A method, apparatus, system and medium for path switching of unmanned vehicles

Abstract

This application provides a method, apparatus, system, and medium for path switching of an autonomous vehicle. The method includes: obtaining the current fault level of the autonomous vehicle; when the current fault level is less than or equal to a preset threshold, determining whether the current speed of the autonomous vehicle is equal to 0; when the current speed is equal to 0, determining whether the target path and the current path of the autonomous vehicle completely overlap; when the target path and the current path do not completely overlap, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset path switching interval; if so, controlling the autonomous vehicle to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching under simple road conditions while ensuring safety, and has low requirements for hardware and software performance, with development costs within a controllable range, thus well meeting development requirements.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, system and medium for path switching of unmanned vehicles. Background Technology

[0002] With the development of autonomous driving technology in the global autonomous driving industry, the scenarios and conditions that autonomous driving can handle are gradually increasing. Currently, lane changing is considered a basic function for realizing autonomous driving and is one of the difficulties in autonomous driving.

[0003] The purpose of autonomous lane changing is to achieve proactive collision avoidance, switching to high-speed lanes, and safe overtaking. Lane changing behavior has a significant impact on traffic safety and efficiency. Unsafe lane changing may trigger emergency braking by surrounding vehicles, leading to traffic accidents and localized traffic congestion. Furthermore, current autonomous lane changing systems are primarily developed for urban road environments, which are more complex than those in confined areas such as factory zones. Urban road environments require consideration of more factors, signal transmission and reception are more susceptible to external interference, and data collection is more challenging.

[0004] Therefore, how to achieve efficient and reasonable route switching under simple road conditions while ensuring safety is a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In view of this, a summary section is provided to briefly introduce the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0006] The purpose of this application is to provide a method, device, system and medium for path switching of unmanned vehicles, which can achieve efficient and reasonable path switching under the premise of ensuring safety, and has low requirements for hardware and software performance, and the development cost is within a controllable range, thus well meeting the development requirements.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] In a first aspect, embodiments of this application provide a method for switching routes for an autonomous vehicle, including:

[0009] Obtain the current fault level of the autonomous vehicle;

[0010] When the current fault level is less than or equal to a preset threshold, determine whether the current speed of the autonomous vehicle is equal to 0.

[0011] When the current vehicle speed is 0, determine whether the target path of the autonomous vehicle completely overlaps with the current path;

[0012] When the target path and the current path do not completely overlap, the current position of the autonomous vehicle is determined to be within a path switching interval shared by the target path and the current path, based on a preset autonomous vehicle path switching interval.

[0013] If so, control the autonomous vehicle to switch to the target path.

[0014] In one possible implementation, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset autonomous vehicle path switching interval, includes:

[0015] Based on the preset autonomous vehicle path switching interval, determine whether the current path and the target path share a common path switching interval;

[0016] If it exists, then determine whether the current position is within the shared path switching interval.

[0017] One possible implementation also includes:

[0018] When the fault level is greater than the preset threshold, the autonomous vehicle is not allowed to switch to the target path.

[0019] One possible implementation also includes:

[0020] When the current vehicle speed is greater than 0, the autonomous vehicle is not allowed to switch to the target path.

[0021] Secondly, embodiments of this application provide an unmanned vehicle path switching device, including:

[0022] The acquisition unit is used to acquire the current fault level of the autonomous vehicle;

[0023] The vehicle speed determination unit is used to determine whether the current speed of the unmanned vehicle is equal to 0 when the current fault level is less than or equal to a preset threshold.

[0024] An overlap determination unit is used to determine whether the target path of the autonomous vehicle and the current path completely overlap when the current vehicle speed is equal to 0.

[0025] The switching judgment unit is used to determine whether the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path when the target path and the current path do not completely overlap.

[0026] The control unit is configured to control the autonomous vehicle to switch to the target path if the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path.

[0027] In one possible implementation, the switching determination unit is specifically used for:

[0028] Based on the preset autonomous vehicle path switching interval, determine whether the current path and the target path share a common path switching interval;

[0029] If it exists, then determine whether the current position is within the shared path switching interval.

