Out-of-vehicle control method of unmanned vehicle and electronic equipment

Abstract

The invention discloses an out-of-vehicle control method of an unmanned vehicle and an electronic device, which are applied to the field of vehicle control, the unmanned vehicle is provided with a vehicle-mounted camera with a shooting view facing the outside of the vehicle, and the out-of-vehicle control method of the unmanned vehicle comprises the following steps: obtaining a shot image of the vehicle-mounted camera, the shot image comprises image content of an operation gesture executed by an operator outside the vehicle; identifying a control gesture executed by an operator outside the vehicle and first position information representing the position of the operator outside the vehicle from the shot image; if second position information from a positioning device held by the operator outside the vehicle is obtained, under the condition that the first position information is consistent with the second position information, the unmanned vehicle is controlled to run according to the control gesture of the operator outside the vehicle. According to the invention, the technical problem that the unmanned vehicle cannot drive away from the congested road section is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic driving, and in particular relates to an off-vehicle control method and electronic equipment of an unmanned vehicle. Background Art

[0002] Autonomous driving is divided into six levels from L0 to L5, namely no autonomous driving assistance, driver assistance, partial autonomous driving assistance, combined autonomous driving assistance, highly autonomous driving and fully autonomous driving. Currently, L4 autonomous driving has been achieved, which means unmanned driving in a specific area.

[0003] However, driverless vehicles may become "paralyzed" in dense traffic flows, meaning that they find it difficult to drive because they have to avoid the vehicles next to them, and they remain stuck in the same place and cannot automatically leave the congested section. Summary of the invention

[0004] An off-vehicle control method and electronic device for an unmanned vehicle provided in accordance with an embodiment of the present invention solve the technical problem that the unmanned vehicle is unable to leave a congested road section to at least a certain extent.

[0005] In a first aspect of the present invention, a method for controlling an unmanned vehicle outside the vehicle is provided, wherein the unmanned vehicle is equipped with a vehicle-mounted camera with a shooting field of view facing outside the vehicle, and the method comprises: acquiring a captured image of the vehicle-mounted camera, the captured image comprising image content of a control gesture performed by an operator outside the vehicle; identifying the control gesture performed by the operator outside the vehicle and first position information representing the position of the operator outside the vehicle from the captured image; if second position information is acquired from a positioning device, and when the first position information is consistent with the second position information, controlling the unmanned vehicle to travel according to the control gesture of the operator outside the vehicle.

[0006] In combination with the first aspect, in some embodiments, identifying the control gestures performed by the outside-vehicle operator and the first position information representing the position of the outside-vehicle operator from the captured image includes: inputting the captured image into a trained target detection model; detecting the outside-vehicle operator from the captured image through the target detection model, and identifying the control gestures performed by the outside-vehicle operator and the first position information representing the position of the outside-vehicle operator.

[0007] In combination with the first aspect, in some embodiments, a fixing device for locking the positioning device is also installed on the unmanned vehicle, and before obtaining the image captured by the vehicle-mounted camera, it also includes: when the positioning device is locked to the fixing device, obtaining an off-vehicle control request, the off-vehicle control request is initiated when the vehicle identification information of the unmanned vehicle and / or the identity identification information of the off-vehicle operator is verified; in response to the off-vehicle control request, controlling the unmanned vehicle to enter an interactive control mode; in response to the off-vehicle control request, unlocking the fixing device so that the positioning device changes from a state locked to the fixing device to an accessible state.

[0008] In combination with the first aspect, in some embodiments, obtaining the off-vehicle control request includes: obtaining the identity information of the off-vehicle operator; verifying the identity information; and generating the off-vehicle control request if the identity information verification passes.

[0009] In combination with the first aspect, in some embodiments, obtaining the off-vehicle control request includes: receiving an off-vehicle control request initiated by a server, wherein the off-vehicle control request is initiated after the vehicle identification information of the unmanned vehicle and / or the identity identification information of the off-vehicle operator is verified by the server.

