Abnormal vehicle positioning method, electronic equipment and computer readable storage medium
By using the interference conditions between reference vehicles to generate and transmit fault marks in the AGV vehicle scenario, the problems of high cost and low accuracy of positioning abnormal vehicles in the prior art are solved, and the flexibility and accuracy are improved.
Patent Information
- Application Number
- CN202411441120.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-15
- Publication Date
- 2025-03-11
AI Technical Summary
The prior art is costly when positioning abnormal AGV vehicles and is easily affected in special scenarios, making it difficult to achieve low-cost and accurate positioning.
By applying multiple reference vehicles in the target scenario, a fault flag is generated and transmitted to the corresponding target vehicle when the preset interference conditions are met between the current reference vehicle and other reference vehicles, and finally, an abnormal vehicle is determined based on the fault flags of each reference vehicle.
This method eliminates the need to set up complex sensor equipment, reduces costs, and can be applied to a variety of scenarios, improving the flexibility and accuracy of abnormal vehicle positioning.
Smart Images
Figure CN119590808A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automated control technology, and in particular to an abnormal vehicle positioning method, an electronic device, and a computer-readable storage medium. Background Art
[0002] Automated Guided Vehicles (AGVs) are prone to abnormal situations such as failures, offline, and deadlocks during operation, causing overall traffic jams. Due to severe congestion and a large number of vehicles, failure to locate and deal with the source of the congestion in a timely manner may cause serious economic losses such as production stoppages. Therefore, it is particularly important to quickly and accurately locate abnormal AGV vehicles. The current positioning method mainly monitors the working status of each AGV vehicle by setting up various types of monitoring sensors in the scene. This method consumes a high cost when deploying monitoring sensors, and the accuracy of monitoring sensors is easily affected in special scenarios.
[0003] In view of this, how to propose a low-cost and high-accuracy abnormal vehicle positioning method has become an urgent problem to be solved. Summary of the invention
[0004] The main technical problem solved by the present application is to provide a method for locating an abnormal vehicle, an electronic device and a computer-readable storage medium, which can improve the efficiency of locating an abnormal vehicle.
[0005] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide an abnormal vehicle positioning method, which is applied to a target scene including multiple reference vehicles, and the method includes: in response to a preset interference condition being satisfied between a current reference vehicle and at least one other reference vehicle, generating a fault mark based on the current reference vehicle; using the current reference vehicle to transmit the fault mark to the corresponding other reference vehicles; wherein the transmission direction of the fault mark is consistent with the driving direction of the current reference vehicle; and determining the abnormal vehicle based on the fault marks matched by each reference vehicle in the target scene.
[0006] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising: a memory and a processor coupled to each other, the memory storing program instructions, and the processor executing the program instructions to implement the abnormal vehicle positioning method mentioned in the above technical solution.
[0007] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium on which program instructions are stored, and when the program instructions are executed by a processor, the abnormal vehicle positioning method mentioned in the above technical solution is implemented.
[0008] The beneficial effects of the present application are as follows: Different from the prior art, the abnormal vehicle positioning method proposed in the present application transmits the fault identification of the current reference vehicle to the target vehicle that satisfies the preset interference condition, and finally determines the abnormal vehicle according to the fault identification of each reference vehicle in the target scene. When locating abnormal vehicles, the method does not need to set up complex sensor equipment in the target scene, which reduces the cost; and the method proposed in the present application can be applied to a variety of scenarios, which helps to improve the flexibility of abnormal vehicle positioning. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work. Among them:
[0010] Figure 1 It is a flowchart of an implementation method of an abnormal vehicle positioning method of the present application;
[0011] Figure 2 yes Figure 1 Step S101 corresponds to a flow chart of another implementation method;
[0012] Figure 3 is a schematic diagram corresponding to an implementation method of the abnormal vehicle positioning method of the present application;
[0013] Figure 4 is a schematic diagram of another implementation method of the abnormal vehicle positioning method of the present application;
[0014] Figure 5 is a schematic diagram of another implementation method of the abnormal vehicle positioning method of the present application;
[0015] Figure 6 yes Figure 1 Step S103 corresponds to a flowchart of another implementation method;
[0016] Figure 7 yes Figure 1 A flowchart diagram corresponding to an implementation method after step S103;
[0017] Figure 8 It is a structural schematic diagram of an embodiment of the electronic device of the present application;
[0018] Fig. 9 It is a structural schematic diagram of an implementation method of a computer-readable storage medium of the present application. DETAILED DESCRIPTION
[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments, and different embodiments can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0020] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of an abnormal vehicle positioning method of the present application. The abnormal vehicle positioning method is applied to a target scene including multiple reference vehicles. The method includes:
[0021] S101: In response to a preset interference condition being satisfied between a current reference vehicle and at least one other reference vehicle, generating a fault indicator based on the current reference vehicle.
