Unmanned vehicle control system

Abstract

The invention discloses an unmanned vehicle control system, which comprises a cloud platform and at least one unmanned vehicle, and is characterized in that under the condition that a first preset condition is met, a map updating module on the cloud platform can generate a closed area on a map to obtain a first target map, and then the first target map is sent to the unmanned vehicle; after receiving the first target map, the unmanned vehicle can know the position of the closed area on the map so as to avoid the closed area. In this way, when the temporary closed area needs to be set, the corresponding closed area is directly generated on the map so that the unmanned vehicle can be prevented from conflicting with the temporary closed area, a closed baffle does not need to be set in practice, the time cost and the labor cost are reduced, and flexible processing of the temporary closed area is achieved.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular, to an unmanned driving vehicle control system. Background Art

[0002] At present, driverless driving has developed to a new stage, especially in the mining field. Accelerating commercialization and realizing driverless operation has become a new trend in the mining industry.

[0003] Unmanned driving in mines has high safety requirements. At the same time, for different mining stages, some areas may be temporarily closed, and vehicles cannot enter or exit, or other situations may cause vehicles to be unable to pass through certain areas. For such areas, the relevant technology generally adopts the method of building closed retaining walls, so that when the unmanned vehicle drives to the closed retaining wall, it can identify the existence of obstacles based on the perception module and then avoid the area. However, the time cost or labor cost of setting up closed retaining walls is very high. Summary of the invention

[0004] In order to overcome the shortcomings of the related art, the present application provides an unmanned vehicle control system to solve the problem in the related art that when you want to temporarily close some areas, you need to set up closed retaining walls, which has very high time cost or labor cost.

[0005] The technical solution adopted by the present application to solve its technical problem provides an unmanned vehicle control system, including a cloud platform and at least one unmanned vehicle;

[0006] The cloud platform includes a map update module and a map sending module; each of the unmanned vehicles includes a map synchronization module and a decision-making planning module;

[0007] The map updating module is used to generate a closed area on the map to obtain a first target map when a first preset condition is met;

[0008] The map sending module is used to send the first target map to the map synchronization module of the unmanned vehicle;

[0009] The decision-making planning module is used to generate a planned trajectory avoiding the closed area or generate a control instruction prohibiting the unmanned vehicle from leaving the closed area based on the current task of the unmanned vehicle after the map synchronization module receives the first target map.

[0010] Furthermore, the first preset condition includes: the cloud platform receives a manually triggered command to generate a closed area, or receives preset scene information reported by the unmanned vehicle.

[0011] Furthermore, the preset scene information includes any one of the following:

[0012] There are road conditions in the designated area that affect vehicle travel;

[0013] Enter a preset area to perform a first type of task, wherein the first type of task is that the unmanned vehicle operates in the preset area, or the unmanned vehicle stays in the preset area.

[0014] Furthermore, the map updating module is further used to determine the generation position of the closed area according to the position information reported by the unmanned vehicle, and / or determine the size of the closed area according to the vehicle information and / or the currently executed task information reported by the unmanned vehicle;

[0015] Wherein, the vehicle information includes vehicle model or vehicle size; and / or, the currently executed task information includes task type.

[0016] Further, the cloud platform includes a conflict warning module;

[0017] When the map update module generates a closed area, the conflict warning module is used to:

[0018] According to the position information or planned trajectories of all unmanned vehicles, it is determined whether there is a first target unmanned vehicle, wherein the first target unmanned vehicle is an unmanned vehicle that has a risk of conflict with the boundary of the closed area, wherein the risk of conflict indicates that the position of the unmanned vehicle or any trajectory point of the planned trajectory overlaps with the boundary of the closed area or the distance is less than a preset distance threshold;

[0019] In the case where there is a first target unmanned vehicle, early warning information is sent to the first target unmanned vehicle so that a decision planning module of the first target unmanned vehicle generates a planning trajectory that avoids the closed area based on the first target map.

[0020] Further, when the map synchronization module receives the first target map, if the unmanned vehicle already has a planned trajectory, the decision planning module determines whether there is a risk of conflict between the existing planned trajectory and the closed area, and if there is a risk of conflict, the decision planning module generates a planned trajectory that avoids the closed area to replace the existing planned trajectory; or,

[0021] After the map synchronization module receives the first target map, if the unmanned vehicle needs to generate a planned trajectory, the decision planning module generates a planned trajectory that avoids the closed area.

