An autonomous vehicle control method and device for standardizing the behavior of safety officers

Abstract

The present invention discloses a method and device for controlling an autonomous driving vehicle to standardize the behavior of a safety officer. The method includes obtaining the running route information of a target autonomous driving vehicle, starting the target autonomous driving vehicle when it is detected that a target object is in a target seat, and controlling the target autonomous driving vehicle to travel based on the running route information; continuously obtaining the positioning information of the target autonomous driving vehicle, comparing the positioning information with the running route information, and determining the target behavior action requirement information corresponding to the positioning information; collecting the current action data of the target object, and generating a warning information when the current action data does not match the target behavior action requirement information. The present invention can autonomously identify the behavior of a safety officer during the driving process of an autonomous driving vehicle, thereby effectively standardizing the behavior of an autonomous driving safety officer and ensuring the operation safety of the vehicle. At the same time, when the safety officer encounters unexpected situations such as sudden physical discomfort, the vehicle can be controlled and taken over in a timely manner.

Description

Technical Field

[0001] This application relates to the technical field of autonomous vehicles, and more particularly, to a method and device for controlling an autonomous vehicle that standardizes the behavior of safety officers. Background Art

[0002] An autonomous vehicle, also known as a driverless vehicle, a computer-driven vehicle, or a wheeled mobile robot, is an intelligent vehicle that realizes driverless operation through a computer system. It relies on the collaborative cooperation of artificial intelligence, visual computing, radar, monitoring devices, and the global positioning system to enable the computer to automatically and safely operate a motor vehicle without any active operation by a human.

[0003] Automated driving is divided into levels 0-5, where level 4 automated driving (L4) represents highly automated driving. The system continuously performs all dynamic driving tasks and automatically executes a minimum risk strategy under its designed operating conditions. Currently, in most operating scenarios, the implementation of autonomous driving products is in the form of "L4-level autonomous vehicles + safety officers".

[0004] Among them, the safety officer of an autonomous vehicle is responsible for ensuring the safety of the vehicle during testing or operation. If the autonomous vehicle does not drive along the specified route or performs some dangerous operations, the autonomous driving safety officer needs to make timely corrections to eliminate risks. It can be seen that the safety officer is an important link in ensuring driving safety during the operation of autonomous vehicles. However, in the current actual operation process, the behavior actions of safety officers have not been effectively standardized, resulting in potential safety hazards during the operation of autonomous vehicles. Summary of the Invention

[0005] To solve the above problems, embodiments of this application provide a method and device for controlling an autonomous vehicle that standardizes the behavior of safety officers.

[0006] In a first aspect, embodiments of this application provide a method for controlling an autonomous vehicle that standardizes the behavior of safety officers, the method including:

[0007] Obtain the operation route information of a target autonomous vehicle, and when it is detected that a target object is in a target seat, start the target autonomous vehicle and control the target autonomous vehicle to drive based on the operation route information;

[0008] Continuously obtain the positioning information of the target autonomous vehicle, compare the positioning information with the operation route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information;

[0009] Collect the current action data of the target object. When the current action data does not match the target behavior action requirement information, generate a warning message and play the warning message to the target object.

[0010] Preferably, the comparing the positioning information with the running route information to determine the target behavior action requirement information corresponding to the positioning information of the target object includes:

[0011] Compare the positioning information with the running route information to determine the current route segment of the positioning information in the running route information;

[0012] Query the target behavior action requirement information corresponding to the current route segment in a preset database.

[0013] Preferably, the collecting the current action data of the target object, generating a warning message when the current action data does not match the target behavior action requirement information, and playing the warning message to the target object includes:

[0014] Determine each target sensor and target parameter corresponding to the target behavior action requirement information, and collect the current action data of the target object based on the target sensor;

[0015] When the current action data does not match the target parameter, generate a warning message and play the warning message to the target object.

[0016] Preferably, after playing the warning message to the target object, it further includes:

[0017] Continuously collect the current action data;

[0018] When, after a first preset duration, the current action data still does not match the target behavior action requirement information, determine the risk level based on the data type and data value of the current action data;

[0019] Obtain the monitoring screen of the target autonomous vehicle, generate risk handling information based on the risk level and the monitoring screen, and send the risk handling information to the background object.