[0010] In combination with the first aspect, in some embodiments, the method also includes: in the process of controlling the unmanned vehicle to drive according to the control gestures of the outside operator, if it is detected that the outside operator has left the field of view of the vehicle-mounted camera, controlling the positioning device to send a reminder message, and the reminder message is used to remind the outside operator that he has left the field of view of the vehicle-mounted camera and / or to remind the positioning device to be returned to the fixing device; controlling the unmanned vehicle to automatically drive to the parking area and then stop.

[0011] In combination with the first aspect, in some embodiments, after controlling the unmanned vehicle to automatically drive to the parking area and stop, it also includes: detecting whether the positioning device is returned to the fixing device; if so, controlling the fixing device to lock, and controlling the unmanned vehicle to exit the interactive control mode, so that the unmanned vehicle continues the automatic driving task.

[0012] In combination with the first aspect, in some embodiments, the obtaining of the second position information from the positioning device includes: receiving a positioning wave signal emitted by the positioning device, wherein the positioning wave signal is emitted by the positioning device under the operation of the operator outside the vehicle; parsing the positioning wave signal to obtain the second position information representing the location of the operator outside the vehicle.

[0013] In combination with the first aspect, in some embodiments, controlling the unmanned vehicle to drive according to the control gestures of the operator outside the vehicle includes: converting the identified control gestures performed by the operator outside the vehicle into vehicle control commands; controlling the unmanned vehicle to drive according to the vehicle control commands and driving parameters configured for the interactive control mode; wherein the driving parameters include a first driving speed limit and / or a first safety distance from surrounding obstacles, the first driving speed limit is lower than the second driving speed limit configured for the automatic driving mode, and the first safety distance is lower than the second safety distance configured for the automatic driving mode.

[0014] In the second aspect of the present invention, an electronic device is provided, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the off-vehicle control method of an unmanned vehicle as described in any embodiment of the first aspect.

[0015] According to one or more technical solutions provided by the embodiments of the present invention, at least the following technical effects or advantages are achieved:

[0016] By identifying the control gestures performed by the operator outside the vehicle and the first position information representing the location of the operator outside the vehicle from the captured images of the vehicle-mounted camera; if the second position information from the positioning device is obtained, when the first position information is consistent with the second position information, the unmanned vehicle drives according to the recognized control gestures, so that the unmanned vehicle can automatically drive away from the congested road section under the control of the operator outside the vehicle. In addition, since the unmanned vehicle drives according to the control gestures recognized from the captured images only when the first position information is consistent with the second position information, the unmanned vehicle is only controlled by a specific person outside the vehicle, avoiding the interference of passers-by's gestures on the control outside the vehicle, and improving the reliability of the unmanned vehicle controlled outside the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 A flow chart showing an off-vehicle control method of an unmanned vehicle according to some embodiments of the present invention is shown;

[0019] Figure 2 Shows the basis Figure 1The interactive process of the off-vehicle control method of the unmanned vehicle;

[0020] Figure 3 A schematic structural diagram of an electronic device according to some embodiments of the present invention is shown. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0023] The embodiment of the present invention provides an off-vehicle control method for an unmanned vehicle, which is applied to an unmanned vehicle. The unmanned vehicle is equipped with an on-vehicle camera with a shooting field of view facing outside the vehicle. The unmanned vehicle is also equipped with an independent positioning device, which can emit a positioning wave signal. The unmanned vehicle is also equipped with a signal receiving device for receiving the positioning wave signal emitted by the positioning device.

[0024] In some embodiments, the positioning device and the signal receiving device communicate via any one of RFID communication, Bluetooth communication, and UWB (Ultra Wide Band) communication. In some embodiments, the vehicle-mounted camera can be installed on the front windshield of the driverless vehicle and the shooting field of view is facing forward.

[0025] like Figure 1 As shown, the off-vehicle control method of an unmanned vehicle provided by an embodiment of the present invention includes the following steps S101 to S103.

[0026] In step S101: an image captured by a vehicle-mounted camera is acquired, where the captured image includes image content of an operator outside the vehicle performing a control gesture.

