A remote management method for unmanned vehicles, terminal equipment and storage medium

Abstract

The present application belongs to the field of vehicle communication technology, and in particular, relates to a remote management method for driverless vehicles, a terminal device and a storage medium, wherein the method can determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, and monitor the position change of each driverless taxi and the change of traffic congestion, and then determine the change of the total radiation path of each driverless taxi, and adjust the relative position of each driverless taxi according to the change of each radiation total path, so that the sum of each radiation total path just covers all driving roads in the map; in the present application, it is possible to dynamically adjust the distribution of each driverless taxi according to the change of traffic congestion at each location in the operating area, so that passengers at each location in the operating area can get on the car within the set time after placing an order, avoiding excessive waiting for passengers and ensuring a good experience for passengers.

Description

Technical Field

[0001] The present application belongs to the field of vehicle communication technology, and in particular, relates to a remote management method, terminal equipment and storage medium for unmanned vehicles. Background Art

[0002] Driverless taxis are taxis driven by autonomous driving technology. They do not require human drivers and rely on technologies such as sensors, artificial intelligence, and high-precision maps to achieve driving, navigation, and decision-making. Currently, more and more places have put them into practical use.

[0003] Existing driverless taxis are often controlled by a control terminal, which can mobilize the position of driverless taxis. In order to ensure that the driverless taxis can arrive in time after the passengers at various locations in the operating area place an order, the existing mobilization method is to evenly distribute the driverless taxis in the operating area, that is, divide the operating area into several sub-areas of equal size, and then station an driverless taxi in each sub-area, that is, let each driverless taxi be responsible for the orders in its own area. This mobilization method does not take into account the different levels of traffic congestion on roads in different areas of the operating area, nor does it take into account the changes in traffic congestion over time. It often causes driverless taxis in some sub-areas to be unable to arrive at the location of the orderer in time to pick up passengers due to excessive traffic congestion, which will increase the waiting time of the guests, thereby bringing a bad experience to the guests. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method for remote management of an unmanned vehicle, a terminal device and a storage medium, which can solve the above-mentioned technical problems.

[0005] A first aspect of an embodiment of the present application provides a method for remote management of an unmanned vehicle, the method comprising:

[0006] S1: Obtain a map including the operating area and determine all driving roads in the map;

[0007] S2: Determine the road location of each driverless taxi on the map;

[0008] S3: For each driverless taxi, determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, wherein the total radiation path of a driverless taxi includes all radiation paths at the road position where the driverless taxi is located, and each radiation path is a path that the driverless taxi can travel along the driving road from the corresponding road position within a set time under the current traffic congestion, and the set time is the radiation time corresponding to the total radiation path;

[0009] S4: monitoring the position change of each driverless taxi and the change of traffic congestion, and then determining the change of the total radiation path of each driverless taxi;

[0010] S5: adjusting the relative positions of the driverless taxis according to the changes of the radial total paths, so that the sum of the radial total paths just covers all the driving roads in the map;

[0011] S6: When an unmanned taxi accepts an order, determine the destination location of the taxi;

[0012] S7: Before the taxi arrives at the destination, the radial total path of the taxi is hidden. Until the taxi arrives at the destination, the radial total path of the taxi is displayed, and the road positions of other driverless taxis are adjusted according to the visibility of the radial total path of the taxi, so that the sum of the radial total paths just covers all the driving roads in the map.

[0013] A second aspect of an embodiment of the present application provides a terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the unmanned vehicle remote management method.

[0014] A second aspect of an embodiment of the present application provides a terminal-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes the steps of the unmanned vehicle remote management method.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the method provided by the present invention comprises obtaining a map including an operating area, and determining all driving roads in the map; determining the road position of each driverless taxi on the map; for each driverless taxi, determining the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion level on the map; monitoring the position change of each driverless taxi and the change of traffic congestion level, and then determining the change of the total radiation path of each driverless taxi; adjusting the relative position of each driverless taxi according to the change of each total radiation path, so that the sum of each total radiation path just covers all driving roads in the map; when an driverless taxi is out, When accepting a car rental order, the destination location of the taxi accepting the order is determined; before the taxi accepting the order arrives at the destination location, the total radial path of the taxi accepting the order is hidden, until the taxi accepting the order arrives at the destination location, the total radial path of the taxi accepting the order is displayed, and the road locations of other driverless taxis are adjusted according to the visibility of the total radial path of the taxi accepting the order, so that the sum of the total radial paths just covers all the driving roads in the map; in the present application, it is possible to dynamically adjust the distribution of each driverless taxi according to the changes in traffic congestion conditions at various locations in the operating area, so that passengers at each location in the operating area can get on the car within the set time after placing an order, avoiding excessive waiting for passengers and ensuring a good experience for passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of the implementation process of the unmanned vehicle remote management method provided in the embodiment of the present application;

