A control method, system and medium for a hidden door handle of an unmanned vehicle

Abstract

The present application relates to a kind of unmanned vehicle hidden door handle control method, system and medium, the method comprises: L1. Vehicle starts to ride task, based on the temperature data information of real-time acquisition outside based on first temperature sensor in vehicle, based on the temperature data information of real-time acquisition door handle based on second temperature sensor in vehicle, based on the position data information of real-time acquisition passenger and the position data information of vehicle based on high-precision map in vehicle;L2. Based on the position data information of passenger and the position data information of vehicle, the motion time of vehicle is predicted using vehicle time prediction model algorithm, and the time data information of vehicle reaches passenger position is obtained.The present application not only can solve the problem that door handle does not automatically pop out or cannot pop out due to icing or pop out after too cold and cause passenger to hold experience bad problem, and further improve the ride experience of passenger.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a control method and system for a hidden door handle of an unmanned vehicle and a medium. BACKGROUND

[0002] With the rapid development of technology, people's life is stepping into intelligent life, among which the intelligent development of vehicles is particularly rapid, and unmanned vehicles are becoming a means of transportation for people.

[0003] Currently, unmanned vehicles are generally equipped with hidden door handles, but due to the cold scene of rain and ice in winter, in the actual operation process after reaching the destination of the passenger, the door handle is very cold or directly ices, which leads to the situation that the passenger cannot open the door to take the vehicle or the vehicle door experience is not good. SUMMARY

[0004] In view of the above problems, the present application provides a control method and system for a hidden door handle of an unmanned vehicle and a medium, which can not only solve the problem that the door handle does not automatically pop up or cannot pop up due to icing or is too cold after popping up, but also further improve the passenger's riding experience.

[0005] In order to achieve the above-mentioned purposes and other related purposes, the technical scheme provided by the present application is as follows:

[0006] A control method for a hidden door handle of an unmanned vehicle, the method comprising:

[0007] L1. The vehicle starts a riding task, obtains temperature data information of the outside world based on a first temperature sensor on the vehicle, obtains temperature data information of the door handle based on a second temperature sensor on the vehicle, and obtains position data information of the passenger and position data information of the vehicle based on a high-precision map on the vehicle;

[0008] L2. Based on the position data information of the passenger and the position data information of the vehicle, a vehicle time prediction model algorithm is used to predict the movement time of the vehicle to obtain time data information of the vehicle reaching the passenger position;

[0009] L3. Based on the temperature data information of the outside world and the temperature data information of the door handle, a door handle temperature control function F is established to adjust the temperature of the door handle to obtain real-time adjustment temperature data information of the door handle;

[0010] L4. Based on the real-time adjustment temperature data information of the door handle and the time data information of the vehicle reaching the passenger position, a control function Q of the door handle is established to control the door handle and output control data information of the door handle.

[0011] Further, the temperature data information of the outside world is temperature data information of an environment outside the vehicle body, and the temperature data information of the door handle is overall temperature data information of the door handle.

[0012] Further, in step L2, the vehicle motion time is predicted by using the vehicle time prediction model algorithm, including:

[0013] L21. Collect vehicle historical ride task data information to obtain position data information of the vehicle, position data information of the passenger, and data information of time required to reach the passenger;

[0014] L22. Based on the position data information of the vehicle, the position data information of the passenger, and the data information of time required to reach the passenger, a time prediction model M of the vehicle to the pickup point is constructed,

[0015]

[0016] Wherein, x i is the position data information of the vehicle, y i is the position data information of the passenger, T is the data information of time required to reach the passenger, and n is the sample capacity. The time of the vehicle to the pickup point is predicted to obtain the time data information of the vehicle to the pickup point;

[0017] L23. Based on the time data information of the vehicle to the pickup point, an average time optimization function N is established,

[0018]

[0019] Wherein, J is the number of time samples of the vehicle to the pickup point, λ j is the average time optimization factor, t j is the time data information of the vehicle to the pickup point, and the motion time of the vehicle is optimized to obtain the time data information of the vehicle to reach the passenger position.

[0020] Further, the constraint condition of the average time optimization factor λ j is,

[0021]

[0022] Further, in step L3, the temperature control function F of the door handle is,

[0023]

[0024]

[0025] Wherein, c1 is the outside temperature data information, c2 is the door handle temperature data information, δ1 is the vehicle outside temperature control parameter, and δ2 is the door handle temperature control parameter.

