instruction is used to control the by-wire parking system to park the heavy truck, and the third drive clearing instruction is used to terminate the use of the by-wire steering system.

19. An unmanned heavy truck control system, characterized in that, being applicable to the unmanned heavy truck control method described in claim 1, and comprising: the controller (100) described in claim 18; an actuator (200), the actuator (200) is communicatively connected to the controller (100), wherein, the actuator (200) comprises: a by-wire parking system (201), the by-wire parking system (201) is communicatively connected to the controller (100), and is used for performing by-wire parking on the heavy truck; a by-wire braking system (202), the by-wire braking system (202) is communicatively connected to the controller (100), and is used for performing by-wire braking on the heavy truck; a by-wire steering system (203), the by-wire steering system (203) is communicatively connected to the controller (100), and is used for performing by-wire steering on the heavy truck; a vehicle control system (204), the vehicle control system (204) is communicatively connected to the controller (100), and is used for performing vehicle control on the heavy truck; an electric drive system (205), the electric drive system (205) is communicatively connected to the controller (100), and the electric drive system (205) is used for performing electric braking on the heavy truck.

20. According to the unmanned heavy truck control system described in claim 19, characterized in that, it further comprises: an unmanned driving switch (206), the unmanned driving switch (206) is used for controlling the heavy truck to enter the unmanned driving mode.

21. A heavy truck, characterized in that, it comprises the unmanned heavy truck control system described in any one of claims 19-20.

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