[0030] One possible implementation also includes:

[0031] The first switching prohibition unit is used to prevent the autonomous vehicle from switching to the target path when the fault level is greater than the preset threshold.

[0032] One possible implementation also includes:

[0033] The second switching prohibition unit is used to prevent the autonomous vehicle from switching to the target path when the current vehicle speed is greater than 0.

[0034] Thirdly, embodiments of this application provide an autonomous vehicle path switching system, including:

[0035] Memory, used to store computer programs;

[0036] A processor is used to implement the steps of the autonomous vehicle path switching method described above when executing the computer program.

[0037] Fourthly, embodiments of this application provide a computer-readable medium storing a computer program, which, when processed and executed, implements the steps of the autonomous vehicle path switching method described above.

[0038] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0039] This application provides a method, apparatus, system, and medium for path switching of an autonomous vehicle. The method includes: obtaining the current fault level of the autonomous vehicle; when the current fault level is less than or equal to a preset threshold, determining whether the current speed of the autonomous vehicle is equal to 0; when the current speed is equal to 0, determining whether the target path and the current path of the autonomous vehicle completely overlap; when the target path and the current path do not completely overlap, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset path switching interval; if so, controlling the autonomous vehicle to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching in simple road conditions while ensuring safety, and has low requirements for hardware and software performance, with development costs within a controllable range, thus well meeting development requirements. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a path switching method for an autonomous vehicle provided in an embodiment of this application is shown;

[0042] Figure 2 This application provides a simplified road condition route diagram according to an embodiment of the present application.

[0043] Figure 3 A flowchart of a path switching method for an autonomous vehicle provided in an embodiment of this application is shown;

[0044] Figure 4 A schematic diagram of an unmanned vehicle path switching device provided in an embodiment of this application is shown. Detailed Implementation

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0046] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0047] As described in the background section, with the development of autonomous driving technology globally, increasing resources are being invested, and the development trend is positive. However, mass production and deployment in certain areas are still limited. Simultaneously, autonomous driving technology is developing in conjunction with vehicle-to-everything (V2X) technology and related technologies for new energy vehicles. Currently, many universities, traditional automakers, and internet companies are conducting research and have reached a certain level of development. However, many problems still need to be solved before truly enabling autonomous driving in specific areas can be achieved.

[0048] With the development of autonomous driving technology in the global autonomous driving industry, the scenarios and conditions that autonomous driving can handle are gradually increasing. Currently, lane changing is considered a basic function for realizing autonomous driving and is one of the difficulties in autonomous driving.

[0049] Research on autonomous vehicles focuses more on lane-changing behavior in urban road environments, proposing autonomous driving lane decision-making models based on drivers' lane-changing experience, but these have not been implemented in real urban road environments; or a route is set in a factory or industrial park so that autonomous vehicles can drive on the designated route, but this does not meet the need to switch to other routes to complete other tasks.

[0050] The purpose of autonomous driving lane changing is to achieve proactive collision avoidance, switching to high-speed lanes, and safe overtaking. Lane-changing behavior has a significant impact on traffic safety and efficiency. Unsafe lane-changing may trigger emergency braking by surrounding vehicles, leading to traffic accidents and localized traffic congestion.

[0051] Current autonomous lane-changing technologies are primarily developed for urban road environments. Urban road environments are far more complex than those in confined areas, such as factory zones, requiring consideration of numerous factors. Signal transmission and reception are more susceptible to external interference, and data collection is more challenging. Achieving autonomous lane-changing with current technology places very high demands on both hardware and software performance, resulting in high costs and limited resources during development.

[0052] For example, the applicant's research found that in a vehicle-to-vehicle communication environment, autonomous vehicles obtain vehicle motion status information through their own sensors (such as GPS, acceleration sensors, etc. to obtain vehicle position, speed, acceleration, etc.), and vehicles interact with each other in a comprehensive and dynamic real-time manner through wireless communication technology, so as to keep track of each other's driving needs at all times, realize the autonomous and safe lane changing of intelligent vehicles, and thus form a safe and efficient road traffic environment.