[0022] In one embodiment, in response to the target scene including multiple reference vehicles, any reference vehicle is used as the current reference vehicle, and it is determined whether the current reference vehicle satisfies a preset interference condition with the other reference vehicles. In response to the current reference vehicle and at least one other reference vehicle satisfying the preset interference condition, a fault indicator is generated according to the reference information of the current reference vehicle. The preset interference condition is determined based on the driving path of the current reference vehicle.
[0023] In one implementation scenario, in response to the current reference vehicle being matched with a corresponding vehicle number, the reference information includes the vehicle number of the current reference vehicle and the corresponding location information.
[0024] S102: Using the current reference vehicle to transmit the fault identification to other corresponding reference vehicles; wherein the transmission direction of the fault identification is consistent with the driving direction of the current reference vehicle.
[0025] In one embodiment, other reference vehicles that meet preset interference conditions with the current reference vehicle are used as target vehicles. In response to a preset communication protocol being set between different reference vehicles, the current reference vehicle is used to transmit the corresponding fault identifier to the target vehicle through the preset communication protocol.
[0026] In one implementation scenario, the preset communication protocol may be one of a Bluetooth communication protocol, a CAN communication protocol, and a wireless local area network communication protocol, etc. This method uses the preset communication protocol to transmit the fault identification, so that the abnormal vehicle positioning method proposed in the present application is less affected by the target scene and still has a high accuracy even in an environment with poor visibility.
[0027] S103: Determine an abnormal vehicle based on the fault identification matched by each reference vehicle in the target scene.
[0028] In one embodiment, in response to each reference vehicle in the target scene completing the transmission of a corresponding fault identification, an abnormal vehicle in the target scene is determined based on information of the fault identification received by each reference vehicle.
[0029] In a specific application scenario, in response to a current reference vehicle in a target scene receiving a fault identification transmitted by other reference vehicles, and the current reference vehicle does not continue to transmit the fault identification, the current reference vehicle is regarded as an abnormal vehicle. The abnormal vehicle is the source vehicle that blocks other reference vehicles in the target scene.
[0030] The abnormal vehicle positioning method proposed in this application transmits the fault identification of the current reference vehicle to the target vehicle that meets the preset interference condition, and finally determines the abnormal vehicle according to the fault identification of each reference vehicle in the target scene. When locating abnormal vehicles, this method does not need to set up complex sensor equipment in the target scene, which reduces the cost; and the method proposed in this application can be applied to a variety of scenarios, which helps to improve the flexibility of abnormal vehicle positioning.
[0031] See also Figure 2 , Figure 2 yes Figure 1 Step S101 in the flowchart corresponds to another embodiment. Specifically, the implementation process of step S101 includes:
[0032] S201: Obtain the current position of the current reference vehicle, and based on the current position, determine the next target position corresponding to the current reference vehicle, and the target path segment between the current position and the target position.