[0027] It is understandable that the image captured by the vehicle-mounted camera may be a video image or at least one picture of the control gesture performed by the operator outside the vehicle. When the operator outside the vehicle performs the control gesture within the shooting field of view of the vehicle-mounted camera, the control gesture performed by the operator outside the vehicle is captured by the vehicle-mounted camera.

[0028] It is understandable that the control gestures performed by the operator outside the vehicle can be preset control gestures, and the preset control gestures can include: straight-ahead gestures, left turn, waiting to turn left, right turn, waiting to turn right, changing lanes, pulling over, and other types of traffic control gestures.

[0029] In step S102 : the control gesture performed by the operator outside the vehicle and the first position information representing the position of the operator outside the vehicle are identified from the captured image.

[0030] In some embodiments, identifying the control gestures performed by an operator outside the vehicle and first position information representing the location of the operator outside the vehicle from a captured image includes: inputting the captured image into a trained target detection model; detecting the operator outside the vehicle from the captured image through the target detection model, and identifying the control gestures performed by the operator outside the vehicle and first position information representing the location of the operator outside the vehicle.

[0031] In some embodiments, the target detection model can be a neural network model based on deep learning, such as: R-CNN (Region-based Convolutional Neural Networks, an algorithm that applies deep learning to target detection), Mask R-CNN (Mask Region-based Convolutional Neural Network, a multi-task deep learning model for target detection and instance segmentation) or Fast R-CNN (Fast Region-based Convolutional Network, a fast region-based convolutional neural network) and other region-based convolutional neural networks.

[0032] It is understandable that the off-board operator is a certain type or types of personnel who are authorized to operate the unmanned vehicle, such as traffic police, park management personnel, etc. In some embodiments, the off-board operator has significant features compared to other personnel. It is understandable that the significant features include one or more of clothing color, clothing texture, and clothing logo. The neural network model based on deep learning is trained using a picture set to obtain a target detection model, wherein each picture in the picture set includes image content of a person wearing clothing with significant features performing a standard control gesture.

[0033] In other embodiments, the captured images are pre-processed by denoising, enhancing, and other operations to improve the accuracy and efficiency of subsequent processing; the pre-processed images are feature extracted to extract key image features representing the control gestures of the operator outside the vehicle from the pre-processed images, and the key image features include shape, color, texture, etc. The extracted key image features are matched with various pre-stored standard gesture templates to identify the control gestures performed by the operator outside the vehicle.

[0034] In step S103: if the second position information is obtained from the positioning device, when the first position information is consistent with the second position information, the unmanned vehicle is controlled to travel according to the control gesture of the operator outside the vehicle.

[0035] It is understandable that by combining the first position information identified from the image captured by the vehicle camera and the second position information obtained by the positioning device for fusion positioning, the two positionings should be consistent to improve the accuracy and robustness of positioning the operator outside the vehicle. The positioning device is installed on the unmanned vehicle and is used by the operator outside the vehicle when the unmanned vehicle needs to be controlled outside the vehicle.

[0036] In some embodiments, a positioning wave signal emitted by a positioning device held by an operator outside the vehicle is received by a signal receiving device, and the unmanned vehicle analyzes the positioning wave signal received by the signal receiving device to extract second position information representing the position of the operator outside the vehicle. The extracted second position information and the first position information both include the distance between the operator outside the vehicle and the unmanned vehicle and the angle of the operator outside the vehicle relative to the unmanned vehicle.

[0037] In order to improve the safety of outside-vehicle control of unmanned vehicles, the positioning device may also include an activation button for the outside-vehicle operator to operate. The positioning device will only emit a positioning wave signal when the outside-vehicle operator operates the activation button. If the outside-vehicle operator does not operate the activation button, no positioning wave signal will be emitted.