[0053] Autonomous driving with automatic lane changing has the following technical characteristics:

[0054] 1) Determine the location information of the target object

[0055] 2) Determine the distance between the target object and the vehicle.

[0056] 3) Identification of the target object

[0057] 4) Determine the speed information of this vehicle and the target object.

[0058] 5) Determine the TTC (Time-To-Collision) information between this vehicle and the target object.

[0059] Sensors installed on both sides of the car detect whether there are vehicles behind it, and the information is controlled by a computer system to warn of vehicles approaching from behind in the left and right rearview mirrors or other places; by calculating the deviation between the actual position and the desired position of the vehicle, the desired speed and heading angle (or yaw rate) required for the trajectory are calculated to ensure the driving stability, safety and reliability of the vehicle during lane changing.

[0060] To address the aforementioned technical problems, this application provides a method, apparatus, system, and medium for path switching of autonomous vehicles. The method includes: obtaining the current fault level of the autonomous vehicle; when the current fault level is less than or equal to a preset threshold, determining whether the current speed of the autonomous vehicle is equal to 0; when the current speed is equal to 0, determining whether the target path and the current path of the autonomous vehicle completely overlap; when the target path and the current path do not completely overlap, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset path switching interval; if so, controlling the autonomous vehicle to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching under simple road conditions while ensuring safety, with low requirements for hardware and software performance and controllable development costs, thus well meeting development requirements.

[0061] Exemplary methods

[0062] See Figure 1 The flowchart shown is a method for switching routes for an autonomous vehicle provided in an embodiment of this application, including:

[0063] S101: Obtain the current fault level of the autonomous vehicle.

[0064] In this application embodiment, driverless vehicles generally refer to driverless shuttle buses, which can be equipped with intelligent driving systems and have functions such as remote monitoring, intelligent interaction, mobile phone ride-hailing, automatic parking, wireless charging and solar charging. They are suitable for scenarios such as reception, sightseeing, commuting, microbuses and logistics in specific areas.

[0065] Specifically, the perception module can be responsible for sensing the surrounding environment and collecting and processing environmental and in-vehicle information, mainly involving technologies such as road boundary monitoring, vehicle detection, and pedestrian detection.

[0066] For example, the current fault level of an autonomous vehicle can be obtained through the collection and processing of in-vehicle information. The fault level is divided into four levels, from level 0 to level 3, which represent different fault conditions of the autonomous vehicle.

[0067] S102: When the current fault level is less than or equal to a preset threshold, determine whether the current speed of the unmanned vehicle is equal to 0.

[0068] In this embodiment of the application, in order to ensure the safety of the autonomous vehicle, the current fault level of the autonomous vehicle can be determined first.

[0069] Specifically, the decision-making module can make judgments. The decision-making module is responsible for path planning and navigation, and makes driving decisions on behalf of humans by executing corresponding control strategies.

[0070] For example, since vehicle safety is particularly important for autonomous driving, the fault level can be set to the highest priority in the decision-making logic of the decision module. Fault levels are divided into four levels, from 0 to 3, with path switching only allowed when the fault is at level 0 or 1. That is, the preset threshold for the fault level at this time is level 1.

[0071] Secondly, vehicle speed is also an important criterion, as autonomous driving functions require the vehicle to come to a complete stop before changing routes is permitted. Therefore, whether the vehicle speed is zero is also an important criterion.

[0072] The perception module and the positioning module can be combined to determine the vehicle speed. The positioning module can fuse data from multiple sensors in the perception module to achieve precise positioning of the car, allowing the autonomous vehicle to obtain its exact location so that the decision module can calculate the vehicle's real-time speed.

[0073] S103: When the current vehicle speed is 0, determine whether the target path of the autonomous vehicle and the current path completely overlap.

[0074] In this embodiment of the application, when the current vehicle speed is equal to 0, it is determined whether the target path of the autonomous vehicle and the current path completely overlap.

[0075] Specifically, if the target path of the autonomous vehicle completely overlaps with the current path, it means that the autonomous vehicle is traveling on the target path and no path switching is required. Therefore, this embodiment of the application utilizes this judgment operation to save resources for subsequent path switching. Switching is only performed when the paths are inconsistent, saving a significant amount of system computing resources and reducing the cost of path switching.