[0020] Preferably, the generating risk handling information based on the risk level and the monitoring screen, and sending the risk handling information to the background object includes:

[0021] Generate risk handling information based on the risk level and the monitoring screen, and send the risk handling information to the background object in order from high to low according to the risk level.

[0022] Preferably, after sending the risk handling information to the background object, it further includes:

[0023] Receive the call instruction sent by the background object, and connect the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle;

[0024] When after the second preset duration, the current action data matches the target behavior action requirement information, repeat the step of continuously obtaining the positioning information of the target autonomous vehicle;

[0025] When after the second preset duration, the current action data still does not match the target behavior action requirement information, receive the route change instruction sent by the background object, change the running route information based on the route change instruction, and control the target autonomous vehicle to dock at the target position.

[0026] Preferably, after controlling the target autonomous vehicle to dock at the target position, it further includes:

[0027] When receiving the feedback instruction sent by the target autonomous vehicle, send a control instruction to the operation terminal corresponding to the background object, so that the operation terminal can remotely control the target autonomous vehicle, and the feedback instruction is used to indicate that the target autonomous vehicle cannot dock at the target position.

[0028] In a second aspect, an embodiment of the present application provides an autonomous vehicle control device for standardizing the behavior of a safety officer, and the device includes:

[0029] An acquisition module, configured to acquire the running route information of the target autonomous vehicle, and when detecting that the target object is in the target seat, start the target autonomous vehicle and control the target autonomous vehicle to travel based on the running route information;

[0030] A determination module, configured to continuously acquire the positioning information of the target autonomous vehicle, compare the positioning information with the running route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information;

[0031] A warning module, configured to collect the current action data of the target object, and when the current action data does not match the target behavior action requirement information, generate a warning information and play the warning information to the target object.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the steps of the method provided in the first aspect or any possible implementation manner of the first aspect.

[0033] Fourthly, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0034] The beneficial effects of the present invention are as follows: It can autonomously identify the behavior of the safety driver during the driving process of an autonomous vehicle, thereby effectively standardizing the behavior of the safety driver of the autonomous vehicle and ensuring the operation safety of the vehicle. At the same time, when the safety driver encounters unexpected situations such as sudden physical discomfort, the vehicle can be controlled and taken over in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 It is a schematic flowchart of a method for controlling an autonomous vehicle to standardize the behavior of a safety driver provided by an embodiment of the present application;

[0037] Figure 2 It is a schematic structural diagram of a device for controlling an autonomous vehicle to standardize the behavior of a safety driver provided by an embodiment of the present application;

[0038] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

[0040] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments including all other possible combinations of A, B, C, and D, although such embodiments may not be explicitly described in the following content.

[0041] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the elements described without departing from the scope of the content of this application. Various processes or components may be appropriately omitted, substituted, or added to each example. For example, the methods described may be performed in a different order than the order described, and various steps may be added, omitted, or combined. In addition, the features described for some examples may be combined into other examples.

[0042] See Figure 1 , Figure 1 which is a schematic flowchart of an automatic driving vehicle control method for standardizing the behavior of safety officers provided by an embodiment of this application. In the embodiment of this application, the method includes:

[0043] S101. Obtain the running route information of the target automatic driving vehicle. When it is detected that the target object is in the target seat, start the target automatic driving vehicle and control the target automatic driving vehicle to travel based on the running route information.

[0044] The execution subject of this application may be a cloud server.

[0045] In the embodiment of this application, a safety officer is generally assigned in the automatic driving vehicle to manage driving safety. The cloud server first determines the running route information of the target automatic driving vehicle that needs to be supervised and controlled, that is, its pre-planned running route. In the initial state of the vehicle, the vehicle can start and begin to drive only when the safety officer is in the safety officer seat. Therefore, the cloud server will monitor the state of the safety officer, that is, the target object. When it is detected that the target object is in the target seat, the target automatic driving vehicle will be controlled to start, and the controller will drive according to the running route information. Among them, the monitoring of the target object can be realized by collecting images through a camera for action recognition, or by setting sensors such as pressure sensors on the target seat, and then identifying and determining through the magnitude of the values detected by the sensors.