[0018] Figure 2 Schematic diagram of the implementation environment of the unmanned vehicle remote management method provided in the embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the radiation path of the unmanned vehicle remote management method provided in the embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0022] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0023] Figure 1 A method for remote management of an unmanned vehicle provided in Embodiment 1 of the present application is shown, and the method for remote management of an unmanned vehicle includes:

[0024] S1: Obtain a map including the operating area and determine all driving roads in the map;

[0025] S2: Determine the road location of each driverless taxi on the map;

[0026] S3: For each driverless taxi, determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, wherein the total radiation path of a driverless taxi includes all radiation paths at the road position where the driverless taxi is located, and each radiation path is a path that the driverless taxi can travel along the driving road from the corresponding road position within a set time under the current traffic congestion, and the set time is the radiation time corresponding to the total radiation path;

[0027] S4: monitoring the position change of each driverless taxi and the change of traffic congestion, and then determining the change of the total radiation path of each driverless taxi;

[0028] S5: adjusting the relative positions of the driverless taxis according to the changes of the radial total paths, so that the sum of the radial total paths just covers all the driving roads in the map;

[0029] S6: When an unmanned taxi accepts an order, determine the destination location of the taxi;

[0030] S7: Before the taxi arrives at the destination, the radial total path of the taxi is hidden. Until the taxi arrives at the destination, the radial total path of the taxi is displayed, and the road positions of other driverless taxis are adjusted according to the visibility of the radial total path of the taxi, so that the sum of the radial total paths just covers all the driving roads in the map.

[0031] In this embodiment, if Figure 2 As shown, the method is executed in a terminal device, which may be an independent physical server or terminal, or a server cluster composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage and CDN; each driverless taxi is provided with a vehicle terminal (such as an on-board processor), and each driverless taxi communicates with the terminal device through the vehicle terminal, so that the driverless taxi is controlled by the terminal device; the terminal device also communicates with a road information server, and all vehicles in the operating area (including other social vehicles that are not driverless) communicate with the road information server when navigating, and the road information server can determine the corresponding traffic congestion degree of each road section in real time based on the average travel speed of the navigation vehicle of each road section, and generate the congestion distribution of each road section (that is, the congestion degree of each road section is marked with different shades of color on the corresponding road section. This technology has been widely used in existing navigation software and will not be repeated here).

[0032] In this embodiment, the operation area is the area preset by the staff for the driverless taxi to pick up and drop off passengers; the driving road is the road in the operation area that can be driven by vehicles; there are multiple different driving roads that diverge from the location of an driverless taxi to the surrounding areas (as long as the routes do not completely overlap, they can be regarded as different driving roads), and the path formed by the taxi driving along a divergent driving road for a set time from its location is simulated (the traffic congestion level of the driving road is considered during the driving process), that is, a radial path. For each divergent driving road, a radial path can be obtained, and each radial path can constitute a total radial path;

[0033] In this embodiment, for any driverless taxi, the taxi can arrive at any point on the radial total path table within the set time. The sum of the radial total paths just covers all the driving roads in the map, that is, all driving roads are passed by at least one radial path in the radial total paths. At this time, if a passenger places an order at any point in the operating area, the passenger can be picked up within the set time (for example, 5 minutes). Since the traffic congestion of each road section will change over time, the covered driving roads may not be fully covered over time, so it is necessary to implement The position of each driverless taxi is adjusted from time to time to achieve continuous coverage of all driving roads; for a driverless taxi that has already accepted an order, it can no longer pick up other passengers, so its total radiation path is hidden until it delivers the passenger to the destination and then displays its total radiation path; in addition, the just covering all driving roads in the map described in this embodiment means that the length of the overlapping section of each radiation path is the shortest when all driving roads are covered; the radiation time is the upper limit of the waiting time for passengers on the total radiation path after placing an order, and the radiation time of each driverless taxi is the set time.