[0076] S104: When the target path and the current path do not completely overlap, determine whether the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path according to the preset autonomous vehicle path switching interval.

[0077] S105: If in the specified state, control the autonomous vehicle to switch to the target path.

[0078] In this embodiment of the application, when the target path and the current path do not completely overlap, it indicates that the target path and the current path are inconsistent and a path switching is required.

[0079] Specifically, based on the preset autonomous vehicle path switching interval, it can be determined whether the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path.

[0080] In one possible implementation, it can be determined whether there is a shared path switching interval between the current path and the target path based on a preset path switching interval for autonomous vehicles; if so, it can be determined whether the current position is within the shared path switching interval.

[0081] For example, see Figure 2 The diagram shown is a simplified road path diagram provided in this application embodiment. There are a total of 7 paths, namely, main line, garage--main line, charging station--main line, main line--garage, main line--charging station, garage--charging station and charging station--garage (-- means station to station).

[0082] The characteristics of each path are as follows:

[0083] (1) Each path consists of a series of pose points, each containing basic pose information (latitude and longitude, Cartesian coordinates, and heading angle, etc.) as well as various markers (speed, stopping point, aiming distance, and tracking markers, etc.). The distance between points varies from 0.5 meters to 1 meter depending on the shape of the path.

[0084] (2) Set the overlapping area of ​​each pair of paths as the path switching area, and set the switching interval flag of each point in the sub-area to the corresponding value. The purpose of the switching interval is to ensure that after switching paths, the tracking module can use the positioning information of the current positioning module to match the pose information in the path.

[0085] (3) The length of the switching area is set to 10m (tentative, the specific value will be determined by the test results) in order to reduce the impact of positioning error on the switching process.

[0086] (4) The switching point is set to the midpoint of the switching area.

[0087] (5) Set up the passenger pick-up and drop-off points in the switching area to ensure that passenger pick-up and drop-off and route switching can be carried out simultaneously, thereby improving the stability of the switching process.

[0088] according to Figure 2 The detailed path diagram shown is illustrated in Table 1, which lists the path parameter requirements (the colon in the last row indicates that more paths can be added; currently, 7 paths are set):

[0089]

[0090]

[0091] Table 1

[0092] Referring to Table 1, for example, if the current path is the main line -- garage and the target path is the main line -- charging station, then the path switching interval shared by the target path and the current path is 11, indicating that the current path and the target path have a shared path switching interval, and subsequent path switching operations can be performed.

[0093] If the current path is charging station -- garage and the target path is main line -- charging station, then the target path and the current path do not share a common path switching section, and subsequent path switching operations cannot be performed.

[0094] Then, if the current path and the target path share a common path switching interval, the system can determine whether the current location is within the common path switching interval based on the positioning data transmitted by the positioning module.

[0095] If the path is clear, the autonomous vehicle will be controlled to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching in simple road conditions while ensuring safety, with low requirements for hardware and software performance and controllable development costs, thus well meeting development requirements.

[0096] In one possible implementation, see Figure 3 The diagram shows a flowchart of a path switching method for an unmanned vehicle provided in an embodiment of this application. First, the vehicle normally receives external system input signals including a switching interval flag, the current path number, speed information, fault level, and switching command.

[0097] Determine if the fault level is less than 2; otherwise, output feedback that the vehicle is in a level 2-3 fault state, switching is not allowed, and the path number is 0; if so, continue to determine the next condition that needs to be met.

[0098] Determine if the current vehicle speed is 0; otherwise, output feedback information: current vehicle speed > 0, switching is not allowed, path number is 0; if yes, continue to determine the next condition to be met.

[0099] If the target path and the current path completely overlap, the output feedback message is: the vehicle's current path does not support switching to the specified path, and the path number is 0; if they do not completely overlap, the next condition to be met is determined.