[0033] In one embodiment, the current reference vehicle is matched with a corresponding target path, which includes multiple target positions, and the target path is divided into multiple target path segments by the target positions, so that the current reference vehicle travels according to the target path segments to reach the corresponding target position, thereby performing the corresponding task at the target position. In the actual application process, for the current reference vehicle, its current position in the target scene is obtained. According to the current position of the current reference vehicle, the next target position corresponding to the current reference vehicle and the target path segment between the current position and the next target position are determined.
[0034] In a specific application scenario, please refer to Figure 3 , Figure 3It is a schematic diagram of an implementation method corresponding to an abnormal vehicle positioning method of the present application. According to the current position of the current reference vehicle A, the corresponding next target position X is determined. The path between the current position of the current reference vehicle A and the target position X is used as the target path segment of the current reference vehicle A.
[0035] S202: In response to detecting that a current reference vehicle and at least one other reference vehicle interfere with each other in a target path segment, generating a fault indicator matching the current reference vehicle based on reference information matching the current reference vehicle.
[0036] In one embodiment, according to the next target position and the target path segment corresponding to the current reference vehicle, it is detected whether the current reference vehicle interferes with other reference vehicles in the target path segment. If there is interference, a fault mark is generated according to the reference information of the current reference vehicle. If there is no interference, the current reference vehicle is driven to travel according to the target path segment.
[0037] Specifically, before the current reference vehicle travels along the target path segment, a corresponding driving speed is predetermined. According to the driving speed and the driving status information of other reference vehicles in the target scene, it is determined whether there are other reference vehicles at any position in the target path segment at the same time when the current reference vehicle travels to the target path segment. If there are other reference vehicles, it indicates that the current reference vehicle interferes with the other reference vehicles.
[0038] In a specific application scenario, please continue to refer to Figure 3 In response to the presence of another reference vehicle B on the target path segment of the current reference vehicle A, and the reference vehicle B interferes with the current reference vehicle A, a fault identification matching the current reference vehicle A is generated.
[0039] In another embodiment, in response to the current reference vehicle obtaining a fault identifier transmitted by other reference vehicles in the target scene after transmitting a matching fault identifier to the corresponding target vehicle, the current reference vehicle continues to transmit the received fault identifier to the corresponding target vehicle.
[0040] In a specific application scenario, please continue to refer to Figure 3 In response to the reference vehicle A obtaining the fault identifier transmitted by other reference vehicles C in the target scene after transmitting the matching fault identifier to the corresponding target vehicle B, the reference vehicle A continues to transmit the received fault identifier to the corresponding target vehicle B according to the driving direction, that is, the target vehicle B receives the fault identifiers matched by the reference vehicle A and the reference vehicle C respectively.
[0041] In yet another embodiment, in response to interference between a current reference vehicle and at least one target vehicle and a target path segment, a fault identifier matching the current reference vehicle is generated based on reference information of the current reference vehicle and a fault identifier received by the current reference vehicle.
[0042] Specifically, in response to the current reference vehicle receiving a fault identifier transmitted by other reference vehicles in the target scene, the fault identifier received by the current reference vehicle is used as a reference identifier. When the current reference vehicle and at least one target vehicle meet a preset interference condition, a fault identifier matching the current reference vehicle is generated by combining the reference identifier and the reference information of the current reference vehicle. This method enables the target vehicle to determine multiple vehicles in an interference relationship in the target scene based on the received fault identifier when the current reference vehicle subsequently transmits the matching fault identifier to the target vehicle.
[0043] In a specific application scenario, please continue to refer to Figure 3 After receiving the fault identification transmitted by the reference vehicle C, the current reference vehicle A concatenates the reference information of the current reference vehicle A with the fault identification transmitted by the reference vehicle C to serve as the fault identification matched by the current reference vehicle A. In response to the current reference vehicle A and the reference vehicle B satisfying the preset interference condition, the current reference vehicle A is used to transmit the matched fault identification to the reference vehicle B, so that the received fault identification is analyzed by the reference vehicle B to determine that there is interference among the reference vehicle C, the current reference vehicle A and the target vehicle B in the target scene.