[0026] Further, in step L4, the door handle control function Q is,

[0027]

[0028]

[0029] Wherein, x is the real-time adjustment temperature data information of the door handle, y is the time data information of the vehicle reaching the passenger position, ω is the control parameter factor of the door handle, f is the fine adjustment function of the door handle, and Δ is the temperature adjustment function of the door handle.

[0030] Further, the temperature adjustment function Δ of the door handle is,

[0031]

[0032] Wherein, x is the real-time adjustment temperature data information of the door handle, a preset threshold is set, the control value of the door handle is obtained according to the door handle control function Q, if the control value of the door handle is less than the preset threshold, the door handle is automatically ejected, and if the control value of the door handle is greater than the preset threshold, the door handle is heated and does not automatically eject.

[0033] In order to achieve the above-mentioned purpose and other related purposes, the present application also provides a system for implementing the control method of the hidden door handle of the unmanned vehicle, the system comprising:

[0034] The data acquisition module is used for acquiring the temperature data information of the outside, the temperature data information of the door handle, the position data information of the passenger and the position data information of the vehicle in real time;

[0035] The door handle temperature adjustment module is connected with the data acquisition module and is used for predicting the movement time of the vehicle by using a vehicle time prediction model algorithm and adjusting the temperature of the door handle by combining the door handle temperature control function F to obtain the real-time adjustment temperature data information of the door handle.

[0036] The door handle control module is connected with the door handle temperature adjustment module and is used for establishing the control function Q of the door handle, controlling the door handle and outputting the control data information of the door handle.

[0037] Further, the system further comprises a warning module, the warning module is connected with the door handle control module and is used for voice reminding when the door handle is out of control.

[0038] To achieve the above object and other related objects, the present application also provides a computer readable storage medium, which stores a computer program programmed or configured to perform any one of the improved control methods of the hidden door handle of the unmanned vehicle.

[0039] The present application has the following positive effects:

[0040] 1. The present application can solve the problem of the door handle not automatically popping out or being unable to pop out due to icing or being too cold after popping out, and further improve the passenger's riding experience by using a vehicle time prediction model algorithm to predict the movement time of the vehicle, combining a door handle temperature control function F to adjust the temperature of the door handle, and obtaining real-time adjustment temperature data information of the door handle.

[0041] 2. The present application can not only accurately control the door handle of the unmanned vehicle, but also make it more intelligent, convenient for passengers to get on and off the vehicle, and improve the passenger's riding experience by establishing a control function Q of the door handle to control the door handle and output control data information of the door handle. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The present application is a method flowchart;

[0043] Figure 2 The present application is a vehicle time prediction model algorithm flowchart;

[0044] Figure 3 The present application is a system framework diagram. DETAILED DESCRIPTION

[0045] The exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in order to be clear and concise, descriptions of well-known functions and structures are omitted in the following description.

[0046] Embodiment 1: As shown, a control method of a hidden door handle of an unmanned vehicle, the method comprising: Figure 1

[0047] L1. The vehicle starts a riding task, real-time acquisition of temperature data information of the outside based on a first temperature sensor on board, real-time acquisition of temperature data information of the door handle based on a second temperature sensor on board, real-time acquisition of position data information of the passenger and position data information of the vehicle based on a high-precision map on board;

[0048] ​L2. Based on the position data information of the passenger and the position data information of the vehicle, a vehicle time prediction model algorithm is used to predict the movement time of the vehicle, and time data information of the vehicle reaching the passenger position is obtained;

[0049] L3. Based on the external temperature data information and the temperature data information of the door handle, a door handle temperature control function F is established to adjust the temperature of the door handle, and real-time adjustment temperature data information of the door handle is obtained;

[0050] L4. Based on the real-time adjustment temperature data information of the door handle and the time data information of the vehicle reaching the passenger position, a control function Q of the door handle is established to control the door handle, and control data information of the door handle is output.

[0051] In this embodiment, the external temperature data information is the temperature data information of the environment outside the vehicle body, and the temperature data information of the door handle is the overall temperature data information of the door handle.

