A scheduling method, device and equipment applied to a large-scale unmanned vehicle cluster

Abstract

The embodiment of the present disclosure provides a scheduling method, device and equipment applied to a large-scale unmanned vehicle cluster, comprising: after a frame selection function is triggered, receiving a frame selection operation instruction for selecting a map region on a map display interface, determining a target map region framed on the map display interface; determining a target unmanned vehicle in a real region corresponding to the target map region, displaying information of the target unmanned vehicle at a corresponding position of the target map region, and sending an operation instruction to the target unmanned vehicle. The embodiment of the present disclosure provides a scheduling method and system applied to a large-scale unmanned vehicle cluster, so that a user can intuitively control the unmanned vehicle; and through the frame selection instruction operation, a corresponding unmanned vehicle cluster can be selected, and targeted instructions can be sent in batches.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a scheduling method, apparatus and equipment for large-scale unmanned vehicle swarms. Background Technology

[0002] Autonomous driving technology has broad application prospects in industrial production, mining, and other fields. It can not only improve the safety and efficiency of mining operations, but also reduce costs, decrease energy consumption, and achieve green and low-carbon development. However, existing autonomous vehicle scheduling methods have many problems, such as the inability for users to intuitively schedule autonomous vehicles and the inability to perform targeted batch operations on autonomous vehicle clusters. Summary of the Invention

[0003] This disclosure provides a scheduling method, apparatus, and device for large-scale unmanned vehicle clusters to solve existing problems.

[0004] In view of the above problems, firstly, embodiments of this disclosure provide a scheduling method for large-scale unmanned vehicle clusters, including:

[0005] After the selection function is triggered, a selection operation instruction for selecting a map area on the map display interface is received, and the first location information indicated by the selection operation instruction is determined.

[0006] Upon receiving a box selection operation completion instruction, determine the second position information indicated by the box selection operation completion instruction;

[0007] The target map area selected on the map display interface is determined based on the first location information and the second location information.

[0008] The system identifies the target unmanned vehicle within the real-world area corresponding to the target map area, displays the information of the target unmanned vehicle at the corresponding location in the target map area, and sends operation commands to the target unmanned vehicle.

[0009] In conjunction with the first aspect, in one possible embodiment, receiving a selection operation instruction for selecting a map area on the map display interface, and determining the first location information indicated by the selection operation instruction, includes:

[0010] Receives a bounding box operation instruction for selecting a map area on the map display interface, and determines the starting position information and bounding box process position information of the target map area according to the bounding box operation instruction;

[0011] Based on the starting position information and the selection process position information, the selection process of the target map area is displayed.

[0012] Upon receiving a selection operation completion instruction, the step of determining the second location information indicated by the selection operation completion instruction; and determining the target map area selected on the map display interface based on the first location information and the second location information, includes:

[0013] Upon receiving a command indicating that the selection operation is complete, the end position information of the target map area is determined;

[0014] Based on the starting position information, the selection process position information, and the ending position information, the target map area selected on the map display interface is determined and displayed.

[0015] In conjunction with the first aspect, in one possible embodiment, receiving a bounding box operation instruction for selecting a map area on a map display interface, and determining the starting position information and bounding box process position information of the target map area according to the bounding box operation instruction; and displaying the bounding box selection process of the target map area according to the starting position information and the bounding box process position information, includes:

[0016] The map display interface receives multiple click operations, and for each click operation other than the first click operation, it connects the location point corresponding to the current click operation with the location point corresponding to the previous click operation and displays the corresponding first connection line.

[0017] Upon receiving a completion instruction for the selection operation, the step of determining the end position information of the target map area; and determining and displaying the selected target map area on the map display interface based on the start position information, the selection process position information, and the end position information, includes:

[0018] Upon receiving a subsequent click operation on the first location point corresponding to the initial click operation, the location point corresponding to the last click operation before the first location point is clicked again will be connected to the first location point, and a corresponding second line will be displayed. Based on the area enclosed by the first line and the second line, the target map area selected on the map display interface will be determined.

[0019] In conjunction with the first aspect, in one possible embodiment, if a box-selection operation instruction is received but a box-selection operation completion instruction has not yet been received, the method further includes:

[0020] If an exit selection command is received, for selection commands that have not completed the selection of the destination map area, the first location information selected by the selection command will be deleted; and the determined target map area will be retained.

[0021] In conjunction with the first aspect, in one possible embodiment, sending an operation command to the target unmanned vehicle includes: sending a pre-set default operation command to the target unmanned vehicle; and / or

[0022] The method further includes:

[0023] The set of operation instructions corresponding to the target unmanned vehicle is displayed at a preset location on the map display interface;

[0024] Sending operation commands to the target unmanned vehicle, including:

[0025] In response to the user's selection of an operation command from the instruction set, the user-selected operation command is sent to the target unmanned vehicle.

[0026] In conjunction with the first aspect, in one possible embodiment, the control command carries preset control parameters; the method further includes:

[0027] The target unmanned vehicle receives feedback information regarding the preset control parameters after receiving the preset control parameters;

[0028] Based on the feedback information, anomaly detection and / or command correctness detection are performed on the target unmanned vehicle.

[0029] Secondly, embodiments of this disclosure provide a scheduling method for large-scale unmanned vehicle clusters, including:

[0030] Receive operation instructions;

[0031] Based on the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself, detect whether the execution conditions of the operation instruction are met;

[0032] If the condition is met, the operation instruction is executed; if the condition is not met, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time period until the execution condition is met and the operation instruction is executed.