[0038] In order to improve the communication security between the positioning device and the unmanned vehicle, the positioning device and the unmanned vehicle communicate through wireless encryption to ensure the communication security between the positioning device and the unmanned vehicle and prevent unauthorized access and operation. In some embodiments, an encryption chip is integrated inside the positioning device, and the encryption chip generates one or more unique encryption keys during the manufacturing process. When the operator outside the vehicle presses the activation button on the positioning device, the positioning device generates a positioning wave signal, and the positioning wave signal is encrypted by a pre-generated encryption key before sending, and can be encrypted by symmetric encryption, asymmetric encryption or hybrid encryption mode. The encrypted signal is sent to the unmanned vehicle via radio waves (such as RFID radio frequency signals), and the frequency of the radio waves is in the mega range (such as 300MHz to 450MHz) to ensure the stability and reliability of the transmission. The encrypted signal sent by the positioning device is received by the signal receiving device installed on the unmanned vehicle, and the received encrypted signal is decrypted using the corresponding decryption key to restore the positioning wave signal.

[0039] In some embodiments, the unmanned vehicle may be configured with an automatic driving mode and an interactive control mode. The interactive control mode is a mode in which the unmanned vehicle is controlled by interaction between an operator outside the vehicle and the unmanned vehicle. The automatic driving mode is a mode in which the unmanned vehicle is driven automatically without human intervention. The unmanned vehicle is also equipped with a fixing device for locking the positioning device to the unmanned vehicle. When the unmanned vehicle is in the automatic driving mode, the positioning device is locked by the fixing device and cannot be accessed.

[0040] It is understandable that the off-vehicle control method of the unmanned vehicle provided by the embodiment of the present invention may also include: when the first position information and the second position information are inconsistent, controlling the unmanned vehicle to travel according to the control gesture of the off-vehicle operator.

[0041] It can be understood that the positioning accuracy of the positioning device is higher than the positioning accuracy of the vehicle-mounted camera. Judging whether the first position information is consistent with the second position information includes: judging whether the second position information is within the positioning range of the first position information. If so, judging that the first position information is consistent with the second position information; otherwise, judging that the first position information is inconsistent with the second position information.

[0042] In some embodiments, when the first position information is inconsistent with the second position information, it is indicated that the control gesture is not a control gesture performed by an operator outside the vehicle, ensuring that the vehicle is only controlled by the control gesture of a specific person, and the vehicle does not recognize the gestures of other passers-by, thereby improving the reliability of the outside vehicle control.

[0043] In some embodiments, if the operator outside the vehicle does not operate the activation button, the second position information from the positioning device cannot be obtained. If the second position information cannot be obtained, the unmanned vehicle is controlled to stop.

[0044] In some embodiments, before acquiring the image captured by the vehicle-mounted camera, it also includes: when the positioning device is locked to the fixing device, acquiring an off-vehicle control request, the off-vehicle control request is initiated when the vehicle identification information of the unmanned vehicle and / or the identity identification information of the off-vehicle operator is verified; in response to the off-vehicle control request, controlling the unmanned vehicle to enter an interactive control mode; in response to the off-vehicle control request, unlocking the fixing device so that the positioning device changes from a state locked by the fixing device to an accessible state.

[0045] In some embodiments, the step of obtaining an off-vehicle control request includes: obtaining identity information of an off-vehicle operator and verifying the obtained identity information; if the identity information verification is successful, generating an off-vehicle control request.

[0046] In some embodiments, an input device is installed on the unmanned vehicle for the user to input the identity information to be verified. The input device can be set on the B-pillar or C-pillar of the unmanned vehicle.

[0047] In some embodiments, obtaining the identity information of the outside operator and verifying the obtained identity information includes: the unmanned vehicle obtains the identity information of the outside operator input by the outside operator through an input device, such as the personnel number, ID number, the last six digits of the ID card, and other identification codes that uniquely identify the outside operator; the unmanned vehicle verifies the input identity information using the pre-stored information in the local unmanned vehicle, and if the verification is successful, generates an outside control request. It can be understood that if the input identity information exists in the pre-stored information, the verification is successful, and if the input identity information does not exist in the pre-stored information, the verification fails. The pre-stored information includes the identity information of each operator who has the authority to perform outside control of the deployed unmanned vehicle.