[0034] In the present application, it is possible to dynamically adjust the distribution of driverless taxis according to changes in traffic congestion conditions at various locations in the operating area, so that passengers at each location in the operating area can get on the taxi within the set time after placing an order, avoiding excessive waiting for passengers and ensuring a good experience for passengers.

[0035] As a preferred embodiment, Figure 3 As shown, determining the road location of each driverless taxi on the map includes:

[0036] Obtain the location coordinates sent by each driverless taxi, and mark the road location corresponding to the location coordinates on the map, that is, the road location of the driverless taxi;

[0037] The total radiation path of the driverless taxi at the corresponding road location and under the current traffic congestion level is determined on the map, including:

[0038] S31: generating a target area on a map with the road position of the driverless taxi as the center, wherein the target area is within the operation area, and the driverless taxi cannot drive out of the target area from the corresponding road position within a set time period in the absence of road congestion;

[0039] S32: Obtaining the traffic congestion degree of each road section of the driving road in the target area from the road information server;

[0040] S33: Generate all radial paths based on the acquired traffic congestion degree and taking the road position of the driverless taxi as the starting point, and each generated radial path constitutes the total radial path of the driverless taxi.

[0041] Based on the obtained traffic congestion, all radial paths are generated starting from the road position of the driverless taxi, including:

[0042] S331: Identify each point on the boundary of the target area where the boundary intersects with the driving road, that is, the boundary intersection point;

[0043] S332: For each boundary intersection, generate all first routes connecting the road position and the boundary intersection, wherein the first route is a route extending along the driving road;

[0044] S333: For each first route, the first route is divided into a plurality of unit line segments of a set length, and the unit line segments are sorted according to their distance from the road position to obtain a first sequence;

[0045] S334: taking the first unit line segment in the first sequence as the calculation line segment;

[0046] S335: Identify the traffic congestion degree of the road section where the calculation line segment is located, and then determine the driving speed corresponding to the calculation line segment according to the traffic congestion degree and a speed-traffic congestion degree mapping table, wherein the speed-traffic congestion degree mapping table includes various traffic congestion degrees and an average driving speed corresponding to each traffic congestion degree;

[0047] S336: Divide the length of the calculated line segment by the corresponding average driving speed to obtain a first duration, and accumulate the first durations of the unit line segments belonging to the same first route to obtain a total duration;

[0048] S337: Determine whether the total duration is just greater than the set duration. If not, take the next unit line segment in the first sequence as the calculation line segment, execute steps S335 to S337 until the total duration is just greater than the set duration, and remove the last accumulated first duration from the total duration, and use the line segment composed of the unit line segments corresponding to the remaining first duration in the total duration as the radiation path corresponding to the first route.

[0049] In this embodiment, the terminal device can obtain the position coordinates of each driverless taxi in real time to determine its real-time road position; the target area can be set to an area that just makes it impossible for the driverless taxi to drive out from the corresponding road position by any route within a set time period without road congestion, or a slightly larger area, so as to ensure that the determined radiation path is within the target area; the traffic congestion degree can be represented by a preset order of magnitude, such as 0.5, 0.8, and the larger the value, the higher the traffic congestion degree. The mapping relationship between the average driving speed and the traffic congestion degree in the speed-traffic congestion degree mapping table is a preset mapping relationship, for example, the average driving speed mapped to a traffic congestion degree of 0.5 is 50km / h;

[0050] In this embodiment, since the boundary of the target area surrounds the position of the taxi, the route that the vehicle can travel is determined by the boundary points of the surface area, that is, all divergent routes that can cover the position of the taxi; in this embodiment, the different radial paths determined may have the same path sections. When displayed, the sections with the same path can be overlapped and branched at sections with different paths; through the method of this embodiment, the total radial path of each driverless taxi at each moment can be determined.