[0046] S102. Continuously obtain the positioning information of the target automatic driving vehicle, compare the positioning information with the running route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information.

[0047] In the embodiments of the present application, when the vehicle is running, for different driving positions and vehicle states (such as arriving at a station, normal driving, etc.), different behavioral action requirements are imposed on the safety officer. Therefore, the cloud server will first continuously obtain the positioning information of the target autonomous vehicle to determine the current position of the target autonomous vehicle, and then compare it with the obtained operation route information to determine the position of the vehicle in the operation route, and further judge the driving state that the current vehicle should be in, as well as the target behavioral action requirement information corresponding to this driving state.

[0048] In an implementable manner, the comparing the positioning information with the operation route information to determine the target behavioral action requirement information corresponding to the target object in the positioning information includes:

[0049] Comparing the positioning information with the operation route information to determine the current route segment of the positioning information in the operation route information;

[0050] Query the target behavioral action requirement information corresponding to the current route segment in a preset database.

[0051] In the embodiments of the present application, the operation route information is divided into several current route segments to distinguish the route segments of normal driving, the route segments of arriving at a station and stopping, etc. By comparing the positioning information with the operation route information, the current route segment to which the positioning information belongs can be determined, and then the target behavioral action requirement information corresponding to this current route segment can be queried in the database with pre-set standard data, so as to judge whether the behavioral actions of the target object meet the requirements.

[0052] S103. Collect the current action data of the target object. When the current action data does not match the target behavioral action requirement information, generate a warning message and play the warning message to the target object.

[0053] In the embodiments of the present application, the current action data of the target object will also be collected to judge whether its current behavior matches the target behavioral action requirement information. If not, it means that the current behavior of the target object does not meet the behavioral action requirements, and a warning message will be generated and played to it to give a warning reminder to the target object. The collection of the current action data of the target object can obtain the action data by collecting images through a camera for action recognition, or by setting sensors at the action positions related to the target behavioral action requirement information, and then identifying and determining through the numerical values detected by the sensors.

[0054] In an implementable manner, step S103 includes:

[0055] Determine the target sensors and target parameters corresponding to the target behavior action requirement information, and collect the current action data of the target object based on the target sensors;

[0056] When the current action data does not match the target parameters, generate a warning message and play the warning message to the target object.

[0057] In the embodiments of the present application, the corresponding target sensors and target parameters can be determined through the target behavior action requirement information. Then, the required current action data can be collected through the target sensors. By comparing the collected current action data with the target parameters, when the two do not match, it is considered that the behavior action of the target object does not meet the standard, and a warning message will be generated. For the matching process between the current action data and the target parameters, an allowable error value can be set. As long as the difference between the two is within the allowable error value, they are still considered to match.

[0058] Exemplarily, taking the route segment representing the vehicle arriving at the station as an example, here the safety officer needs to get up and observe the surrounding environment of the vehicle, that is, the safety officer will walk to several specific places inside the vehicle to look outside. Therefore, the corresponding target sensors can be infrared sensors set at these specific positions. Only when the safety officer walks to the correct position to look out can the infrared sensors be blocked, so that the collected current action data matches the target parameters.

[0059] Another exemplarily, taking the route segment representing the normal driving of the vehicle as an example, this time the safety officer needs to always sit on the seat. Even if there is something and needs to leave the seat briefly, it cannot exceed the preset duration. Therefore, the corresponding target sensor can be the pressure sensor on the seat, and the data collected by the pressure sensor is used as the current action data.

[0060] In an implementable manner, after playing the warning message to the target object, it further includes:

[0061] Continuously collect the current action data;

[0062] When after the first preset duration, the current action data still does not match the target behavior action requirement information, determine the risk level based on the data type and data value of the current action data;

[0063] Obtain the monitoring screen of the target autonomous vehicle, generate risk handling information based on the risk level and the monitoring screen, and send the risk handling information to the background object.

[0064] In the embodiment of the present application, after playing a warning message for warning, if after a first preset duration (for example, 10 s), the target object still does not correct the action behavior, resulting in the current action data still not matching the target behavior action requirement information, the cloud server will determine the risk level based on the data type and data value of the current action data to determine the risk level at this time, and retrieve the monitoring screen of the target autonomous vehicle, so as to generate risk handling information and send it to the background object, that is, the background staff, for the background staff to view and call the safety officer by voice.