[0048] The input identity information is verified using the pre-stored information in the unmanned vehicle. If the verification is successful, an off-vehicle control request is generated. It is understandable that if the input identity information exists in the pre-stored information, the verification is successful, and if the input identity information does not exist in the pre-stored information, the verification fails. The pre-stored information stores the identity information of all operators who have the authority to perform off-vehicle control of the unmanned vehicle.

[0049] In other embodiments, obtaining an off-vehicle control request includes: receiving an off-vehicle control request initiated by a server, wherein the off-vehicle control request is initiated by the server after verifying the vehicle identification information of the unmanned vehicle and the identity identification information of the off-vehicle operator.

[0050] In some embodiments, receiving an off-vehicle control request initiated by a server includes: after the unmanned vehicle obtains the identity identification information representing the identity of the off-vehicle operator input by the off-vehicle operator through an input device on the unmanned vehicle, the unmanned vehicle reports the vehicle identification information of the unmanned vehicle and the input identity identification information to the server for managing the unmanned vehicle, so that the server verifies the received identity identification information using pre-stored information. After the verification is successful, the server sends an off-vehicle control request to the corresponding unmanned vehicle based on the vehicle identification information.

[0051] In other embodiments, receiving an off-vehicle control request initiated by a server includes: obtaining vehicle identification information of the unmanned vehicle by a user terminal, where the vehicle identification information may be a VIN (Vehicle Identification Number) code, and scanning a QR code corresponding to the VIN code displayed on the unmanned vehicle by an APP installed on the user terminal, or manually entering the VIN code of the unmanned vehicle on the APP by an off-vehicle operator, so that the user terminal obtains the vehicle identification information of the unmanned vehicle and sends it to a server for managing unmanned vehicles, so that the server verifies the vehicle identification information reported by the user terminal using pre-stored information. If the verification is successful, the server sends an off-vehicle control request to the corresponding unmanned vehicle based on the vehicle identification information.

[0052] In some other embodiments, a video call can be initiated with a backstage manager through the video call interface of the user terminal or the video call interface of the unmanned vehicle, and the identity of the outside vehicle operator can be manually verified through the video call. In response to the authorization operation of the backstage manager after manually verifying the identity of the outside vehicle operator, the server sends an outside vehicle control request to the unmanned vehicle.

[0053] In some embodiments, in order to improve the reliability of controlling the unmanned vehicle from outside the vehicle, after receiving the outside control request initiated by the service end, it is determined whether the distance between the user terminal and the unmanned vehicle is less than the preset distance threshold. If so, in response to the outside control request, the unmanned vehicle is controlled to enter the interactive control mode; in response to the outside control request, the fixing device is unlocked so that the positioning device changes from the state locked by the fixing device to the accessible state. It is understandable that the preset distance threshold can be set within the range of 10 to 50 meters, for example: the preset distance setting is set to 10m, 20m or 50m.

[0054] Through any of the above-mentioned implementation modes, the control of the unmanned vehicle can be released to the outside operator, so that the unmanned vehicle enters the interactive control mode and unlocks the fixing device, thereby facilitating the outside operator to access the positioning device for use when the outside operator controls the unmanned vehicle outside the vehicle.

[0055] In some embodiments, the off-vehicle control method of the unmanned vehicle provided by the embodiment of the present invention may further include: in the process of controlling the unmanned vehicle to drive according to the control gesture of the off-vehicle operator, monitoring whether the off-vehicle operator leaves the field of view of the vehicle camera; if it is detected that the off-vehicle operator leaves the field of view of the vehicle camera, controlling the positioning device to send a reminder message, the reminder message is used to remind the off-vehicle operator that the vehicle has left the field of view of the vehicle camera and / or to remind the positioning device to be placed back to the fixing device; and controlling the unmanned vehicle to automatically drive to the parking area and then stop. It is understandable that the parking area can be a lane at the edge of the road.