[0022] Further, the decision-making planning module is used to generate a control instruction for prohibiting the unmanned vehicle from leaving the closed area when the task type of the current task is a first type of task, and the first type of task is that the unmanned vehicle operates in the closed area, or the unmanned vehicle stays in the closed area; and / or,

[0023] The decision-making planning module is used to generate a planning trajectory that avoids the closed area when the current task type is a second-type task, and the second-type task does not require the unmanned vehicle to operate or stay in the closed area.

[0024] Furthermore, the map updating module is further configured to, when a second preset condition corresponding to the risk level of the closed area is triggered, cancel the closed area on the map to obtain a second target map.

[0025] Furthermore, the second preset condition includes at least one of the following:

[0026] The cloud platform receives a manually triggered command to cancel the closed area;

[0027] The cloud platform receives information reported by the unmanned vehicle that the first type of task has been completed;

[0028] The cloud platform receives information that the inspection vehicle has completed the inspection task and the closed area no longer has road conditions that affect vehicle driving, the inspection task being a task sent by the cloud platform to the inspection vehicle to check whether there are road conditions that affect vehicle driving in the closed area;

[0029] The cloud platform receives a command to cancel the closed area sent by the obstacle removal vehicle after completing the clearance task;

[0030] The target duration reaches a preset duration, where the target duration is the duration obtained when the cloud platform receives a report from the unmanned vehicle that there are road conditions in the closed area that affect vehicle driving.

[0031] Furthermore, after the map sending module sends the second target map to the map synchronization module, the decision planning module of the second target unmanned vehicle is used to regenerate the planned trajectory based on the second target map and the first target map, and the second target unmanned vehicle is an unmanned vehicle that avoids the cancelled closed area when generating the planned trajectory.

[0032] Further, when the cloud platform sends the inspection task of the target closed area to the inspection vehicle, the cloud platform is used to generate control information of the inspection vehicle based on the vehicle information of the unmanned vehicle reported when it is in the target closed area and send it to the inspection vehicle;

[0033] The target closed area is a closed area generated according to the road conditions that affect vehicle driving in the designated area reported by the reporting unmanned vehicle.

[0034] Further, the vehicle information includes vehicle speed and / or vehicle weight; and / or,

[0035] The control information of the inspection vehicle includes instructing the inspection vehicle to meet conditions when entering the target closed area to perform the inspection task, and the conditions include any one of the following:

[0036] The speed of the inspection vehicle is the same as the speed of the reported unmanned vehicle;

[0037] The speed of the inspection vehicle is lower than the speed of the reported unmanned vehicle;

[0038] The vehicle weight of the inspected vehicle is the same as the vehicle weight of the reported unmanned vehicle.

[0039] Beneficial effects:

[0040] The technical solution of the present application provides an unmanned vehicle control system, including a cloud platform and at least one unmanned vehicle, the cloud platform includes a map update module and a map sending module, each unmanned vehicle includes a map synchronization module and a decision planning module, the map update module is used to generate a closed area on the map to obtain a first target map when a first preset condition is met; the map sending module sends the first target map to the map synchronization module of the unmanned vehicle; the decision planning module is used to generate a planning trajectory to avoid the closed area based on the current task of the unmanned vehicle after the map synchronization module receives the first target map, or generate a control instruction to prohibit the unmanned vehicle from driving out of the closed area. That is, in the present application solution, when the first preset condition is met, the map update module on the cloud platform can generate a closed area on the map to obtain the first target map, and then send the first target map to the unmanned vehicle. After receiving the first target map, the unmanned vehicle can know the location of the closed area on the map, and then avoid the closed area. In this way, when a temporary closed area needs to be set, the corresponding closed area can be directly generated on the map to avoid the conflict between the unmanned vehicle and the temporary closed area, and there is no need to set a closed baffle in practice, which reduces the time cost and manpower cost, and realizes the flexible processing of the temporary closed area. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 This is a schematic diagram of the structure of an unmanned vehicle control system provided by an embodiment of the present application;

[0043] Figure 2 is a schematic diagram of the structure of another unmanned vehicle control system provided in an embodiment of the present application;