[0065] In an implementable manner, generating risk handling information based on the risk level and the monitoring screen, and sending the risk handling information to the background object includes:

[0066] Generating risk handling information based on the risk level and the monitoring screen, and sequentially sending the risk handling information to the background object in descending order of the risk level.

[0067] In the embodiment of the present application, since the cloud server can monitor multiple vehicles simultaneously, there may be a situation where multiple risk handling information need to be processed and sent to the background object at the same time. At this time, according to the level of the risk level, the risk handling information with a higher risk level will be given priority to be sent for priority processing.

[0068] In an implementable manner, after sending the risk handling information to the background object, it further includes:

[0069] Receiving a call instruction sent by the background object, and connecting the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle;

[0070] When after a second preset duration, the current action data matches the target behavior action requirement information, repeat the step of continuously obtaining the positioning information of the target autonomous vehicle;

[0071] When after a second preset duration, the current action data still does not match the target behavior action requirement information, receiving a route change instruction sent by the background object, changing the running route information based on the route change instruction, and controlling the target autonomous vehicle to dock at the target position.

[0072] In an embodiment of the present application, the background object will send a call instruction to attempt to call the safety officer. After receiving the call instruction, the cloud server will connect the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle. If the safety officer responds to the voice call and corrects the action, and the vehicle is running normally, then after a second preset duration, the current action data matches the target action requirement information, and at this time, the vehicle will continue the normal operation and judgment process. If the safety officer cannot respond to the call, the background staff will remotely control the vehicle to modify the driving route and make it stop at the target position to ensure the safety of the vehicle.

[0073] In an implementable manner, after controlling the target autonomous vehicle to stop at the target position, it further includes:

[0074] When receiving the feedback instruction sent by the target autonomous vehicle, send a control instruction to the operation terminal corresponding to the background object, so that the operation terminal can remotely control the target autonomous vehicle, and the feedback instruction is used to indicate that the target autonomous vehicle cannot stop at the target position.

[0075] In an embodiment of the present application, during the driving process of the target autonomous vehicle, it will avoid surrounding vehicles and pedestrians through in-vehicle sensors. When the road is congested and it cannot stop at the target position, the target autonomous vehicle will send a feedback instruction. At this time, the cloud server will send a control instruction to the operation terminal, and the background staff will switch to perform remote driving operations to ensure the safety of the vehicle and personnel.

[0076] The following will be combined with the attached Figure 2 , and a detailed introduction will be given to the autonomous vehicle control device for standardizing the behavior of the safety officer provided in the embodiment of the present application. It should be noted that the attached Figure 2 The autonomous vehicle control device for standardizing the behavior of the safety officer shown is used to execute the method of the embodiment of the present application Figure 1 shown. For the convenience of description, only the parts related to the embodiment of the present application are shown. For the specific technical details not disclosed, please refer to the embodiment of the present application Figure 1 shown.

[0077] Please refer to Figure 2 , Figure 2 is a schematic structural diagram of an autonomous vehicle control device for standardizing the behavior of the safety officer provided in an embodiment of the present application. As Figure 2 shown, the device includes:

[0078] An acquisition module 201, configured to acquire the running route information of the target autonomous vehicle, and when detecting that the target object is in the target seat, start the target autonomous vehicle and control the target autonomous vehicle to drive based on the running route information;

[0079] A determination module 202, configured to continuously obtain the positioning information of the target autonomous vehicle, compare the positioning information with the running route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information;

[0080] A warning module 203, configured to collect the current action data of the target object, and when the current action data does not match the target behavior action requirement information, generate a warning information and play the warning information to the target object.

[0081] In an implementable manner, the determination module 202 includes:

[0082] A comparison unit, configured to compare the positioning information with the running route information and determine the current route segment of the positioning information in the running route information;

[0083] A query unit, configured to query the target behavior action requirement information corresponding to the current route segment in a preset database.

[0084] In an implementable manner, the warning module 203 includes:

[0085] A first determination unit, configured to determine each target sensor and target parameter corresponding to the target behavior action requirement information, and collect the current action data of the target object based on the target sensor;

[0086] A playback unit, configured to generate a warning information and play the warning information to the target object when the current action data does not match the target parameter.