[0056] In some embodiments, the off-vehicle control method for an unmanned vehicle provided by an embodiment of the present invention may also include: after controlling the unmanned vehicle to automatically drive to a parking area and stop, detecting whether the positioning device is returned to the fixing device; if it is detected that the positioning device is returned to the fixing device, controlling the fixing device to lock, and also controlling the unmanned vehicle to exit the interactive control mode and restore to the automatic driving mode, so that the unmanned vehicle can continue to perform the automatic driving task, so that the unmanned vehicle can continue the automatic driving after leaving the congested road section through off-vehicle control, thereby improving the intelligence of the unmanned vehicle.

[0057] In some embodiments, controlling an unmanned vehicle to drive according to control gestures of an operator outside the vehicle includes: converting the recognition results of the control gestures into vehicle control commands; controlling the unmanned vehicle to drive according to the indicated direction of the vehicle control commands and the driving parameters set for the outside control mode.

[0058] In some embodiments, the driving parameters set for the off-vehicle control mode include a first driving speed limit and / or a first safety distance from surrounding obstacles, the first driving speed limit is lower than the second driving speed limit of the unmanned vehicle in the automatic driving mode, and the first safety distance is lower than the second safety distance of the unmanned vehicle in the automatic driving mode.

[0059] It is understood that the first speed limit can be set within the range of 5 to 15 km / h. For example, the first speed limit can be set to 5 km / h, 10 km / h or 15 km / h. The first safety distance can be set within the range of 8 to 12 m. For example, the first safety distance can be set to 8 m, 10 m or 12 m.

[0060] Figure 2 Shows the basis Figure 1 In order to facilitate understanding of the vehicle-outside control method of the unmanned vehicle provided by the embodiment of the present invention, refer to Figure 2 The interactive process of the off-vehicle control method of the unmanned vehicle in some embodiments of the present invention is given:

[0061] Step S01: The unmanned vehicle is on a road with heavy traffic and the unmanned vehicle cannot continue to drive automatically;

[0062] Step S02: The external operator inputs his / her identity information through an input device on the unmanned vehicle to apply for external control of the vehicle;

[0063] Step S03: the unmanned vehicle verifies the identity information input by the operator outside the vehicle, and if the verification is successful, unlocks the fixing device used to lock the positioning device;

[0064] Step S04: An operator outside the vehicle uses the positioning device;

[0065] Step S05: The operator outside the vehicle holds the positioning device outside the vehicle, presses or keeps pressing the activation button on the positioning device, and performs a control gesture for controlling the unmanned vehicle outside the vehicle. The positioning device emits a positioning wave signal when the operator outside the vehicle presses the activation button;

[0066] Step S061: a signal receiving device installed on the unmanned vehicle receives a positioning wave signal;

[0067] Step S062: The vehicle camera installed on the unmanned vehicle captures the control gestures performed by the operator outside the vehicle to obtain a captured image;

[0068] Step S071: the unmanned vehicle analyzes the received positioning wave information to extract second position information representing the position of the operator outside the vehicle;

[0069] Step S072: the unmanned vehicle uses a pre-trained target detection model to perform image recognition on the captured image to identify an external operator, first position information representing the location of the external operator, and a control gesture performed by the external operator;

[0070] Step S08: Compare the first location information and the second location information to see if they are consistent. If so, proceed to step S012:

[0071] Step S09: converting the recognized manipulation gesture into a vehicle control command, and controlling the driving of the unmanned vehicle according to the vehicle control command.

[0072] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, Figure 3 FIG. 1 shows a schematic diagram of the structure of an electronic device according to some embodiments of the present invention. Figure 3 As shown, the electronic device includes one or more memories 304, one or more processors 302, and at least one computer program (program code) stored in the memory 304 and executable on the processor 302. When the processor 302 executes the computer program, the off-vehicle control method of the unmanned vehicle of any of the above-mentioned embodiments is implemented.

[0073] Among them, Figure 3 In the embodiment of the present invention, a bus architecture (represented by bus 300) is shown, which may include any number of interconnected buses and bridges, and bus 300 links various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 may be used to store data used by processor 302 when performing operations.