[0033] In conjunction with the second aspect, in one possible embodiment, the environmental information includes at least one of the following: road surface information, terrain information, and congestion information; the current state information includes at least one of the following: vehicle speed information and runtime information;

[0034] The operation instructions include acceleration instructions; the step of detecting whether the execution conditions of the operation instructions are met based on the environmental information corresponding to the operation instructions and / or the current state information of the autonomous vehicle itself includes:

[0035] When the environmental information satisfies at least one of the following: the road surface information indicates that the road surface slipperiness is less than a first threshold, the current terrain uphill slope is less than a second threshold, and the number and distance of surrounding vehicles meet the non-congestion condition; and when the current state information of the autonomous vehicle satisfies: the current speed of the autonomous vehicle is less than a third threshold and / or the running time is less than a fourth threshold; the autonomous vehicle is determined to meet the execution conditions of the acceleration command; and / or

[0036] The operation command includes a deceleration command; the step of detecting whether the execution conditions of the operation command are met based on the environmental information corresponding to the operation command and / or the current state information of the autonomous vehicle itself includes:

[0037] When the environmental information satisfies the following conditions: the current terrain slope is greater than the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion conditions; and when the current state information of the unmanned vehicle satisfies the following conditions: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; the unmanned vehicle is determined to meet the execution conditions of the deceleration command.

[0038] In conjunction with the second aspect, in one possible embodiment, the environmental information includes: capacity information, location information, and vehicle status information for the target refueling area; the current status information includes the remaining energy information of the unmanned vehicle.

[0039] The operation instructions include: a power replenishment instruction; the step of detecting whether the execution conditions of the operation instructions are met based on the environmental information corresponding to the operation instructions and / or the current state information of the autonomous vehicle itself includes:

[0040] Under the condition that the current state information of the unmanned vehicle satisfies insufficient remaining energy; and

[0041] If the number of vehicles performing the refueling task is less than the capacity of the target refueling area, or if the number of vehicles performing the refueling task is greater than or equal to the capacity of the target refueling area, and based on the refueling task execution status of the vehicles in the target refueling area, it is determined that if the unmanned vehicle joins the target refueling area after a first time period without exceeding the capacity limit of the target refueling area, the unmanned vehicle meets the execution conditions of the refueling command; if the capacity limit of the target refueling area is exceeded, the unmanned vehicle continues to perform the current operation task.

[0042] Wherein, the first duration is the time it takes for the unmanned vehicle to travel from its current location to the target refueling area.

[0043] The third aspect of this embodiment provides a scheduling device for large-scale unmanned vehicle clusters, comprising:

[0044] The positioning module is used to receive a box selection operation instruction for selecting a map area on the map display interface after the box selection function is triggered, and to determine the first location information indicated by the box selection operation instruction; and to determine the second location information indicated by the box selection operation completion instruction when a box selection operation completion instruction is received.

[0045] The display module is used to determine the target map area selected on the map display interface based on the first location information and the second location information; determine the target unmanned vehicle in the real area corresponding to the target map area; and display the information of the target unmanned vehicle at the corresponding position in the target map area.

[0046] The instruction sending module is used to send operation instructions to the target unmanned vehicle.

[0047] The fourth aspect of this embodiment provides a scheduling device for large-scale unmanned vehicle clusters, including:

[0048] The instruction receiving module is used to receive operation instructions;

[0049] The detection module is used to detect whether the execution conditions of the operation instruction are met based on the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; if the conditions are met, the operation instruction is executed; if the conditions are not met, the detection of whether the execution conditions are met is repeated at preset time intervals within a preset duration until the execution conditions are met and the operation instruction is executed.

[0050] The fifth aspect of this embodiment provides an apparatus, including: a scheduling device for large-scale unmanned vehicle clusters as described in the third or fourth aspect.

[0051] The beneficial effects of the embodiments disclosed herein include:

[0052] This disclosure provides a scheduling method, apparatus, and device for large-scale unmanned vehicle (UAV) swarms. The method includes: On the cloud control platform side, after a selection function is triggered, receiving a selection operation instruction for selecting a map area on a map display interface, and determining first location information indicated by the selection operation instruction; upon receiving a selection operation completion instruction, determining second location information indicated by the selection operation completion instruction; determining a target map area to be selected on the map display interface based on the first and second location information; determining a target UAV within the corresponding real-world area of ​​the target map area, displaying the information of the target UAV at the corresponding location in the target map area, and sending an operation instruction to the target UAV. On the UAV side, based on environmental information corresponding to the operation instruction and / or the UAV's own current state information, detecting whether the execution conditions of the operation instruction are met; if met, executing the operation instruction; if not met, repeatedly checking whether the execution conditions are met at preset time intervals within a preset duration until the execution conditions are met, and then executing the operation instruction. As can be seen, the scheduling method for large-scale unmanned vehicle clusters provided in this embodiment can provide users with a bounding box function through a map display interface on the cloud control platform. Users can intuitively see the unmanned vehicles displayed on the map through the map display interface and send bounding box operation commands to select map areas and bounding box operation completion commands. The cloud control platform determines the target unmanned vehicle by parsing the received commands and sends operation commands to the target unmanned vehicle, realizing intuitive control of unmanned vehicles by users and solving the problem of unintuitive unmanned vehicle scheduling in related technologies. Furthermore, through bounding box command operation, corresponding unmanned vehicle clusters can be selected and targeted commands can be sent in batches, solving the problem of untargeted batch operations on unmanned vehicle clusters in related technologies. Attached Figure Description

[0053] Figure 1 A flowchart illustrating the scheduling method for a large-scale unmanned vehicle cluster on a cloud control platform, as provided in this embodiment of the disclosure.

[0054] Figure 2 This is a flowchart illustrating the execution of side operation commands for an unmanned vehicle, provided in an embodiment of this disclosure.

[0055] Figure 3 This is one of the schematic diagrams of a scheduling device structure for a large-scale unmanned vehicle cluster provided in an embodiment of this disclosure;

[0056] Figure 4 This is the second schematic diagram of a scheduling device structure for a large-scale unmanned vehicle cluster provided in this embodiment of the present disclosure. Detailed Implementation

[0057] This disclosure provides a scheduling method, apparatus, and device for large-scale unmanned vehicle swarms. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit this disclosure. Furthermore, the embodiments and features described in this application can be combined with each other unless otherwise specified.