[0087] In an implementable manner, the device further includes:

[0088] A continuous collection unit, configured to continuously collect the current action data;

[0089] A risk level determination unit, configured to determine the risk level based on the data type and data value of the current action data when the current action data still does not match the target behavior action requirement information after a first preset duration;

[0090] A first acquisition unit, configured to acquire the monitoring screen of the target autonomous vehicle, generate risk handling information based on the risk level and the monitoring screen, and send the risk handling information to a background object.

[0091] In an implementable manner, the first acquisition unit includes:

[0092] A sending component, configured to generate risk handling information based on the risk level and the monitoring screen, and sequentially send the risk handling information to the background object in the order from high to low of the risk level.

[0093] In an implementable manner, the first acquisition unit further includes:

[0094] A receiving component, configured to receive a call instruction sent by the background object, and connect the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle;

[0095] A first determination component, configured to, when after a second preset duration, the current action data matches the target behavior action requirement information, repeat the step of continuously acquiring the positioning information of the target autonomous vehicle;

[0096] A second determination component, configured to, when after a second preset duration, the current action data still does not match the target behavior action requirement information, receive a route change instruction sent by the background object, change the running route information based on the route change instruction, and control the target autonomous vehicle to dock at a target position.

[0097] In an implementable manner, the second determination component is further configured to:

[0098] When receiving a feedback instruction sent by the target autonomous vehicle, send a control instruction to the operation terminal corresponding to the background object, so that the operation terminal can remotely control the target autonomous vehicle, and the feedback instruction is used to indicate that the target autonomous vehicle cannot dock at the target position.

[0099] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "units" and "modules" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0100] Each processing unit and / or module of the embodiments of the present application can be implemented by an analog circuit that implements the functions of the embodiments of the present application, or can be implemented by software that executes the functions of the embodiments of the present application.

[0101] See Figure 3 , which shows a schematic structural diagram of an electronic device involved in the embodiments of the present application. This electronic device can be used to implement Figure 1 the method in the shown embodiments. As Figure 3As shown, the electronic device 300 may include: at least one central processing unit 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0102] Among them, the communication bus 302 is used to enable connection and communication between these components.

[0103] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0104] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0105] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 connects various parts within the entire electronic device 300 using various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305, it performs various functions of the terminal 300 and processes data. Optionally, the central processing unit 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The central processing unit 301 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301 and may be implemented separately by a single chip.

[0106] Among them, the memory 305 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located away from the aforementioned central processor 301. As Figure 3 shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0107] In Figure 3 the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; while the central processor 301 can be used to call the autonomous vehicle control application program that standardizes the behavior of the safety officer stored in the memory 305 and specifically perform the following operations:

[0108] Obtain the running route information of the target autonomous vehicle. When it is detected that the target object is in the target seat, start the target autonomous vehicle and control the target autonomous vehicle to travel based on the running route information;

[0109] Continuously obtain the positioning information of the target autonomous vehicle, compare the positioning information with the running route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information;

[0110] Collect the current action data of the target object. When the current action data does not match the target behavior action requirement information, generate a warning information and play the warning information to the target object.

[0111] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0112] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0113] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0114] In the several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0115] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0117] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned memory includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), external hard drives, magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0118] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc.

[0119] The above are only exemplary embodiments of the present disclosure, and the scope of the present disclosure cannot be limited thereby. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. After considering the specification and practicing the present disclosure herein, those skilled in the art will readily think of other embodiments of the present disclosure. This application aims to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. An autonomous vehicle control method for standardizing the behavior of safety officers, characterized in that, The method includes: Obtaining the operation route information of the target autonomous vehicle, starting the target autonomous vehicle when it is detected that the target object is in the target seat, and controlling the target autonomous vehicle to travel based on the operation route information; Continuously obtaining the positioning information of the target autonomous vehicle, comparing the positioning information with the operation route information, and determining the target behavior action requirement information corresponding to the target object in the positioning information; Collecting the current action data of the target object, generating a warning message when the current action data does not match the target behavior action requirement information, and playing the warning message to the target object; After playing the warning message to the target object, it further includes: Continuously collecting the current action data; when the current action data still does not match the target behavior action requirement information after a first preset duration, determining the risk level based on the data type and data value of the current action data; obtaining the monitoring screen of the target autonomous vehicle, generating risk handling information based on the risk level and the monitoring screen, and sending the risk handling information to the background object; After sending the risk handling information to the background object, it further includes: Receiving a call instruction sent by the background object, connecting the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle; when the current action data matches the target behavior action requirement information after a second preset duration, repeating the step of continuously obtaining the positioning information of the target autonomous vehicle; when the current action data still does not match the target behavior action requirement information after a second preset duration, receiving a route change instruction sent by the background object, changing the operation route information based on the route change instruction, and controlling the target autonomous vehicle to stop at the target position.