[0100] If the vehicle's location does not match the switching zone, a feedback message will be output indicating that the vehicle is currently in a mismatched switching zone. If it is in a matching zone, switching to the specified path is allowed, and the corresponding path for the switching command will be output. The matching zone is the switching zone shared by the current path and the target path.

[0101] Specifically, as shown in Table 2, the system external input and output conditions provided in this application embodiment are as follows: the vehicle needs an external input signal to determine whether the vehicle meets the switching requirements, thereby obtaining a feedback information.

[0102]

[0103] Table 2

[0104] The main function of the route switching decision module is to determine whether the switching conditions are met after receiving the switching command. See Table 3, which provides an example of a route switching condition list in this embodiment. The switching interval flag determines whether the requirements are met, i.e., whether the current path and the target path share a common switching interval, and whether the vehicle's current position is within that common switching interval.

[0105]

[0106]

[0107] Table 3

[0108] Specifically, as shown in Table 4, different path numbers can be output based on different feedback information.

[0109]

[0110] Table 4

[0111] In one possible implementation, the method provided in this application embodiment may further include: when the fault level is greater than a preset threshold, the autonomous vehicle is not allowed to switch to the target path.

[0112] In another possible implementation, the method provided in this application embodiment may further include: when the current vehicle speed is greater than 0, the driverless vehicle is not allowed to switch to the target path.

[0113] Optionally, a planning module can be used to output the corresponding path number or an empty number, as well as feedback information, based on the execution status information received from the decision module.

[0114] In one possible implementation, embodiments of this application may also record all paths used for switching and store these paths in the map module. This ensures that a corresponding switching path can be found no matter where the vehicle is on the path.

[0115] In addition, the decision module in this embodiment can also determine whether the current vehicle is on the changed route. If so, a success message is sent; otherwise, a stop signal should be sent to the tracking module, and fault information should be sent to the background.

[0116] This application embodiment utilizes the Internet of Vehicles (IoV), where on-board equipment in vehicles uses wireless communication technology to effectively utilize all dynamic vehicle information on an information network platform, providing different functional services during vehicle operation.

[0117] This application provides a method for path switching of an autonomous vehicle. The method includes: obtaining the current fault level of the autonomous vehicle; when the current fault level is less than or equal to a preset threshold, determining whether the current speed of the autonomous vehicle is equal to 0; when the current speed is equal to 0, determining whether the target path and the current path of the autonomous vehicle completely overlap; when the target path and the current path do not completely overlap, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset path switching interval; if so, controlling the autonomous vehicle to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching in simple road conditions while ensuring safety, and it has low requirements for hardware and software performance, with development costs within a controllable range, thus well meeting development requirements.

[0118] Exemplary device

[0119] See Figure 4 The diagram shown is a schematic of a path switching device for an unmanned vehicle provided in an embodiment of this application, including:

[0120] Acquisition unit 201 is used to acquire the current fault level of the unmanned vehicle;

[0121] The vehicle speed determination unit 202 is used to determine whether the current speed of the unmanned vehicle is equal to 0 when the current fault level is less than or equal to a preset threshold.

[0122] The overlap determination unit 203 is used to determine whether the target path of the unmanned vehicle and the current path completely overlap when the current vehicle speed is equal to 0.

[0123] The switching judgment unit 204 is used to determine whether the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path when the target path and the current path do not completely overlap.

[0124] The control unit 205 is used to control the autonomous vehicle to switch to the target path if the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path.

[0125] In one possible implementation, the switching determination unit is specifically used for:

[0126] Based on the preset autonomous vehicle path switching interval, determine whether the current path and the target path share a common path switching interval;

[0127] If it exists, then determine whether the current position is within the shared path switching interval.

[0128] One possible implementation also includes:

[0129] The first switching prohibition unit is used to prevent the autonomous vehicle from switching to the target path when the fault level is greater than the preset threshold.

[0130] One possible implementation also includes:

[0131] The second switching prohibition unit is used to prevent the autonomous vehicle from switching to the target path when the current vehicle speed is greater than 0.