[0058] This disclosure provides a scheduling method for large-scale unmanned vehicle clusters, applied to a cloud control platform, such as... Figure 1 As shown, it includes:

[0059] S101, after the selection function is triggered, receive the selection operation instruction for selecting a map area on the map display interface, and determine the first position information indicated by the selection operation instruction.

[0060] S102. Upon receiving a box selection operation completion instruction, determine the second position information indicated by the box selection operation completion instruction;

[0061] S103. Determine the target map area selected on the map display interface based on the first location information and the second location information;

[0062] S104. Determine the target unmanned vehicle within the real area corresponding to the target map area, display the information of the target unmanned vehicle at the corresponding location in the target map area, and send operation instructions to the target unmanned vehicle.

[0063] In this embodiment, the executing entity can be a cloud control platform with scheduling capabilities. The cloud control platform can display the map and the corresponding unmanned vehicles on the map in real time through a map display interface. In one possible implementation, a corresponding button can be set in the display area of ​​the cloud control platform. The user can trigger the selection function of the cloud control platform by clicking the button. After the selection function is triggered, the cloud control platform can receive the selection operation command and selection operation completion command sent by the user during the selection process through a display screen (e.g., a touch screen), and obtain the first location information and the second location information indicated by the above commands respectively. The first location and the second location are displayed in real time in the map area of ​​the map display interface to demonstrate the user's selection process.

[0064] Furthermore, based on the first and second location information, the cloud control platform determines the target map area and displays it at the corresponding location within the map area. Since the map display interface shows the real-time location information of the autonomous vehicle, combined with the target map area, the target autonomous vehicle within the target map area can be identified, which is the target autonomous vehicle selected by the selection function.

[0065] In one possible implementation, the cloud control platform can display information about the selected target unmanned vehicle at a first preset location in the target map area, such as the vehicle's ID number, model information, and current task information, so that users can intuitively obtain information about the target unmanned vehicle and send operation commands to it.

[0066] In one possible implementation, the cloud control platform can display a checkbox for each target unmanned vehicle at a second preset location on the map display interface, with the checkbox for each unmanned vehicle being checked by default. The cloud control platform can receive a deselection command for the checkbox corresponding to any target unmanned vehicle and remove that target unmanned vehicle from the determined target unmanned vehicle cluster. The target unmanned vehicle cluster can consist of multiple unmanned vehicles performing the same task. In this embodiment, the cloud control platform can display the unmanned vehicle location, map area, and markers representing the selection process (i.e., first location information, second location information, and target map area) in real time. Through the displayed information, users can intuitively select unmanned vehicles in batches within the map area and send operation commands in batches through the map display interface of the cloud control platform, thereby achieving the scheduling of the unmanned vehicle cluster.

[0067] In another embodiment provided by this disclosure, step S101 above, "receiving a box selection operation instruction for selecting a map area on the map display interface, and determining the first location information indicated by the box selection operation instruction," includes the following steps:

[0068] Step 1: Receive the bounding box operation instruction for selecting a map area on the map display interface, and determine the starting position information of the target map area and the position information of the bounding box process according to the bounding box operation instruction;

[0069] Step 2: Based on the starting position information and the position information during the selection process, display the selection process of the target map area;

[0070] Step S102 above, "determining the second location information indicated by the box selection operation completion instruction upon receiving the box selection operation completion instruction," and step S103 above, "determining the target map area selected on the map display interface based on the first location information and the second location information," include the following steps:

[0071] Step 1: Upon receiving the instruction to complete the selection operation, determine the end location information of the target map area;

[0072] Step 2: Based on the starting position information, the selection process position information, and the ending position information, determine and display the target map area selected on the map display interface.

[0073] In this embodiment of the disclosure, after the selection function is triggered, when the cloud control platform receives a selection operation instruction to select any location on the map area of ​​the map display interface as the starting point, the cloud control platform marks the first location information, namely the starting location information of the selection operation, and the location information of the continuous selection process during the selection process, according to the instruction. When the selection operation is completed, the cloud control platform can mark the second location information, namely the ending location information of the selection operation, to display the user's selection process.

[0074] In one possible implementation, the bounding box operation command can be a click operation performed on any location in the map area on the map display interface. That is, the first click operation is performed at any location on the map display interface as the starting position of the target map area, and subsequent click operations are performed at multiple locations, and the clicked positions are connected in real time to display the bounding box position information. Alternatively, the bounding box operation command can be a drag operation, that is, dragging from any location on the map display interface, which can be the starting position of the target map area. During the dragging process, the position information of the rectangle generated in real time with the starting position as the starting point and the dragging trajectory as the diagonal is used as the bounding box position information, and the dragging process is displayed in real time.

[0075] In one possible implementation, for click operations, the position of the last click can be used as the end position; that is, the completion instruction for the selection operation is confirmed when the end position is clicked. For drag operations, the end position of the drag can be used as the end position; that is, the completion instruction for the selection operation is confirmed when the drag ends. The cloud control platform marks the end position of the selection operation based on the indication of the completion instruction and obtains the end position information.

[0076] In one possible implementation, for a click operation, the locations of multiple clicks are connected sequentially (the last point can be connected to the first point), and the enclosed area can be used as the target map area obtained by the box selection operation; for a drag operation, the starting position and the ending position are used as the diagonal points of a rectangle, and the rectangular area formed can be used as the target map area obtained by the box selection operation.

[0077] In another embodiment provided by this disclosure, step 1, "receiving a selection operation instruction for selecting a map area on the map display interface, and determining the starting position information and selection process position information of the target map area according to the selection operation instruction," and step 2, "displaying the selection process of the target map area according to the starting position information and selection process position information," can also be implemented as follows:

[0078] The map display interface receives multiple click operations, and for each click operation other than the first click operation, it connects the location point corresponding to the current click operation with the location point corresponding to the previous click operation and displays the corresponding first connection line.