[0045] 100 - unmanned vehicle control system, 110 - cloud platform, 111 - map update module, 112 - map sending module, 113 - conflict warning module, 120 - unmanned vehicle, 121 - map synchronization module, 122 - decision-making planning module. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0047] When a temporary area needs to be set up, if no closed retaining wall is set up, and it is only relying on the perception module of the unmanned vehicle for identification, it is difficult. There are some situations where the unmanned vehicle cannot determine that it is a closed area (such as a vehicle slipping area or a vehicle bumping area, which cannot be determined by relying solely on the perception module of the unmanned vehicle). If a complete closed retaining wall is built manually, the cost is high and it takes a long time. At the same time, the problem of dismantling and leveling the road surface is involved in the later stage. The protection of the temporary closed area is not flexible and convenient enough. In addition, if it involves some temporary areas that change frequently, such as pushing to level and repair a certain section of road. If a certain area is temporarily inaccessible for a period of time due to weather or other reasons, it is even more difficult to conveniently achieve avoidance parking.

[0048] Based on this, this application proposes the concept of {closed area} by modifying the unmanned driving map online, and embeds the {closed area} element in the map. In the global planning process, when the unmanned driving vehicle accesses the map and obtains the {closed area} involved in the route planning, the decision-making planning module plans a planning trajectory that bypasses the {closed area}, realizing the avoidance of the relevant area from the source.

[0049] In addition, due to the real-time operation of unmanned vehicles, there may be {closed areas} that are being planned. At this time, the global planning has been completed. In order to adapt to this situation, the decision-making planning module also needs to receive the surrounding {closed areas} in real time to avoid {closed areas} that have not yet been planned during the global planning. This supports on-site operators to handle temporary closed areas more flexibly.

[0050] The closed area is created by the mine unmanned driving operation platform and updated to the map engine. When planning globally, for existing closed areas, the decision-making planning module needs to plan a global trajectory that avoids all {closed areas} to achieve vehicle movement.

[0051] When the driverless vehicle is moving, the platform is drawing a new closed area, and after updating the map around or on the planned global trajectory, the decision-making planning module needs to autonomously plan the detour trajectory based on the received closed area to complete the detour of the {closed area}. For coincidental scenarios, the closed area drawn by the platform circles the driverless vehicle into the closed area when it is issued, and the vehicle needs to drive out of this {closed area} as soon as possible.

[0052] Take the temporary minor collapse of the road surface as an example: At this time, only emergency repairs are needed on site within a short period of time. The cost, labor cost and time cost of the safety guardrail are too high. At this time, it is only necessary to identify the problem of the road surface and then demarcate the {closed area}. After the production is completed, it can be updated to the map engine to achieve convenient detours without affecting the on-site operations. After the correction is completed, the {closed area} can be deleted directly from the platform. Flexible handling of such areas is achieved.

[0053] In order to more clearly illustrate the present application scheme, a more specific implementation method is provided below. Figure 1 and Figure 2 , an embodiment of the present application provides an unmanned vehicle control system 100, including a cloud platform 110 and at least one unmanned vehicle 120;

[0054] The cloud platform 110 includes a map updating module 111 and a map sending module 112; each of the unmanned vehicles 120 includes a map synchronization module 121 and a decision-making planning module 122;

[0055] The map updating module 111 is used to generate a closed area on the map to obtain a first target map when a first preset condition is met;

[0056] Among them, the first preset condition includes: the cloud platform 110 receives a manually triggered command to generate a closed area, or receives preset scene information reported by the unmanned vehicle 120.

[0057] That is, in one embodiment, the map update module 111 may generate a closed area by manually triggering a task of generating a closed area. After the task of generating a closed area is triggered, the closed area may be generated by drawing on a map by receiving a drawing operation from a user, or the boundary information of the closed area to be generated (for example, geographic area coordinates) may be received from a user, and the map update module 111 generates the closed area based on the boundary information.

[0058] In another embodiment, the map updating module 111 generates the closed area automatically after the unmanned vehicle 120 reports the preset scene information.

[0059] The preset scene information includes any of the following:

[0060] (1) There are road conditions in the designated area that affect vehicle driving; for example, when the unmanned vehicle 120 is driving, it is detected that the vehicle is slipping or bumping when driving in an area, or the degree of slipping or bumping exceeds the specified threshold. Alternatively, the unmanned vehicle 120 discovers through the perception module that there are obstacles or conditions that affect vehicle driving that are not displayed on the map on or beside the forward trajectory, such as piles of earth and rocks and potholes; or, the unmanned vehicle 120 breaks down and cannot continue to drive, and needs to wait for maintenance on the spot. The closed area generated according to the above situation is generally used to remind other vehicles to avoid the closed area.