[0052] In this embodiment, as shown in Figure 2 L2, the vehicle time prediction model algorithm used to predict the movement time of the vehicle includes:

[0053] L21. Collect vehicle historical riding task data information to obtain position data information of the vehicle, position data information of the passenger, and data information of the time required to reach the passenger;

[0054] L22. Based on the position data information of the vehicle, the position data information of the passenger, and the data information of the time required to reach the passenger, a vehicle-to-riding point time prediction model M is constructed,

[0055]

[0056] Wherein, x i is the position data information of the vehicle, y i is the position data information of the passenger, T is the data information of the time required to reach the passenger, and n is the sample capacity. The time of the vehicle to the riding point is predicted to obtain the time data information of the vehicle to the riding point;

[0057] L23. Based on the time data information of the vehicle to the riding point, a mean time optimization function N is established,

[0058]

[0059] Wherein, J is the number of vehicle-to-riding point time samples, λ j is the mean time optimization factor, and t jThe time data information of the vehicle to the passenger position is obtained by optimizing the movement time of the vehicle.

[0060] In the embodiment, the mean time optimization factor λ j The constraint condition is,

[0061]

[0062] Embodiment 2: Based on the control method of the hidden door handle of the unmanned vehicle in embodiment 1, the present application is further described and explained as follows.

[0063] As shown in Figure 1 A control method of a hidden door handle of an unmanned vehicle, the method comprising:

[0064] L1. The vehicle starts a vehicle task, real-time acquisition of temperature data information of the outside based on the first temperature sensor on the vehicle, real-time acquisition of temperature data information of the door handle based on the second temperature sensor on the vehicle, real-time acquisition of position data information of the passenger and position data information of the vehicle based on the high-precision map on the vehicle;

[0065] L2. Based on the position data information of the passenger and the position data information of the vehicle, the movement time of the vehicle is predicted by using a vehicle time prediction model algorithm, and the time data information of the vehicle to the passenger position is obtained;

[0066] L3. Based on the temperature data information of the outside and the temperature data information of the door handle, a door handle temperature control function F is established to adjust the temperature of the door handle, and real-time adjustment temperature data information of the door handle is obtained;

[0067] L4. Based on the real-time adjustment temperature data information of the door handle and the time data information of the vehicle to the passenger position, a door handle control function Q is established to control the door handle, and control data information of the door handle is output.

[0068] In the embodiment, in step L3, the temperature control function F of the door handle is,

[0069]

[0070] Wherein, c1 is the temperature data information of the outside, c2 is the temperature data information of the door handle, δ1 is the control parameter of the vehicle outside temperature, and δ2 is the temperature control parameter of the door handle.

[0071] In the embodiment, in step L4, the control function Q of the door handle is,

[0072]

[0073]

[0074] Wherein, x is the real-time adjustment temperature data information of the door handle, y is the time data information of the vehicle reaching the passenger position, ω is the control parameter factor of the door handle, f is the fine adjustment function of the door handle, and Δ is the temperature adjustment function of the door handle.

[0075] In the embodiment, the temperature adjustment function Δ of the door handle is,

[0076]

[0077] Wherein, x is the real-time adjustment temperature data information of the door handle, a preset threshold is set, the control value of the door handle is obtained according to the control function Q of the door handle, the door handle is automatically ejected if the control value of the door handle is less than the preset threshold, and the door handle is heated if the control value of the door handle is greater than the preset threshold.

[0078] In the embodiment, as Figure 3 indicated, the application provides a system for implementing the control method of the hidden door handle of the unmanned vehicle, the system comprising:

[0079] A data acquisition module is configured to acquire temperature data information of the outside world, temperature data information of the door handle, position data information of the passenger, and position data information of the vehicle in real time.

[0080] A door handle temperature adjustment module is connected with the data acquisition module and is configured to predict the movement time of the vehicle by using a vehicle time prediction model algorithm, and adjust the temperature of the door handle by combining a door handle temperature control function F, to obtain real-time adjustment temperature data information of the door handle.

[0081] A door handle control module is connected with the door handle temperature adjustment module and is configured to establish a control function Q of the door handle, control the door handle, and output control data information of the door handle.

[0082] In the embodiment, the system further comprises a warning module connected with the door handle control module and configured to perform voice reminding when the door handle is out of control.

[0083] In the embodiment, the application provides a computer readable storage medium having a computer program programmed or configured to execute the improved control method of the hidden door handle of the unmanned vehicle stored thereon.

[0084] Any reference to storage, memory, database or other medium herein can include non-volatile and / or volatile storage. Non-volatile storage can include read-only memory (ROM), programmable ROM (PROM), electronically programmable ROM (EPROM), or electrically erasable programmable ROM (EEPROM). Volatile storage can include random-access memory (RAM). By way of illustration, and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM). The RAM can also include a basic-oxide-of-silicon (BOS) memory.