[0051] As a preferred embodiment, adjusting the relative positions of the driverless taxis according to the changes of the total radiation paths includes:

[0052] For any two adjacent driverless taxis, determine whether there is a gap between the total radiation paths of the two driverless taxis;

[0053] If so, the two driverless taxis are moved closer to each other, thereby eliminating the interval between the total radiation paths;

[0054] If not, the two driverless taxis are moved away from each other so that the overlap of the total radiation paths of the two driverless taxis is minimized.

[0055] Determining whether there is a gap between the total radiation paths of the two driverless taxis includes:

[0056] Identifying a common driving road of the two driverless taxis, wherein the common driving road is a straight driving road that includes radial paths of the two driverless taxis;

[0057] For each shared driving road, determine whether the radial paths belonging to the two driverless taxis on the shared driving road have overlapping sections;

[0058] If there is at least one shared driving road where the radial paths belonging to two driverless taxis have no overlapping segments, then there is a gap between the total radial paths of the two driverless taxis.

[0059] Manipulating two driverless taxis to make them approach each other includes:

[0060] Maneuver the two driverless taxis to approach each other for a unit time, and determine whether the radial paths belonging to the two driverless taxis in all shared driving roads have overlapping sections. If so, complete the maneuver; if not, repeat this step until the maneuver is completed;

[0061] Maneuvering two driverless taxis to move them away from each other includes:

[0062] The two driverless taxis are moved away from each other for a unit time to determine whether there is a gap in the total radiation path of the two driverless taxis. If so, the distance between the two driverless taxis is adjusted again to make the total radiation path of the two driverless taxis have no gap. If not, this step is repeated until there is no gap in the total radiation path of the two driverless taxis.

[0063] In this embodiment, two driverless taxis can be moved closer to / away from each other (the directions of approach and distance can be taken from the extension direction of the corresponding shared driving road) by only mobilizing one of the driverless taxis or by mobilizing both driverless taxis at the same time. While mobilizing, the vehicles around the mobilized vehicle are also mobilized accordingly, thereby keeping all driving roads in the operation area covered. Furthermore, each time the vehicle is mobilized, the unit movement time (which can be 3 seconds, 5 seconds or other time) is used, a gradual and step-by-step adjustment is implemented. For two radial paths with a gap, the two radial paths can be gradually brought closer through this gradual adjustment method. When the two paths are just connected (that is, when an overlapping section appears), the adjustment ends, with higher adjustment accuracy. Similarly, by using this adjustment method to move the two vehicles away from each other, the radial paths corresponding to the two vehicles can be overlapped while keeping the length of the overlapping section as short as possible, that is, just covering all driving roads.

[0064] As a preferred embodiment, adjusting the road positions of other driverless taxis according to the visibility of the total radiation path of the taxi receiving the order includes:

[0065] When the radial total path of the order-receiving taxi is hidden, the driverless taxis adjacent to the order-receiving taxi are moved closer to each other so that the radial total paths of the adjacent driverless taxis cover the blank driving roads formed by the hiding of the radial total path of the order-receiving taxi;

[0066] Monitor the remaining time for the taxi to arrive at the destination, and subtract the remaining time from the set time to obtain a second time.

[0067] Generate a virtual total radiation path with the destination location as the radiation center, wherein the radiation duration of the virtual total radiation path is the second duration;

[0068] Adjust the road positions of the driverless taxis around the destination location to form a target blank driving road that can just be covered by the virtual radial total path;

[0069] When the taxi arrives at the destination, the total radial path of the taxi is displayed again so that the total radial path just covers the target blank driving road.

[0070] In this embodiment, the blank driving road is a driving road without radiation path coverage (except for the virtual radiation total path) formed after the driverless taxis around the destination position are separated (or when the receiving taxi hides the corresponding radiation total path after receiving the order); in this embodiment, the virtual radiation total path is a radiation total path used to measure the blank driving road, so as to keep the range of the vacated blank driving road consistent with the range of the virtual radiation total path; in this embodiment, the closer the receiving taxi is to the destination, the shorter the remaining time, the longer the second time duration, the larger the range of the virtual radiation total path, and the larger the range of the target blank driving road; in this embodiment, the taxis around the destination are timely transferred away before the receiving taxi arrives at the destination, so as to avoid the situation where taxis gather at the destination when the receiving taxi arrives at the destination, and when the taxis around the destination are transferred away, the radiation time duration of the virtual radiation total path corresponding to the target blank driving road is always kept as the second time duration, that is, the whole process of the receiving taxi picking up new passengers after delivering the passengers to the destination can be completed within the set time duration.