[0044] The above scheme determines whether to generate a fault mark based on the interference between the current reference vehicle and other reference vehicles, so that the abnormal vehicle in the target scene can be determined based on the transmission information of the fault mark, thereby improving the efficiency of abnormal vehicle positioning.
[0045] In one embodiment, the specific process of determining the abnormal vehicle in step S103 includes: in response to detecting that a preset communication protocol between the current reference vehicle and the target vehicle is interrupted, treating the target vehicle as an abnormal vehicle.
[0046] Specifically, after the current reference vehicle transmits the corresponding fault identifier to the target vehicle, it is detected whether the target vehicle receives the fault identifier. If the target vehicle receives the fault identifier, it indicates that the preset communication protocol between the current reference vehicle and the target vehicle is normal, and the target vehicle continues to transmit the fault identifier. If the target vehicle does not receive the fault identifier, it indicates that the target vehicle has a fault, and the preset communication protocol with the current reference vehicle is interrupted, and the corresponding target vehicle has blocked at least one reference vehicle in the target scene, and the target vehicle is regarded as an abnormal vehicle.
[0047] In another embodiment, the specific process of determining the abnormal vehicle in step S103 includes: in response to the fault identification received by the target vehicle including reference information matching the target vehicle, treating the target vehicle as an abnormal vehicle.
[0048] Specifically, in response to a target vehicle in the target scene obtaining a fault identification transmitted by the current reference vehicle, and the received fault identification contains reference information corresponding to the target vehicle, it indicates that at least part of the fault identification forms a loop during the transmission process, and a loop interference is formed between the corresponding multiple reference vehicles, and the target vehicle is regarded as an abnormal vehicle.
[0049] In a specific application scenario, please refer to Figure 4 , Figure 4 It is a schematic diagram corresponding to another embodiment of the abnormal vehicle positioning method of the present application. The current reference vehicle G receives fault identifications that match the reference vehicle F, the reference vehicle E, and the reference vehicle D, respectively. The reference vehicle D is used as the target vehicle corresponding to the current reference vehicle G, and the current reference vehicle G passes the received fault identification to the target vehicle D. In response to the fault identification received by the target vehicle D including the reference information that matches it, it indicates that an interference loop is formed between the target vehicle D, the reference vehicle E, the reference vehicle F, and the current reference vehicle G, and the target vehicle D is treated as an abnormal vehicle.
[0050] In another embodiment, in response to the fault identification received by the target vehicle including reference information matching the target vehicle, multiple candidate vehicles forming an interference cycle in the target scene are determined based on the fault identification received by the target vehicle. Based on the reference vehicle associated with each candidate vehicle in the target scene, an abnormal vehicle is determined from all candidate vehicles. For each candidate vehicle, the candidate vehicle directly or indirectly blocks the associated candidate vehicle.
[0051] In one implementation scenario, in response to the fault identification received by the target vehicle including reference information matching the target vehicle, multiple reference vehicles forming an interference cycle are used as candidate vehicles according to the fault identification received by the target vehicle. Further, for each candidate vehicle, a target number of reference vehicles associated with the candidate vehicle in the target scene is determined. According to the target number corresponding to each candidate vehicle, an abnormal vehicle is determined from all candidate vehicles.
[0052] Specifically, the candidate vehicles corresponding to the maximum target number are regarded as abnormal vehicles. Since the larger the target number is, the larger the number of reference vehicles blocked by the corresponding candidate vehicles is; by treating the corresponding candidate vehicles as abnormal vehicles, the relevant maintenance objects can process the abnormal vehicles first, which helps to improve the efficiency of the recovery work of each vehicle in the target scene.