2. The method according to claim 1, wherein The comparing the positioning information with the operation route information and determining the target behavior action requirement information corresponding to the target object in the positioning information includes: comparing the positioning information with the operation route information, determining the current route segment of the positioning information in the operation route information; querying the target behavior action requirement information corresponding to the current route segment in a preset database.

3. The method according to claim 2, wherein The collecting the current action data of the target object, generating a warning message when the current action data does not match the target behavior action requirement information, and playing the warning message to the target object includes: determining each target sensor and target parameter corresponding to the target behavior action requirement information, collecting the current action data of the target object based on the target sensor; generating a warning message when the current action data does not match the target parameter, and playing the warning message to the target object.

4. The method according to claim 1, wherein The generating risk handling information based on the risk level and the monitoring screen and sending the risk handling information to the background object includes: generating risk handling information based on the risk level and the monitoring screen, and sequentially sending the risk handling information to the background object in descending order of the risk level.

5. The method according to claim 1, wherein After the control causes the target autonomous vehicle to dock at the target position, it further includes: when receiving a feedback instruction sent by the target autonomous vehicle, sending a control instruction to the operation terminal corresponding to the background object, so that the operation terminal can remotely control the target autonomous vehicle, where the feedback instruction is used to indicate that the target autonomous vehicle cannot dock at the target position.

6. An automatic driving vehicle control device for standardizing the behavior of safety officers, characterized in that, An autonomous vehicle control method for implementing the behavior standardization of a safety officer according to any one of claims 1-5, the device includes: An acquisition module, configured to acquire the running route information of the target autonomous vehicle, and when detecting that the target object is in the target seat, start the target autonomous vehicle and control the target autonomous vehicle to travel based on the running route information; A determination module, configured to continuously acquire the positioning information of the target autonomous vehicle, compare the positioning information with the running route information, and determine the target behavior action requirement information corresponding to the target object in the positioning information; A warning module, configured to collect the current action data of the target object, and when the current action data does not match the target behavior action requirement information, generate a warning information and play the warning information to the target object; A continuous acquisition unit, configured to continuously collect the current action data; A risk level determination unit, configured to, when after a first preset time period, the current action data still does not match the target behavior action requirement information, determine the risk level based on the data type and data value of the current action data; A first acquisition unit, configured to acquire the monitoring screen of the target autonomous vehicle, generate risk handling information based on the risk level and the monitoring screen, and send the risk handling information to the background object; The first acquisition unit includes: A sending element, configured to generate risk handling information based on the risk level and the monitoring screen, and sequentially send the risk handling information to the background object in descending order of the risk level; A receiving element, configured to receive a call instruction sent by the background object, and connect the first voice terminal of the background object to the second voice terminal of the target autonomous vehicle; A first judgment element, configured to, when after a second preset time period, the current action data matches the target behavior action requirement information, repeat the step of continuously acquiring the positioning information of the target autonomous vehicle; A second judgment element, configured to, when after a second preset time period, the current action data still does not match the target behavior action requirement information, receive a route change instruction sent by the background object, change the running route information based on the route change instruction, and control the target autonomous vehicle to dock at the target position; the second judgment element is further configured to: when receiving a feedback instruction sent by the target autonomous vehicle, send a control instruction to the operation terminal corresponding to the background object, so that the operation terminal can remotely control the target autonomous vehicle, where the feedback instruction is used to indicate that the target autonomous vehicle cannot dock at the target position.

7. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1-5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1-5 are implemented.

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