[0079] Step one above, "determine the end position information of the target map area upon receiving the instruction to complete the selection operation," and step two above, "determine and display the target map area selected on the map display interface based on the start position information, selection process position information, and end position information," can also be implemented as follows:

[0080] If a click operation is received again for the first location point corresponding to the first click operation, the location point corresponding to the last click operation before the first location point is clicked again will be connected to the first location point and the corresponding second line will be displayed; the target map area selected on the map display interface will be determined based on the area enclosed by the first and second lines.

[0081] In this embodiment, when the cloud control platform receives the first click operation in the map area of ​​the map display interface, it indicates the start of receiving bounding box operation instructions. It continues to receive multiple click operations, obtaining a new location point with each click operation. This new location point is then connected to the previous location point to form a first line, resulting in multiple first lines (i.e., the bounding box positions), which are displayed in real-time on the map area. When another click operation is received on the first location point corresponding to the first click operation, it confirms the receipt of the bounding box operation completion instruction. Before performing another click operation on the first location point, the location point corresponding to the last click operation is connected to the first location point to form a second line. The area formed by the second line and all the first lines is determined and displayed on the map area of ​​the map display interface; this area is the target map area.

[0082] Furthermore, to ensure that users performing the selection operation know how to complete it, a floating window can be displayed on the map display interface each time a click on a new location point is received during the process of receiving multiple clicks. The floating window displays a prompt message, which can be used to prompt the user to click the first location point again to complete the selection of the target map area. The position of the floating window can change according to the changes in the location information during the selection process.

[0083] Furthermore, after the target map area selected this time is determined, and while the cloud control platform is still performing the selection function, the map display interface can receive the selection operation command for selecting the map area again, as well as the selection operation completion command, to determine the next target map area selected on the map display interface.

[0084] In another embodiment provided by this disclosure, when a box selection operation instruction is received but a box selection operation completion instruction has not yet been received, the method further includes:

[0085] If an exit selection command is received, for selection commands that have not completed the selection of the destination map area, the first location information selected by the selection command will be deleted; and the determined target map area will be retained.

[0086] In one possible implementation of this disclosure, a corresponding button can be set in the display area of ​​the cloud control platform. The user can click this button to send an exit selection command to the cloud control platform, causing the platform to exit the selection function. Upon receiving the exit selection command, the cloud control platform deletes the first location information selected by the incomplete map area selection command (i.e., no completion command has been received for the target map area), and the map display interface stops displaying the incomplete target map area; simultaneously, the map area retains the determined target map area, and the unmanned vehicle within the completed target map area remains in a selected state. After performing the above operations, the cloud control platform completes the exit selection command. After the cloud control platform exits the selection function, the user cannot send selection commands and selection completion commands to the cloud control platform without re-entering the selection function.

[0087] In another embodiment provided by this disclosure, step S101, "sending an operation command to the target unmanned vehicle," includes: sending a pre-set default operation command to the target unmanned vehicle; and / or

[0088] The method also includes:

[0089] The set of operation instructions corresponding to the target unmanned vehicle is displayed at a preset location on the map display interface;

[0090] Send operation commands to the target autonomous vehicle, including:

[0091] In response to the user's selection of operation instructions in the instruction set, the selected operation instructions are sent to the target unmanned vehicle.

[0092] In one possible implementation of this disclosure, after the cloud control platform completes the selection operation and confirms the information of the selected unmanned vehicle within the target area, it sends a pre-set default operation command to the target unmanned vehicle.

[0093] In another possible implementation, after the cloud control platform completes the selection operation and confirms the information of the selected unmanned vehicles within the target area, it displays the corresponding set of operation instructions for the target unmanned vehicle in a preset area of ​​the map display interface. The cloud control platform receives the selection operation of the operation instructions in the set of operation instructions and sends the selected operation instructions to the target unmanned vehicle.

[0094] In another embodiment provided in this disclosure, the control command carries preset control parameters; the method further includes:

[0095] After the target unmanned vehicle receives the preset control parameters, it receives feedback information based on the preset control parameters.

[0096] Based on the feedback information, perform anomaly detection and / or command correctness detection on the target unmanned vehicle.

[0097] In this embodiment of the disclosure, anomaly detection or command correctness detection can be performed using the target unmanned vehicle. For example, a box selection command can be sent through the map display interface to select a target unmanned vehicle within the same group. Preset control parameters are carried in the control command and sent to the target unmanned vehicle. The target unmanned vehicle synchronously executes the control command and sends feedback information regarding the preset control parameters. After receiving the feedback information, the cloud control platform determines the status of the corresponding unmanned vehicle based on the feedback information, or checks the correctness of the command.

[0098] During implementation, after receiving a preset control command, the target autonomous vehicle executes the corresponding command, acquires preset control parameters, and sets its own corresponding functions based on these parameters (e.g., preset control parameters could be heartbeat query parameters to detect whether the autonomous vehicle is online). It then sends feedback information regarding the preset control parameters to the cloud control platform. The cloud control platform compares the feedback information from the cluster of autonomous vehicles executing the same control command, identifies the autonomous vehicle with abnormal feedback information, and confirms that vehicle as an abnormal autonomous vehicle. The abnormal feedback information can be determined based on the average value of the feedback parameters of each autonomous vehicle in the cluster and the difference between the feedback parameters of a single autonomous vehicle. If the difference exceeds a preset range, the autonomous vehicle's feedback information is considered abnormal.

[0099] In another possible implementation, the cloud control platform determines the working status of the corresponding unmanned vehicle based on the feedback information to determine whether the unmanned vehicle has correctly executed the instructions sent by the cloud control platform, thereby performing instruction correctness detection.