[0061] (2) Entering a preset area to perform a first type of task, wherein the first type of task is that the unmanned vehicle 120 operates in the preset area, or the unmanned vehicle 120 stays in the preset area. For example, the unmanned vehicle 120 needs to go to a specific area when it is parking, refueling, or inspecting. Therefore, these specific areas are used as closed areas. The closed areas generated at this time are to prevent the unmanned vehicle 120 in the area from accidentally driving out of the closed area.

[0062] As a preferred implementation of this embodiment, the steps of automatically generating a closed area by the map updating module 111 are as follows:

[0063] Determine the generation position of the closed area according to the position information reported by the unmanned vehicle 120, and / or determine the size of the closed area according to the vehicle information and / or the currently executed task information reported by the unmanned vehicle 120;

[0064] Wherein, the vehicle information includes vehicle model or vehicle size; and / or, the currently executed task information includes task type.

[0065] Exemplarily, the size of the closed area is determined according to the currently executed task information: when performing tasks such as refueling, collecting vehicles, or spot inspection, the refueling area, the collecting vehicle area, or the spot inspection area is directly used as the size of the closed area.

[0066] Optionally, if there is a vehicle breakdown, the size of the enclosed area is determined based on the vehicle model or vehicle size.

[0067] Optionally, if the vehicle detects a dent or the like, the size of the closed area is determined by the size of the obstacle or the area that affects the vehicle's travel as sensed by the vehicle perception module. In actual use, if the obstacle is too large or the vehicle perception module cannot obtain the size of the obstacle or the area, an alarm is triggered to notify manual inspection or a special measurement vehicle to come for measurement.

[0068] The map sending module 112 is used to send the first target map to the map synchronization module 121 of the unmanned vehicle 120 .

[0069] It should be noted that in the related art, for example, during mining operations, maps are updated periodically, so generally the map sending module 112 will periodically send maps to the map synchronization module 121 of the unmanned vehicle 120 .

[0070] In the embodiment of the present application, after the first target map is generated, the first target map may also be sent to the map synchronization module 121 of the unmanned vehicle 120 according to the timed period in the related art. Of course, in order to avoid the unmanned vehicle 120 from conflicting with the closed area in time, the first target map may also be sent to the map synchronization module 121 of the unmanned vehicle 120 immediately after it is generated.

[0071] like Figure 1 As shown, the decision-making planning module 122 is used to generate a planned trajectory avoiding the closed area or generate a control instruction prohibiting the unmanned vehicle 120 from leaving the closed area based on the current task of the unmanned vehicle 120 after the map synchronization module 121 receives the first target map.

[0072] Among them, when the map synchronization module 121 receives the first target map, if the unmanned vehicle 120 already has a planned trajectory, the decision planning module 122 determines whether the existing planned trajectory has a risk of conflict with the closed area. If there is a risk of conflict, the decision planning module 122 generates a planned trajectory that avoids the closed area to replace the existing planned trajectory; it should be noted that "conflict" refers to the overlap between the position information of the unmanned vehicle 120 or any trajectory point of the planned trajectory and the boundary of the closed area.

[0073] Alternatively, after the map synchronization module 121 receives the first target map, if the unmanned vehicle 120 needs to generate a planned trajectory, the decision planning module 122 generates a planned trajectory that avoids the closed area.

[0074] That is, in the embodiment of the present application, after receiving the first target map, the unmanned vehicle 120 determines through the decision-making planning module 122 whether there is a risk of conflict between the existing planned trajectory and the closed area on the first target map.

[0075] Optionally, considering that the closed area in the first target map may only affect a small number of unmanned vehicles 120, if the decision planning module 122 of each unmanned vehicle 120 makes a judgment after receiving the first target map, a large amount of computing resources of the unmanned vehicle 120 will be wasted. Figure 2 As shown, the cloud platform 110 includes a conflict warning module 113;

[0076] When the map updating module 111 generates a closed area, the conflict warning module 113 is used to:

[0077] According to the position information or planned trajectories of all unmanned vehicles 120, it is determined whether there is a first target unmanned vehicle, which is an unmanned vehicle that has a risk of conflict with the boundary of the closed area, wherein the risk of conflict indicates that the position of the unmanned vehicle 120 or any trajectory point of the planned trajectory overlaps with the boundary of the closed area or the distance is less than a preset distance threshold; illustratively, the planned trajectory of the unmanned vehicle 120 with a planned trajectory overlaps with the boundary of the closed area. And / or, the distance between the position of the unmanned vehicle 120 without a planned trajectory and the boundary of the closed area is less than a preset distance.