[0085] In summary, the present application not only solves the problem of the door handle not automatically popping out or being unable to pop out due to icing or being too cold after popping out, but also further improves the passenger's riding experience.

[0086] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A control method for a hidden door handle of an unmanned vehicle, characterized in that, The method includes: L1. The vehicle begins its passenger service, acquiring real-time external temperature data based on the first onboard temperature sensor, real-time door handle temperature data based on the second onboard temperature sensor, and real-time passenger and vehicle location data based on the onboard high-precision map. L2. Based on the passenger's location data and the vehicle's location data, a vehicle time prediction model algorithm is used to predict the vehicle's travel time, thereby obtaining the time data of the vehicle's arrival at the passenger's location. L3. Based on the external temperature data and the door handle temperature data, establish a door handle temperature control function F to adjust the temperature of the door handle and obtain the real-time adjusted temperature data of the door handle; L4. Based on the real-time temperature adjustment data of the door handle and the time data of the vehicle arriving at the passenger's location, establish a control function Q for the door handle, control the door handle, and output the control data information of the door handle; In step L2, the prediction of the vehicle's travel time using the vehicle time prediction model algorithm includes: L21. Collect historical passenger data information of vehicles, and obtain vehicle location data information, passenger location data information, and data information on the time required to reach passengers; L22. Based on the vehicle's location data, the passenger's location data, and the time required to reach the passenger, construct a vehicle-to-board-point time prediction model M. ， Where, x i For vehicle location data, y i The data includes passenger location information, T representing the time required to reach the passenger, and n representing the sample size. The time it takes for the vehicle to reach the pick-up point is predicted to obtain the time data for the vehicle to reach the pick-up point. L23. Based on the vehicle arrival time data, establish an average time optimization function N. ， Where J is the number of time samples of the vehicle arriving at the pick-up point, and λ j t is the mean-time optimization factor. j Based on the vehicle's arrival time at the pick-up point, the vehicle's travel time is optimized to obtain the vehicle's arrival time at the passenger's location. In step L3, the temperature control function F of the door handle is, ， ， Where c1 is the outside temperature data, c2 is the door handle temperature data, δ1 is the control parameter for the outside temperature of the vehicle, and δ2 is the temperature control parameter for the door handle. In step L4, the control function Q of the door handle is, ， ， Where x is the real-time temperature adjustment data of the door handle, y is the time data of the vehicle arriving at the passenger's location, ω is the control parameter factor of the door handle, f is the fine-tuning function of the door handle, and Δ is the temperature adjustment function of the door handle.

2. The control method for the hidden door handle of an unmanned vehicle according to claim 1, characterized in that: The external temperature data refers to the temperature data of the external environment of the vehicle body, and the door handle temperature data refers to the overall temperature data of the door handle.

3. The control method for the hidden door handle of an unmanned vehicle according to claim 1, characterized in that: The mean time optimization factor λ j The constraints are as follows: 。 4. The control method for the hidden door handle of an unmanned vehicle according to claim 1, characterized in that: The temperature adjustment function Δ of the door handle is, ， Where x is the real-time temperature adjustment data of the door handle, a preset threshold is set, and the control value of the door handle is obtained according to the control function Q of the door handle. If the control value of the door handle is less than the preset threshold, the door handle will automatically pop out. If the control value of the door handle is greater than the preset threshold, the door handle will be heated and will not pop out automatically.

5. A system for implementing the control method for a hidden door handle of an unmanned vehicle according to any one of claims 1-4, characterized in that, The system includes: The data acquisition module is used to acquire real-time external temperature data, door handle temperature data, passenger location data, and vehicle location data. The door handle temperature adjustment module is connected to the data acquisition module. It is used to predict the vehicle's travel time using a vehicle time prediction model algorithm and, in conjunction with the door handle temperature control function F, adjust the temperature of the door handle to obtain real-time temperature adjustment data information of the door handle. The door handle control module is connected to the door handle temperature adjustment module. It is used to establish the door handle control function Q, control the door handle, and output the door handle control data information.

6. The system according to claim 5, characterized in that: The system also includes an early warning module, which is connected to the door handle control module and is used to provide a voice reminder when the door handle is out of control.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is programmed or configured to perform the control method for the hidden door handle of the unmanned vehicle according to any one of claims 1 to 4.

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