[0100] This disclosure provides a scheduling method for large-scale unmanned vehicle clusters, such as... Figure 2 As shown, it is applied to the side of autonomous vehicles, including:

[0101] S201, Receive operation instructions;

[0102] S202. Based on the environmental information corresponding to the operation command and / or the current state information of the unmanned vehicle itself, detect whether the execution conditions of the operation command are met.

[0103] S203. If satisfied, execute the operation instruction;

[0104] S204. If not satisfied, the check for whether the execution conditions are met will be repeated at preset time intervals within a preset duration until the execution conditions are met and the operation instruction will be executed.

[0105] In this embodiment of the disclosure, the executing entity can be an unmanned vehicle with the function of executing instructions. The unmanned vehicle receives operation instructions from the cloud control platform, collects the corresponding preset information required to execute the operation instructions (i.e., environmental information corresponding to the operation instructions and / or the current state information of the unmanned vehicle itself), and determines whether the unmanned vehicle can execute the corresponding operation instructions based on the preset information.

[0106] Furthermore, when the autonomous vehicle determines that it can execute operation commands, it executes the relevant commands. When the autonomous vehicle determines that it cannot execute operation commands, it can repeatedly perform the operation of collecting preset information and make judgments until the autonomous vehicle meets the execution conditions for executing operation commands.

[0107] In another embodiment provided by this disclosure, in step S202 above, "environmental information" includes at least one of the following: road surface information, terrain information, and congestion information; "current status information" includes at least one of the following: vehicle speed information and running time information;

[0108] In step S202 above, the "operation command" includes an acceleration command; "based on the environmental information corresponding to the operation command and / or the current state information of the autonomous vehicle itself, detecting whether the execution conditions of the operation command are met" includes:

[0109] When environmental information satisfies at least one of the following: road surface information indicating road slipperiness is less than a first threshold, current terrain slope meets a second threshold, and the number and distance of surrounding vehicles meet the non-congestion condition; and when the current state information of the autonomous vehicle satisfies: the current speed of the autonomous vehicle is less than a third threshold and / or the running time is less than a fourth threshold; the autonomous vehicle is determined to meet the execution conditions of the acceleration command; and / or

[0110] In step S202 above, the "operation command" includes a deceleration command; "based on the environmental information corresponding to the operation command and / or the current state information of the autonomous vehicle itself, detecting whether the execution conditions of the operation command are met" includes:

[0111] When the environmental information satisfies the following conditions: the current terrain slope meets the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion conditions; and when the current state information of the unmanned vehicle satisfies the following conditions: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; the unmanned vehicle is determined to meet the execution conditions of the deceleration command.

[0112] In this embodiment, different operation commands are related to environmental information and / or the state information of the autonomous vehicle. For example, environmental information related to acceleration and deceleration commands may include one or more of road surface information, terrain information, and congestion information. If the road surface information indicates a slippery road surface, then even if an acceleration command is received, it cannot be executed immediately. If the terrain information indicates a large uphill slope ahead, then even if a deceleration command is received, it is difficult to execute. If the congestion information indicates severe congestion ahead, then even if an acceleration command is received, it cannot be executed immediately. The autonomous vehicle state information related to acceleration and deceleration commands may include vehicle speed information and / or runtime information. If the vehicle speed is close to the maximum speed, then even if an acceleration command is received, it cannot be executed. If the runtime has reached the maximum duration, then even if a deceleration command is received, it cannot continue to execute. The thresholds related to road surface information, terrain information, congestion information, vehicle speed information, and runtime information can be set according to actual conditions and are not limited here.

[0113] Therefore, when the autonomous vehicle receives an acceleration command, it collects current environmental information and vehicle status information. Based on at least one of the following environmental information: road surface slipperiness (representing road surface information), terrain slope (representing terrain information), and the number and distance of surrounding vehicles (representing congestion information), it determines whether the current environment of the vehicle meets the conditions for executing the acceleration command. If the road surface slipperiness is below a first threshold, and / or the current terrain slope meets a second threshold (e.g., the current terrain slope represents an uphill slope less than the second threshold or within the second threshold range), and / or the number and distance of surrounding vehicles are not considered congested, then the current environment of the autonomous vehicle is considered to meet the conditions for executing the acceleration command. Furthermore, the autonomous vehicle can determine whether its own status meets the conditions for executing the acceleration command based on its own vehicle speed and / or runtime information. If the current vehicle speed is less than a third threshold and / or the runtime is less than a fourth threshold, the conditions for executing the acceleration command are met. In summary, when the environment in which the autonomous vehicle is located and / or the autonomous vehicle's own state information meet the conditions for executing the acceleration command, the autonomous vehicle executes the acceleration command.

[0114] Furthermore, upon receiving a deceleration command, the autonomous vehicle collects current environmental information and its own state information. Based on the terrain slope and / or the number and distance of surrounding vehicles in the environmental information, it determines whether the current environment meets the conditions for executing the deceleration command. If the current terrain slope meets the fifth threshold (e.g., the current terrain slope is a downward slope less than the fifth threshold or within the fifth threshold range), and / or the number and distance of surrounding vehicles are considered to indicate that the autonomous vehicle is in a congested state, then the current environment is considered to meet the conditions for executing the deceleration command. Furthermore, the autonomous vehicle can determine whether its own state meets the conditions for executing the deceleration command based on its own state information, specifically its vehicle speed and / or runtime. If the current vehicle speed is greater than or equal to the third threshold and / or the runtime is less than the fourth threshold, the conditions for executing the deceleration command are met. In summary, when the environment and / or the autonomous vehicle's own state information meet the conditions for executing the deceleration command, the autonomous vehicle executes the deceleration command.