[0074] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method of vehicle output interpretation information of any of the above-mentioned embodiments is implemented.

[0075] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0077] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0079] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0080] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for controlling an unmanned vehicle outside the vehicle, characterized in that: The unmanned vehicle is equipped with a vehicle-mounted camera with a shooting field of view facing outside the vehicle, and the method comprises: Acquire an image captured by the vehicle-mounted camera, wherein the image includes image content of an operator outside the vehicle performing a control gesture; Identifying, from the captured image, a control gesture performed by the operator outside the vehicle and first position information representing a position of the operator outside the vehicle; If the second position information is obtained from the positioning device, and the first position information is consistent with the second position information, the unmanned vehicle is controlled to travel according to the control gesture of the operator outside the vehicle.

2. The method according to claim 1, characterized in that The step of identifying the control gesture performed by the operator outside the vehicle and the first position information representing the position of the operator outside the vehicle from the captured image includes: Inputting the captured image into a trained object detection model; The target detection model is used to detect the external operator from the captured image, and to identify the control gesture performed by the external operator and the first position information representing the position of the external operator.

3. The method according to claim 1, characterized in that A fixing device for locking the positioning device is also installed on the unmanned vehicle. Before acquiring the image captured by the vehicle-mounted camera, the method further includes: When the positioning device is locked to the fixing device, obtaining an off-vehicle control request, wherein the off-vehicle control request is initiated when the vehicle identification information of the unmanned vehicle and / or the identity identification information of the off-vehicle operator is verified; In response to the off-vehicle control request, controlling the unmanned vehicle to enter an interactive control mode; In response to the vehicle exterior control request, the fixing device is unlocked so that the positioning device is changed from a state in which it is locked to the fixing device to a removable state.

4. The method according to claim 3, characterized in that The obtaining of the vehicle external control request includes: Obtaining the identity information of the external operator; Verifying the identity information; If the identity recognition information is verified, the off-vehicle control request is generated.

5. The method according to claim 3, characterized in that The obtaining of the vehicle external control request includes: An off-vehicle control request initiated by a service end is received, wherein the off-vehicle control request is initiated after the vehicle identification information of the unmanned vehicle and / or the identity identification information of the off-vehicle operator is verified by the service end.

6. The method according to claim 3, characterized in that Also includes: In the process of controlling the unmanned vehicle to travel according to the control gesture of the external operator, if it is detected that the external operator leaves the field of view of the vehicle-mounted camera, the positioning device is controlled to send a reminder message, wherein the reminder message is used to remind the external operator that the operator has left the field of view of the vehicle-mounted camera and / or to remind the operator to put the positioning device back to the fixing device; The unmanned vehicle is controlled to automatically drive to a parking area and then stop.

7. The method according to claim 6, characterized in that After controlling the unmanned vehicle to automatically drive to the parking area and stop, the method further includes: Detecting whether the positioning device is put back to the fixing device; If so, the fixing device is controlled to be locked, and the unmanned vehicle is controlled to exit the interactive control mode, so that the unmanned vehicle continues the automatic driving task.

8. The method according to claim 1, characterized in that The acquiring the second position information from the positioning device includes: receiving a positioning wave signal sent by the positioning device, wherein the positioning wave signal is sent by the positioning device under the operation of an operator outside the vehicle; The positioning wave signal is analyzed to obtain second position information representing the position of the operator outside the vehicle.

9. The method according to claim 1, characterized in that The controlling the unmanned vehicle to travel according to the control gesture of the operator outside the vehicle includes: Converting the identified control gesture performed by the operator outside the vehicle into a vehicle control command; Controlling the unmanned vehicle to travel according to the vehicle control command and the travel parameters configured for the interactive control mode; The driving parameters include a first driving speed limit and / or a first safety distance from surrounding obstacles, the first driving speed limit is lower than a second driving speed limit configured for the automatic driving mode, and the first safety distance is lower than the second safety distance configured for the automatic driving mode.

10. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the off-vehicle control method for an unmanned vehicle as described in any one of claims 1-8.

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