[0078] In the case where there is a first target unmanned vehicle, warning information is sent to the first target unmanned vehicle so that the decision planning module 122 of the first target unmanned vehicle generates a planning trajectory that avoids the closed area based on the first target map.

[0079] That is, when generating a closed area, or after generating a closed area, the cloud platform 110 obtains the first target unmanned vehicle that has a risk of conflict with the closed area through the conflict warning module 113, and then while the map update module 111 sends the first target map to all unmanned vehicles 120, the conflict warning module 113 sends a warning message to the first target unmanned vehicle. The unmanned vehicle 120 that receives the warning message generates a planned trajectory that avoids the closed area through its own decision-making and planning module 122. With this solution, it is not necessary for each unmanned vehicle 120 to determine whether there is a risk of conflict by itself, especially for unmanned vehicles 120 that already have a planned trajectory. As long as no warning message is received, there is no need for the decision-making and planning module 122 to determine whether the existing planned trajectory conflicts with the closed area.

[0080] The decision-making planning module 122 is used to generate a control instruction prohibiting the unmanned vehicle 120 from leaving the closed area when the task type of the current task is a first-type task, and the first-type task is that the unmanned vehicle 120 operates in the closed area, or the unmanned vehicle 120 stays in the closed area, such as the above-mentioned vehicle collection, refueling or inspection tasks; and / or,

[0081] The decision planning module 122 is used to generate a planning trajectory avoiding the closed area when the current task type is a second type of task, where the unmanned vehicle 120 is not required to operate or stay in the closed area, for example, a conventional transportation task or a task to a target location.

[0082] Considering that closed areas are generally set up for temporary closed areas, they need to be cancelled after certain conditions are met, and the conditions for canceling closed areas caused by different reasons are different. Based on this, the embodiments of the present application set different risk levels for different closed areas based on the reasons for their formation. The cancellation conditions for closed areas with different risk levels are different. For those with lower risk levels, they can be automatically cancelled after a period of time. For those with higher risk levels, they must be cancelled after manual inspection or vehicle inspection confirmation, or after the obstacle is cleared by a vehicle. The specific implementation is as follows:

[0083] The map updating module 111 is further configured to, when a second preset condition corresponding to the risk level of the closed area is triggered, cancel the closed area on the map to obtain a second target map.

[0084] The second preset condition includes at least one of the following:

[0085] The cloud platform 110 receives a manually triggered command to cancel the closed area; that is, a command to cancel the closed area is manually issued.

[0086] The cloud platform 110 receives the information reported by the unmanned vehicle 120 that the first type of task has been completed; that is, the closed area is generated by the unmanned vehicle performing the first type of task, so as long as the first type of task is completed, the closed area can be cancelled.

[0087] The cloud platform 110 receives information that the inspection vehicle has completed the inspection task and there are no longer any road conditions in the closed area that affect the vehicle's driving. The inspection task is a task sent by the cloud platform 110 to the inspection vehicle to check whether there are any road conditions in the closed area that affect the vehicle's driving.

[0088] The cloud platform 110 receives a command to cancel the closed area sent by the obstacle removal vehicle after completing the obstacle removal task.

[0089] The target duration reaches the preset duration, and the target duration is the duration obtained when the cloud platform 110 receives a report from the unmanned vehicle 120 that the closed area has road conditions that affect vehicle driving. Exemplarily, the reason for the closure of the area is slippery due to rain or snow. Therefore, after the preset closure time, the road section will not be slippery. Preferably, the preset duration is determined according to future weather conditions. When the future weather is sunny, the preset duration is shorter. And when there is more rain and snow, the preset duration is longer.

[0090] After the map sending module 112 sends the second target map to the map synchronization module 121, the decision-making and planning module 122 of the second target unmanned vehicle is used to regenerate the planned trajectory based on the second target map and the first target map. The second target unmanned vehicle is an unmanned vehicle 120 that avoids the cancelled closed area when generating the planned trajectory. It should be noted that the decision-making and planning module 122 of the second target unmanned vehicle regenerates the planned trajectory based on the second target map and the first target map, which means: generating a first planned trajectory based on the first target map, and generating a second planned trajectory based on the second target map. Then compare the effects of the first planned trajectory and the second planned trajectory, which one is better, and which one is used as the final planned trajectory. Exemplarily, the effect of the planned trajectory is evaluated from the time cost dimension, and / or, the effect of the planned trajectory is evaluated from the safety and reliability dimension.