[0115] In another embodiment provided by this disclosure, in step S202 above, "environmental information" includes: capacity information, location information, and vehicle status information of the target refueling area; "current status information" includes the remaining energy information of the unmanned vehicle;

[0116] In step S202 above, the "operation instruction" includes: a power replenishment instruction; "based on the environmental information corresponding to the operation instruction and / or the current state information of the autonomous vehicle itself, detecting whether the execution conditions of the operation instruction are met" includes:

[0117] Under the condition that the current status information of the autonomous vehicle indicates insufficient remaining energy; and

[0118] If the number of vehicles performing the refueling task is less than the capacity of the target refueling area, or if the number of vehicles performing the refueling task is greater than or equal to the capacity of the target refueling area, and based on the refueling task execution status of the vehicles in the target refueling area, it is determined that if the unmanned vehicle joins the target refueling area after the first time period and does not exceed the capacity limit of the target refueling area, the unmanned vehicle is determined to meet the execution conditions of the refueling command; if it exceeds the capacity limit of the target refueling area, the unmanned vehicle continues to perform the current operation task.

[0119] The first duration is the time it takes for the unmanned vehicle to travel from its current location to the target refueling area.

[0120] In this embodiment, the unmanned vehicle (UAV) requires energy for operation, such as gasoline, electricity, or gas. When the UAV's energy is about to run out, it needs to go to a refueling area for refueling. The refueling area can be set up in a dedicated area and can have at least one refueling station. The capacity of the refueling area is the number of UAVs it can accommodate, which may include the sum of the number of refueling stations and the number of waiting stations for refueling. When the UAV receives a refueling command, it obtains its remaining energy status and determines whether a refueling operation is needed based on the energy status. If its remaining energy is lower than a preset value, the UAV determines that it needs to perform a refueling task, meaning that the current state of the UAV meets the requirements for executing the refueling command.

[0121] If the number of vehicles performing refueling tasks in the refueling zone is less than the zone's capacity, and the current environmental information satisfies the requirement to execute the refueling command, then the unmanned vehicle (UAV) can execute the refueling command. If the number of vehicles performing refueling tasks in the refueling zone is greater than or equal to the target refueling zone's capacity, the UAV needing to perform the refueling task must determine whether it exceeds the refueling zone's capacity limit when it arrives at the refueling zone after the first time interval. If it does not exceed the capacity limit, and the current environmental information satisfies the requirement to execute the refueling command, it can immediately proceed to the refueling zone; if it exceeds the capacity limit, and the current environmental information does not satisfy the requirement to execute the refueling command, it can continue with its current task.

[0122] The first time interval refers to the time it takes for an autonomous vehicle to travel from its current location to the target refueling area. Since the autonomous vehicle is outside the refueling area when it receives the refueling command, it takes a certain amount of time (i.e., the first time interval) to reach the refueling area. Although the number of vehicles currently performing refueling tasks is greater than or equal to the capacity of the target refueling area, some of the vehicles performing refueling tasks may complete their refueling after the first time interval. At this time, the autonomous vehicle will arrive at the target refueling area without causing congestion. Therefore, based on the refueling task execution status of the autonomous vehicles currently performing refueling tasks in the refueling area, it can be determined whether there are any autonomous vehicles that can complete their refueling tasks after the first time interval. If so, the current execution of the refueling command by the autonomous vehicle will not only avoid causing congestion in the target refueling area, but also make full use of the first time interval to improve the utilization rate of the refueling positions.

[0123] Furthermore, the autonomous vehicle can obtain capacity information, location information, and vehicle status information of the target refueling area through the cloud control platform. Taking the vehicle status information as an example, the autonomous vehicle can obtain the refueling task queue of vehicles performing refueling tasks. Based on the capacity c of the target refueling area and the length n of the refueling task queue, the target autonomous vehicle is determined from the refueling task queue. This ensures that, while maintaining the capacity of the target refueling area at saturation, the autonomous vehicle joining the target refueling area after the target autonomous vehicle completes its refueling task will not exceed the capacity limit of the target refueling area. In implementation, the (n-c+1)th autonomous vehicle in the refueling task queue can be identified as the target autonomous vehicle. The first duration is compared with the second duration of the target autonomous vehicle's refueling completion time. If the first duration is greater than or equal to the second duration, the current environmental information is determined to meet the requirements for executing the refueling command. The second duration can be the sum of the larger of the duration of the previous autonomous vehicle completing its refueling task and the duration of the target autonomous vehicle traveling to the target refueling area, and the duration of the target autonomous vehicle refueling in the target refueling area. If the target unmanned vehicle is the first vehicle in the queue, the second duration can be the sum of the time it takes for the target unmanned vehicle to travel to the target refueling area and the time it takes to refuel in the target refueling area. Additionally, if an unmanned vehicle meets the requirements for executing the refueling command, it can be added to the rear of the refueling task queue, while vehicles that have completed their refueling tasks can be removed from the refueling task queue.

[0124] This disclosure provides a scheduling device for large-scale unmanned vehicle clusters, such as... Figure 3 As shown, it includes:

[0125] The positioning module 301 is used to receive a box selection operation instruction for selecting a map area on the map display interface after the box selection function is triggered, and to determine the first location information indicated by the box selection operation instruction; and to determine the second location information indicated by the box selection operation completion instruction when a box selection operation completion instruction is received.

[0126] The display module 302 is used to determine the target map area selected on the map display interface based on the first location information and the second location information; determine the target unmanned vehicle in the real area corresponding to the target map area; and display the information of the target unmanned vehicle at the corresponding position in the target map area.

[0127] The instruction sending module 303 is used to send operation instructions to the target unmanned vehicle.