[0071] As a preferred embodiment, after step S7, the following steps are further included:

[0072] When the time spent on adjusting the road position of the driverless taxi reaches a preset maximum value, and the sum of the total radiation paths of the driverless taxis still does not cover all the driving roads, a new driverless taxi is dispatched from the garage to enter the operating area.

[0073] In this embodiment, the preset maximum value can be 30 seconds, 1 minute or other durations, which are not limited here; when the adjustment time reaches the preset maximum value and still not all driving roads are covered, it means that the number of driverless taxis in the operating area is insufficient (it may be caused by multiple taxis accepting orders or traffic congestion in multiple places). At this time, new vehicles can be gradually mobilized from the garage to enter the operating area so that all driving roads can be covered. When the operating area does not need so many taxis to cover all driving roads, the excess taxis will be gradually transferred back to the garage.

[0074] A terminal device provided in a second embodiment of the present application includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the unmanned vehicle remote management method, specifically including:

[0075] S1: Obtain a map including the operating area and determine all driving roads in the map;

[0076] S2: Determine the road location of each driverless taxi on the map;

[0077] S3: For each driverless taxi, determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, wherein the total radiation path of a driverless taxi includes all radiation paths at the road position where the driverless taxi is located, and each radiation path is a path that the driverless taxi can travel along the driving road from the corresponding road position within a set time under the current traffic congestion, and the set time is the radiation time corresponding to the total radiation path;

[0078] S4: monitoring the position change of each driverless taxi and the change of traffic congestion, and then determining the change of the total radiation path of each driverless taxi;

[0079] S5: adjusting the relative positions of the driverless taxis according to the changes of the radial total paths, so that the sum of the radial total paths just covers all the driving roads in the map;

[0080] S6: When an unmanned taxi accepts an order, determine the destination location of the taxi;

[0081] S7: Before the taxi arrives at the destination, the radial total path of the taxi is hidden. Until the taxi arrives at the destination, the radial total path of the taxi is displayed, and the road positions of other driverless taxis are adjusted according to the visibility of the radial total path of the taxi, so that the sum of the radial total paths just covers all the driving roads in the map.

[0082] A terminal-readable storage medium is provided in a third embodiment of the present application. A computer program is stored on the terminal-readable storage medium. When the computer program is executed by a processor, the processor executes the steps of the unmanned vehicle remote management method, specifically including:

[0083] S1: Obtain a map including the operating area and determine all driving roads in the map;

[0084] S2: Determine the road location of each driverless taxi on the map;

[0085] S3: For each driverless taxi, determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, wherein the total radiation path of a driverless taxi includes all radiation paths at the road position where the driverless taxi is located, and each radiation path is a path that the driverless taxi can travel along the driving road from the corresponding road position within a set time under the current traffic congestion, and the set time is the radiation time corresponding to the total radiation path;

[0086] S4: monitoring the position change of each driverless taxi and the change of traffic congestion, and then determining the change of the total radiation path of each driverless taxi;

[0087] S5: adjusting the relative positions of the driverless taxis according to the changes of the radial total paths, so that the sum of the radial total paths just covers all the driving roads in the map;

[0088] S6: When an unmanned taxi accepts an order, determine the destination location of the taxi;

[0089] S7: Before the taxi arrives at the destination, the radial total path of the taxi is hidden. Until the taxi arrives at the destination, the radial total path of the taxi is displayed, and the road positions of other driverless taxis are adjusted according to the visibility of the radial total path of the taxi, so that the sum of the radial total paths just covers all the driving roads in the map.