[0091] As a preferred implementation method of the embodiment of the present application, when the cloud platform 110 sends the inspection task of the target closed area to the inspection vehicle, the cloud platform 110 is used to generate control information of the inspection vehicle based on the vehicle information of the unmanned vehicle in the target closed area and send it to the inspection vehicle;

[0092] The target closed area is a closed area generated according to the road conditions that affect vehicle driving in the designated area reported by the reporting unmanned vehicle.

[0093] The vehicle information includes vehicle speed and / or vehicle weight; and / or,

[0094] The control information of the inspection vehicle includes instructing the inspection vehicle to meet conditions when entering the target closed area to perform the inspection task, and the conditions include any one of the following:

[0095] The speed of the inspection vehicle is the same as the speed of the reported unmanned vehicle;

[0096] The speed of the inspection vehicle is lower than the speed of the reported unmanned vehicle;

[0097] The vehicle weight of the inspected vehicle is the same as the vehicle weight of the reported unmanned vehicle.

[0098] The purpose of controlling the same driving speed or vehicle weight is to ensure that the driving conditions of the unmanned vehicle reported during the inspection are the same as those of the vehicle during the inspection. Because in some closed areas, when the vehicle speed or vehicle weight is different, it may not affect the vehicle's driving. For example, on a bumpy road section, when the inspection vehicle is driving at a slow speed, it may not cause bumps or the degree of bumps is not enough to continue to maintain the closed area. At this time, if the closed area is cancelled, there will still be bumps at a faster speed, which will affect the vehicle's driving.

[0099] The reason why the inspection vehicle is controlled to have a lower speed than the speed of the unmanned vehicle is to ensure the safety of the inspection vehicle, because in some closed areas, the speed of vehicles is different, which does not affect the judgment of whether to cancel the closed area. If the speed is too fast, it may cause a safety accident to the inspection vehicle.

[0100] The unmanned vehicle control system provided by the embodiment of the present application includes a cloud platform and at least one unmanned vehicle, the cloud platform includes a map update module and a map sending module, each unmanned vehicle includes a map synchronization module and a decision planning module, the map update module is used to generate a closed area on the map to obtain a first target map when a first preset condition is met; the map sending module sends the first target map to the map synchronization module of the unmanned vehicle; the decision planning module is used to generate a planning trajectory to avoid the closed area based on the current task of the unmanned vehicle after the map synchronization module receives the first target map, or generate a control instruction to prohibit the unmanned vehicle from driving out of the closed area. That is, in the present application scheme, when the first preset condition is met, the map update module on the cloud platform can generate a closed area on the map to obtain the first target map, and then send the first target map to the unmanned vehicle. After receiving the first target map, the unmanned vehicle can know the location of the closed area on the map, and then avoid the closed area. In this way, when a temporary closed area needs to be set, the corresponding closed area can be directly generated on the map to avoid the conflict between the unmanned vehicle and the temporary closed area, and there is no need to set a closed baffle in practice, which reduces the time cost and manpower cost, and realizes flexible processing of the temporary closed area.

[0101] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0102] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0103] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0104] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An unmanned vehicle control system, characterized in that: Includes a cloud platform and at least one driverless vehicle; The cloud platform includes a map update module and a map sending module; each of the unmanned vehicles includes a map synchronization module and a decision-making planning module; The map updating module is used to generate a closed area on the map to obtain a first target map when a first preset condition is met; The map sending module is used to send the first target map to the map synchronization module of the unmanned vehicle; The decision-making planning module is used to generate a planned trajectory avoiding the closed area or generate a control instruction prohibiting the unmanned vehicle from leaving the closed area based on the current task of the unmanned vehicle after the map synchronization module receives the first target map.

2. The system according to claim 1, characterized in that The first preset condition includes: the cloud platform receives a manually triggered command to generate a closed area, or receives preset scene information reported by the unmanned vehicle.

3. The system according to claim 2, characterized in that The preset scene information includes any one of the following: There are road conditions in the designated area that affect vehicle travel; Enter a preset area to perform a first type of task, wherein the first type of task is that the unmanned vehicle operates in the preset area, or the unmanned vehicle stays in the preset area.