[0128] In this embodiment of the present disclosure, the positioning module 301 is configured to, after the selection function is triggered, receive a selection operation instruction for selecting a map area on the map display interface, and determine the first location information indicated by the selection operation instruction; upon receiving a selection operation completion instruction, determine the second location information indicated by the selection operation completion instruction; receive a selection operation instruction for selecting a map area on the map display interface, and determine the starting location information and selection process location information of the target map area according to the selection operation instruction; upon receiving a selection operation completion instruction, determine the ending location information of the target map area; upon receiving a click operation that is executed again on the first location point corresponding to the first click operation, connect the location point corresponding to the last click operation before the first location point is clicked again with the first location point and display the corresponding second line; and determine the target map area selected on the map display interface according to the area enclosed by the first line and the second line.

[0129] The display module 302 is used to determine the target map area to be selected on the map display interface based on the first location information and the second location information; determine the target unmanned vehicle in the real area corresponding to the target map area, and display the information of the target unmanned vehicle at the corresponding position in the target map area; display the selection process of the target map area based on the starting location information and the selection process location information; determine and display the target map area selected on the map display interface based on the starting location information, the selection process location information and the ending location information; receive multiple click operations on the map display interface, and for each click operation other than the first click operation, connect the position point corresponding to the current click operation with the position point corresponding to the previous click operation and display the corresponding first connection line; if an exit selection operation instruction is received, for a selection operation instruction that has not completed the selection of the target map area, delete the first location information indicated by the selection operation instruction; retain the determined target map area; and display the operation instruction set corresponding to the target unmanned vehicle at a preset position on the map display interface.

[0130] The instruction sending module 303 is used to send operation instructions to the target unmanned vehicle; in response to the user's selection operation operation operation in the instruction set, send the user-selected operation instruction to the target unmanned vehicle; receive feedback information from the target unmanned vehicle after receiving the preset control parameters; and perform anomaly detection and / or instruction correctness detection on the target unmanned vehicle based on the feedback information.

[0131] This disclosure provides a scheduling device for large-scale unmanned vehicle clusters, such as... Figure 4 As shown, it includes:

[0132] Instruction receiving module 401 is used to receive operation instructions;

[0133] The detection module 402 is used to detect whether the execution conditions of the operation command are met based on the environmental information corresponding to the operation command and / or the current state information of the unmanned vehicle itself. If the conditions are met, the operation command is executed. If the conditions are not met, the detection of whether the execution conditions are met is repeated at preset time intervals within a preset duration until the execution conditions are met and the operation command is executed.

[0134] In this embodiment of the disclosure, the instruction receiving module 401 is used to receive operation instructions.

[0135] The detection module 402 is used to detect whether the execution conditions of the operation command are met based on the environmental information corresponding to the operation command and / or the current state information of the unmanned vehicle itself; if the conditions are met, the operation command is executed; if not, the detection of whether the execution conditions are met is repeated at preset time intervals within a preset time period until the execution conditions are met and the operation command is executed; the road surface information represents the condition that the road surface slipperiness is less than a first threshold, the current terrain slope meets a second threshold, and the number and distance of surrounding vehicles meet the non-congestion condition, and the condition that the current state information of the unmanned vehicle meets the condition that the current speed of the unmanned vehicle is less than a third threshold and / or the running time is less than a fourth threshold; to determine that the unmanned vehicle meets the execution conditions of the acceleration command; and to determine the condition that the environmental information meets the condition that the current terrain slope meets a fifth threshold and / or the number and distance of surrounding vehicles meet the congestion condition. In the following situations: and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; it is determined that the unmanned vehicle meets the execution conditions of the deceleration command; when the current state information of the unmanned vehicle satisfies insufficient remaining energy; and when the number of vehicles performing the refueling task is less than the capacity of the target refueling area, or when the number of vehicles performing the refueling task is greater than or equal to the capacity of the target refueling area, and based on the refueling task execution status of the vehicles in the target refueling area, it is determined that if the unmanned vehicle joins the target refueling area after a first time period without exceeding the capacity limit of the target refueling area, the unmanned vehicle meets the execution conditions of the refueling command; if the capacity limit of the target refueling area is exceeded, the unmanned vehicle continues to perform the current operation task.

[0136] This disclosure provides an apparatus, including: a scheduling device for large-scale unmanned vehicle clusters provided in any of the above embodiments.

[0137] When the above-mentioned equipment includes, for example Figure 3 When the positioning module 301, display module 302, and command sending module 303 are shown, the device can be a cloud control platform.

[0138] When the above-mentioned equipment includes, for example Figure 4 When the instruction receiving module 401 and the detection module 402 are shown, the device can be an unmanned vehicle.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of this disclosure.

[0140] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0141] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0142] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0143] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A scheduling method for large-scale unmanned vehicle clusters, characterized in that, include: After the selection function is triggered, a selection operation instruction for selecting a map area on the map display interface is received, and the first location information indicated by the selection operation instruction is determined. Upon receiving a box selection operation completion instruction, determine the second position information indicated by the box selection operation completion instruction; The target map area selected on the map display interface is determined based on the first location information and the second location information. The system identifies the target unmanned vehicle within the real-world area corresponding to the target map area, displays the information of the target unmanned vehicle at the corresponding location in the target map area, and sends operation commands to the target unmanned vehicle.

2. The method as described in claim 1, characterized in that, The step of receiving a selection operation instruction for selecting a map area on the map display interface, and determining the first location information indicated by the selection operation instruction, includes: Receives a bounding box operation instruction for selecting a map area on the map display interface, and determines the starting position information and bounding box process position information of the target map area according to the bounding box operation instruction; Based on the starting position information and the selection process position information, the selection process of the target map area is displayed. Upon receiving a selection operation completion instruction, the step of determining the second location information indicated by the selection operation completion instruction; and determining the target map area selected on the map display interface based on the first location information and the second location information, includes: Upon receiving a command indicating that the selection operation is complete, the end position information of the target map area is determined; Based on the starting position information, the selection process position information, and the ending position information, the target map area selected on the map display interface is determined and displayed.