[0132] This application provides an autonomous vehicle path switching device. The method applied to this device includes: obtaining the current fault level of the autonomous vehicle; when the current fault level is less than or equal to a preset threshold, determining whether the current speed of the autonomous vehicle is equal to 0; when the current speed is equal to 0, determining whether the target path and the current path of the autonomous vehicle completely overlap; when the target path and the current path do not completely overlap, determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path, based on a preset autonomous vehicle path switching interval; if so, controlling the autonomous vehicle to switch to the target path. Therefore, this application can achieve efficient and reasonable path switching in simple road conditions while ensuring safety, and has low requirements for hardware and software performance, with development costs within a controllable range, thus well meeting development requirements.

[0133] Based on the above embodiments, this application provides an autonomous vehicle path switching system, including:

[0134] Memory, used to store computer programs;

[0135] A processor is used to execute the computer program to implement the steps of the autonomous vehicle path switching method described above.

[0136] Based on the above embodiments, this application also provides a computer-readable medium storing a computer program, which, when processed and executed, implements the steps of the above-described autonomous vehicle path switching method.

[0137] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0138] The aforementioned computer-readable medium may be included in the aforementioned system, or it may exist independently and not assembled into the system.

[0139] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0140] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0141] The above description is merely a preferred embodiment of this application. Although this application has disclosed preferred embodiments above, it is not intended to limit this application. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this application using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of this application. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solutions of this application shall still fall within the protection scope of the technical solutions of this application.

Claims

1. A method for switching routes for unmanned vehicles, characterized in that, include: Obtain the current fault level of the autonomous vehicle; When the current fault level is less than or equal to a preset threshold, determine whether the current speed of the autonomous vehicle is equal to 0. When the current vehicle speed is 0, determine whether the target path of the autonomous vehicle completely overlaps with the current path; When the target path and the current path do not completely overlap, the current position of the autonomous vehicle is determined to be within a path switching interval shared by the target path and the current path, based on a preset autonomous vehicle path switching interval. If so, control the autonomous vehicle to switch to the target path; The step of determining whether the current position of the autonomous vehicle is within a path switching interval shared by the target path and the current path based on a preset autonomous vehicle path switching interval includes: Based on the preset autonomous vehicle path switching interval, determine whether the current path and the target path share a common path switching interval; If it exists, then determine whether the current position is within the shared path switching interval.

2. The method according to claim 1, characterized in that, Also includes: When the fault level is greater than the preset threshold, the autonomous vehicle is not allowed to switch over. To the target path.

3. The method according to claim 1, characterized in that, Also includes: When the current vehicle speed is greater than 0, the autonomous vehicle is not allowed to switch to the target. path.

4. A path switching device for an unmanned vehicle, characterized in that, include: The acquisition unit is used to acquire the current fault level of the autonomous vehicle; The vehicle speed determination unit is used to determine whether the current speed of the unmanned vehicle is equal to 0 when the current fault level is less than or equal to a preset threshold. An overlap determination unit is used to determine whether the target path of the autonomous vehicle and the current path completely overlap when the current vehicle speed is equal to 0. The switching judgment unit is used to determine whether the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path when the target path and the current path do not completely overlap. The control unit is configured to control the autonomous vehicle to switch to the target path if the current position of the autonomous vehicle is in a path switching interval shared by the target path and the current path. The switching determination unit is specifically used for: Based on the preset autonomous vehicle path switching interval, determine whether the current path and the target path share a common path switching interval; If it exists, then determine whether the current position is within the shared path switching interval.

5. The apparatus according to claim 4, characterized in that, Also includes: The first disallow switching unit is used to prevent switching when the fault level is greater than the preset threshold. The driverless vehicle may switch to the target path.

6. The apparatus according to claim 4, characterized in that, Also includes: The second prohibition switching unit is used to prevent the unmanned vehicle from switching when the current vehicle speed is greater than 0. The vehicle is switched to the target route.

7. A path switching system for unmanned vehicles, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the autonomous vehicle path switching method as described in any one of claims 1-3 when executing the computer program.

8. A computer-readable medium, characterized in that, The computer-readable medium stores a computer program that, when processed and executed, implements the steps of the autonomous vehicle path switching method as described in any one of claims 1-3.

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