4. The system according to claim 1, characterized in that The map updating module is further used to determine the generation position of the closed area according to the position information reported by the unmanned vehicle, and / or determine the size of the closed area according to the vehicle information and / or the currently executed task information reported by the unmanned vehicle; Wherein, the vehicle information includes vehicle model or vehicle size; and / or, the currently executed task information includes task type.

5. The system according to claim 1, characterized in that The cloud platform includes a conflict warning module; When the map update module generates a closed area, the conflict warning module is used to: According to the position information or planned trajectories of all unmanned vehicles, it is determined whether there is a first target unmanned vehicle, wherein the first target unmanned vehicle is an unmanned vehicle that has a risk of conflict with the boundary of the closed area, wherein the risk of conflict indicates that the position of the unmanned vehicle or any trajectory point of the planned trajectory overlaps with the boundary of the closed area or the distance is less than a preset distance threshold; In the case where there is a first target unmanned vehicle, early warning information is sent to the first target unmanned vehicle so that a decision planning module of the first target unmanned vehicle generates a planning trajectory that avoids the closed area based on the first target map.

6. The system according to claim 1 or 5, characterized in that: When the map synchronization module receives the first target map, if the unmanned vehicle already has a planned trajectory, the decision planning module determines whether there is a risk of conflict between the planned trajectory and the closed area, and if there is a risk of conflict, the decision planning module generates a planned trajectory that avoids the closed area to replace the planned trajectory; or After the map synchronization module receives the first target map, if the unmanned vehicle needs to generate a planned trajectory, the decision planning module generates a planned trajectory that avoids the closed area.

7. The system according to claim 1, characterized in that The decision-making planning module is used to generate a control instruction to prohibit the unmanned vehicle from leaving the closed area when the task type of the current task is a first-type task, and the first-type task is that the unmanned vehicle operates in the closed area, or the unmanned vehicle stays in the closed area; and / or, The decision-making planning module is used to generate a planning trajectory that avoids the closed area when the current task type is a second-type task, and the second-type task does not require the unmanned vehicle to operate or stay in the closed area.

8. The system according to claim 3, characterized in that The map updating module is further configured to, when a second preset condition corresponding to the risk level of the closed area is triggered, cancel the closed area on the map to obtain a second target map.

9. The system according to claim 8, characterized in that The second preset condition includes at least one of the following: The cloud platform receives a manually triggered command to cancel the closed area; The cloud platform receives information reported by the unmanned vehicle that the first type of task has been completed; The cloud platform receives information that the inspection vehicle has completed the inspection task and the closed area no longer has road conditions that affect vehicle driving, the inspection task being a task sent by the cloud platform to the inspection vehicle to check whether there are road conditions that affect vehicle driving in the closed area; The cloud platform receives a command to cancel the closed area sent by the obstacle removal vehicle after completing the clearance task; The target duration reaches a preset duration, where the target duration is the duration obtained when the cloud platform receives a report from the unmanned vehicle that there are road conditions in the closed area that affect vehicle driving.

10. The system according to claim 8, characterized in that After the map sending module sends the second target map to the map synchronization module, the decision planning module of the second target unmanned vehicle is used to regenerate a planned trajectory based on the second target map and the first target map. The second target unmanned vehicle is an unmanned vehicle that avoids the cancelled closed area when generating the planned trajectory.

11. The system according to claim 9, characterized in that When the cloud platform sends the inspection task of the target closed area to the inspection vehicle, the cloud platform is used to generate control information of the inspection vehicle based on the vehicle information reported when the unmanned vehicle is in the target closed area and send it to the inspection vehicle; The target closed area is a closed area generated according to the road conditions that affect vehicle driving in the designated area reported by the reporting unmanned vehicle.

12. The system according to claim 11, characterized in that The vehicle information includes vehicle speed and / or vehicle weight; and / or, The control information of the inspection vehicle includes instructing the inspection vehicle to meet conditions when entering the target closed area to perform the inspection task, and the conditions include any one of the following: The speed of the inspection vehicle is the same as the speed of the reported unmanned vehicle; The speed of the inspection vehicle is lower than the speed of the reported unmanned vehicle; The vehicle weight of the inspected vehicle is the same as the vehicle weight of the reported unmanned vehicle.

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