[0090] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0091] It should be understood that when used in the present application specification, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0092] It should also be understood that the term “and / or” used in the specification of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0093] As used in the present specification, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0094] In addition, in the description of the present specification, the terms "first", "second", "third", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance. It should also be understood that although the terms "first", "second", etc. are used to describe various elements in some embodiments of the present application in the text, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first table can be named as the second table, and similarly, the second table can be named as the first table, without departing from the scope of the various described embodiments. The first table and the second table are both tables, but they are not the same table.

[0095] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0096] The unmanned vehicle remote management method provided in the embodiment of the present application can be applied to terminal devices such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0097] For example, the terminal device can be a station (STAION, ST) in a WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a vehicle networking terminal, a computer, a laptop computer, a handheld communication device, a handheld computing device, a satellite wireless device, a wireless modem card, a TV set top box (STB), a customer premises equipment (CPE) and / or other devices for communicating on a wireless system and a next-generation communication system, such as a mobile terminal in a 5G network or a mobile terminal in a future evolved Public Land Mobile Network (PLMN) network, etc.

[0098] As an example but not limitation, when the terminal device is a wearable device, the wearable device can also be a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0099] Figure 4 Schematic diagram of the structure of a terminal device provided by an embodiment of the present application. Figure 4 As shown, the terminal device of this embodiment includes: at least one processor ( Figure 4 Only one is shown in the figure), a memory, wherein the memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps in the above-mentioned embodiments of the remote management method for unmanned vehicles are implemented, such as Figure 1 Steps S1 to S7 are shown.

[0100] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 4 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include an input sending device, a network access device, a bus, etc.

[0101] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0102] In some embodiments, the memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Furthermore, the memory may include both an internal storage unit and an external storage device of the terminal device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory may also be used to temporarily store data that has been sent or is to be sent.

[0103] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal device, the mobile terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0105] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0106] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for remote management of unmanned vehicles, characterized in that: The unmanned vehicle remote management method comprises: S1: Obtain a map including the operating area and determine all driving roads in the map; S2: Determine the road location of each driverless taxi on the map; S3: For each driverless taxi, determine the total radiation path of the driverless taxi at the corresponding road position and under the current traffic congestion on the map, wherein the total radiation path of a driverless taxi includes all radiation paths at the road position where the driverless taxi is located, and each radiation path is a path that the driverless taxi can travel along the driving road from the corresponding road position within a set time under the current traffic congestion, and the set time is the radiation time corresponding to the total radiation path; S4: monitoring the position change of each driverless taxi and the change of traffic congestion, and then determining the change of the total radiation path of each driverless taxi; S5: adjusting the relative positions of the driverless taxis according to the changes of the radial total paths, so that the sum of the radial total paths just covers all the driving roads in the map; S6: When an unmanned taxi accepts an order, determine the destination location of the taxi; S7: Before the taxi arrives at the destination, the radial total path of the taxi is hidden. Until the taxi arrives at the destination, the radial total path of the taxi is displayed, and the road positions of other driverless taxis are adjusted according to the visibility of the radial total path of the taxi, so that the sum of the radial total paths just covers all the driving roads in the map.

2. The method according to claim 1, characterized in that Determining the road locations of each driverless taxi on the map includes: Obtain the location coordinates sent by each driverless taxi, and mark the road location corresponding to the location coordinates on the map, that is, the road location of the driverless taxi; The total radiation path of the driverless taxi at the corresponding road location and under the current traffic congestion level is determined on the map, including: S31: generating a target area on a map with the road position of the driverless taxi as the center, wherein the target area is within the operation area, and the driverless taxi cannot drive out of the target area from the corresponding road position within a set time period in the absence of road congestion; S32: Obtaining the traffic congestion degree of each road section of the driving road in the target area from the road information server; S33: Generate all radial paths based on the acquired traffic congestion degree and taking the road position of the driverless taxi as the starting point, and each generated radial path constitutes the total radial path of the driverless taxi.