3. The method as described in claim 2, characterized in that, The system receives a bounding box operation instruction for selecting a map area on the map display interface, and determines the starting position information and bounding box process position information of the target map area based on the bounding box operation instruction. Based on the starting position information and the selection process position information, the selection process for the target map area is displayed, including: The map display interface receives multiple click operations, and for each click operation other than the first click operation, it connects the location point corresponding to the current click operation with the location point corresponding to the previous click operation and displays the corresponding first connection line. Upon receiving a completion instruction for the selection operation, the step of determining the end position information of the target map area; and determining and displaying the selected target map area on the map display interface based on the start position information, the selection process position information, and the end position information, includes: Upon receiving a subsequent click operation on the first location point corresponding to the initial click operation, the location point corresponding to the last click operation before the first location point is clicked again will be connected to the first location point, and a corresponding second line will be displayed. Based on the area enclosed by the first line and the second line, the target map area selected on the map display interface will be determined.

4. The method according to any one of claims 1-3, characterized in that, If a selection operation instruction has been received but a selection operation completion instruction has not yet been received, the following steps are also included: If an exit selection command is received, for selection commands that have not completed the selection of the destination map area, the first location information selected by the selection command will be deleted; and the determined target map area will be retained.

5. The method as described in claim 1, characterized in that, Sending operation commands to the target unmanned vehicle includes: sending a pre-set default operation command to the target unmanned vehicle; and / or The method further includes: The set of operation instructions corresponding to the target unmanned vehicle is displayed at a preset location on the map display interface; Sending operation commands to the target unmanned vehicle, including: In response to the user's selection of an operation command from the instruction set, the user-selected operation command is sent to the target unmanned vehicle.

6. The method as described in claim 1 or 5, characterized in that, The operation command carries preset control parameters; the method further includes: After the target unmanned vehicle receives the preset control parameters, it sends feedback information based on the preset control parameters. Based on the feedback information, anomaly detection and / or command correctness detection are performed on the target unmanned vehicle.

7. A scheduling method for large-scale unmanned vehicle clusters, characterized in that, include: Receive operation instructions; wherein the operation instructions are generated based on the scheduling method according to any one of claims 1-6 and sent to the target unmanned vehicle; Based on the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself, detect whether the execution conditions of the operation instruction are met; If the condition is met, the operation instruction is executed; if the condition is not met, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time period until the execution condition is met and the operation instruction is executed.

8. The method as described in claim 7, characterized in that, The environmental information includes at least one of the following: road surface information, terrain information, and congestion information; the current status information includes at least one of the following: vehicle speed information and runtime information. The operation instructions include acceleration instructions; the step of detecting whether the execution conditions of the operation instructions are met based on the environmental information corresponding to the operation instructions and / or the current state information of the autonomous vehicle itself includes: When the environmental information satisfies at least one of the following: the road surface information indicates that the road surface slippage is less than a first threshold, the current terrain slope meets a second threshold, and the number and distance of surrounding vehicles meet the non-congestion condition; and when the current state information of the autonomous vehicle satisfies: the current speed of the autonomous vehicle is less than a third threshold and / or the running time is less than a fourth threshold; the autonomous vehicle is determined to meet the execution conditions of the acceleration command; and / or The operation command includes a deceleration command; the step of detecting whether the execution conditions of the operation command are met based on the environmental information corresponding to the operation command and / or the current state information of the autonomous vehicle itself includes: When the environmental information satisfies the following conditions: the current terrain slope meets the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion conditions; and when the current state information of the unmanned vehicle satisfies the following conditions: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; the unmanned vehicle is determined to meet the execution conditions of the deceleration command.

9. The method as described in claim 7, characterized in that, The environmental information includes: capacity information, location information, and vehicle status information for the target refueling area; the current status information includes the remaining energy information of the unmanned vehicle. The operation instructions include: a power replenishment instruction; the step of detecting whether the execution conditions of the operation instructions are met based on the environmental information corresponding to the operation instructions and / or the current state information of the autonomous vehicle itself includes: Under the condition that the current state information of the unmanned vehicle satisfies insufficient remaining energy; and If the number of vehicles performing the refueling task is less than the capacity of the target refueling area, or if the number of vehicles performing the refueling task is greater than or equal to the capacity of the target refueling area, and based on the refueling task execution status of the vehicles in the target refueling area, it is determined that if the unmanned vehicle joins the target refueling area after a first time period without exceeding the capacity limit of the target refueling area, the unmanned vehicle meets the execution conditions of the refueling command; if the capacity limit of the target refueling area is exceeded, the unmanned vehicle continues to perform the current operation task. Wherein, the first duration is the time it takes for the unmanned vehicle to travel from its current location to the target refueling area.

10. A scheduling device for large-scale unmanned vehicle clusters, characterized in that, include: The positioning module is used to receive a box selection operation instruction for selecting a map area on the map display interface after the box selection function is triggered, and to determine the first location information indicated by the box selection operation instruction. Upon receiving a box selection operation completion instruction, determine the second position information indicated by the box selection operation completion instruction; The display module is used to determine the target map area selected on the map display interface based on the first location information and the second location information. Determine the target unmanned vehicle within the real-world area corresponding to the target map area, and display the information of the target unmanned vehicle at the corresponding location in the target map area; The instruction sending module is used to send operation instructions to the target unmanned vehicle.

11. A scheduling device for large-scale unmanned vehicle clusters, characterized in that, include: An instruction receiving module is used to receive operation instructions; wherein the operation instructions are generated based on the scheduling method according to any one of claims 1-6 and sent to the target unmanned vehicle; The detection module is used to detect whether the execution conditions of the operation instruction are met based on the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; if the conditions are met, the operation instruction is executed; if the conditions are not met, the detection of whether the execution conditions are met is repeated at preset time intervals within a preset duration until the execution conditions are met and the operation instruction is executed.

12. A device, characterized in that, include: A scheduling device for large-scale unmanned vehicle clusters as described in claim 10 or claim 11.

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