3. The method according to claim 2, characterized in that Based on the obtained traffic congestion, all radial paths are generated starting from the road position of the driverless taxi, including: S331: Identify each point on the boundary of the target area where the boundary intersects with the driving road, that is, the boundary intersection point; S332: For each boundary intersection, generate all first routes connecting the road position and the boundary intersection, wherein the first route is a route extending along the driving road; S333: For each first route, the first route is divided into a plurality of unit line segments of a set length, and the unit line segments are sorted according to their distance from the road position to obtain a first sequence; S334: taking the first unit line segment in the first sequence as the calculation line segment; S335: Identify the traffic congestion degree of the road section where the calculation line segment is located, and then determine the driving speed corresponding to the calculation line segment according to the traffic congestion degree and a speed-traffic congestion degree mapping table, wherein the speed-traffic congestion degree mapping table includes various traffic congestion degrees and an average driving speed corresponding to each traffic congestion degree; S336: Divide the length of the calculated line segment by the corresponding average driving speed to obtain a first duration, and accumulate the first durations of the unit line segments belonging to the same first route to obtain a total duration; S337: Determine whether the total duration is just greater than the set duration. If not, take the next unit line segment in the first sequence as the calculation line segment, execute steps S335 to S337 until the total duration is just greater than the set duration, and remove the last accumulated first duration from the total duration, and use the line segment composed of the unit line segments corresponding to the remaining first duration in the total duration as the radiation path corresponding to the first route.

4. The method according to claim 3, characterized in that Adjusting the relative positions of the driverless taxis according to the changes of the total radiation paths includes: For any two adjacent driverless taxis, determine whether there is a gap between the total radiation paths of the two driverless taxis; If so, the two driverless taxis are moved closer to each other, thereby eliminating the interval between the total radiation paths; If not, the two driverless taxis are moved away from each other so that the overlap of the total radiation paths of the two driverless taxis is minimized.

5. The method according to claim 4, characterized in that Determining whether there is a gap between the total radiation paths of the two driverless taxis includes: Identifying a common driving road of the two driverless taxis, wherein the common driving road is a straight driving road that includes radial paths of the two driverless taxis; For each shared driving road, determine whether the radial paths belonging to the two driverless taxis on the shared driving road have overlapping sections; If there is at least one shared driving road where the radial paths belonging to two driverless taxis have no overlapping segments, then there is a gap between the total radial paths of the two driverless taxis.

6. The method according to claim 5, characterized in that Manipulating two driverless taxis to make them approach each other includes: Maneuver the two driverless taxis to approach each other for a unit time, and determine whether the radial paths belonging to the two driverless taxis in all shared driving roads have overlapping sections. If so, complete the maneuver; if not, repeat this step until the maneuver is completed; Maneuvering two driverless taxis to move them away from each other includes: The two driverless taxis are moved away from each other for a unit time to determine whether there is a gap in the total radiation path of the two driverless taxis. If so, the distance between the two driverless taxis is adjusted again to make the total radiation path of the two driverless taxis have no gap. If not, this step is repeated until there is no gap in the total radiation path of the two driverless taxis.

7. The method according to claim 6, characterized in that Adjusting the road locations of other driverless taxis based on the visibility of the total radiation path of the taxis that receive orders includes: When the radial total path of the order-receiving taxi is hidden, the driverless taxis adjacent to the order-receiving taxi are moved closer to each other so that the radial total paths of the adjacent driverless taxis cover the blank driving roads formed by the hiding of the radial total path of the order-receiving taxi; Monitor the remaining time for the taxi to arrive at the destination, and subtract the remaining time from the set time to obtain a second time. Generate a virtual total radiation path with the destination location as the radiation center, wherein the radiation duration of the virtual total radiation path is the second duration; Adjust the road positions of the driverless taxis around the destination location to form a target blank driving road that can just be covered by the virtual radial total path; When the taxi arrives at the destination, the total radial path of the taxi is displayed again so that the total radial path just covers the target blank driving road.

8. The method according to claim 7, characterized in that After step S7, the method further includes: When the time spent on adjusting the road position of the driverless taxi reaches a preset maximum value, and the sum of the total radiation paths of the driverless taxis still does not cover all the driving roads, a new driverless taxi is dispatched from the garage to enter the operating area.

9. A terminal device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the unmanned vehicle remote management method according to any one of claims 1 to 8.

10. A terminal-readable storage medium, characterized in that: A computer program is stored on the terminal-readable storage medium. When the computer program is executed by the processor, the processor executes the steps of the unmanned vehicle remote management method according to any one of claims 1 to 8.

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