[0053] In a specific application scenario, please refer to Figure 5 , Figure 5 It is a schematic diagram of another embodiment of the abnormal vehicle positioning method of the present application. Multiple reference vehicles that form an interference cycle in the target scene are taken as candidate vehicles, namely candidate vehicle H, candidate vehicle I, candidate vehicle J and candidate vehicle K. According to the fault identification transmitted by other reference vehicles received by each candidate vehicle, it is determined that candidate vehicle I directly or indirectly blocks reference vehicle L and reference vehicle M, and candidate vehicle K directly blocks reference vehicle N, then the target number corresponding to candidate vehicle I is 2, and the target number corresponding to candidate vehicle K is 1. Candidate vehicle I is taken as an abnormal vehicle so that subsequent related maintenance objects give priority to checking abnormal vehicles.
[0054] See also Figure 6 , Figure 6 yes Figure 1 Step S103 in the flowchart corresponds to another embodiment. Specifically, the specific process of determining an abnormal vehicle in step S103 includes:
[0055] S301: In response to a target vehicle matching a fault identifier and no other reference vehicle that satisfies a preset interference condition with the target vehicle exists in the target scene, driving state information of the target vehicle is obtained.
[0056] In one embodiment, after the fault identification is transmitted by the method mentioned in the above corresponding embodiment, for the target vehicle, if the target vehicle matches the received fault identification, and there are no other reference vehicles in the target scene that meet the preset interference conditions with the target vehicle, it means that the target vehicle blocks other reference vehicles in the target scene, and there is no vehicle in the target scene that blocks the target vehicle, then the driving status information of the target vehicle is obtained.
[0057] S302: Determine an abnormal vehicle based on the driving status information of the target vehicle.
[0058] In one embodiment, the driving state information includes a driving speed. In response to the driving speed of the target vehicle mentioned in step S301 being less than or equal to a speed threshold, the target vehicle is regarded as an abnormal vehicle.
[0059] In one implementation scenario, the speed threshold is 0. In response to the target vehicle mentioned in step S301 having a speed less than or equal to the speed threshold, the target vehicle is stationary and blocks other reference vehicles in the target scene, and is considered an abnormal vehicle. Alternatively, in response to the target vehicle having a speed greater than the speed threshold, it indicates that the target vehicle is still in motion, and as the target vehicle moves, the interference with other reference vehicles in the target scene will be eliminated, and the target vehicle is not considered an abnormal vehicle for the time being.
[0060] In another embodiment, the speed threshold may not be 0. When the speed of the target vehicle mentioned in step S301 is less than or equal to the speed threshold, it indicates that the target vehicle is stationary or traveling at a low speed and is in an abnormal driving state, and is regarded as an abnormal vehicle.
[0061] The above scheme combines the fault identification and driving status information of the reference vehicle in the target scene to help accurately determine whether the reference vehicle is an abnormal vehicle, thereby improving the operating stability of each reference vehicle in the target scene.
[0062] See also Figure 7 , Figure 7 yes Figure 1 The flowchart after step S103 corresponds to an implementation method. Specifically, after determining the abnormal vehicle, the abnormal vehicle positioning method proposed in this application also includes:
[0063] S401: Generate abnormal information matching the abnormal vehicle based on the position information of the abnormal vehicle.
[0064] In one embodiment, after the abnormal vehicle is determined, matching abnormal information is generated according to the current position information of the abnormal vehicle.
[0065] In another embodiment, in response to each reference vehicle in the target scene being matched with a corresponding vehicle number, after determining an abnormal vehicle among multiple reference vehicles, the position information and the vehicle number corresponding to the abnormal vehicle are combined as abnormal information.
[0066] S402: In response to all reference vehicles in the target scene including a display interface, display the abnormal information on the display interface.
[0067] In one embodiment, each reference vehicle in the target scene is matched with a corresponding display interface, and the generated abnormal information is displayed on the display interface of each reference vehicle to prompt the relevant maintenance object to handle the abnormal vehicle.
[0068] S403: Using the abnormal vehicle to send an abnormal alarm, wherein the abnormal alarm includes a prompt audio and a prompt light.
[0069] In one implementation, after the abnormal vehicle is determined, in order to facilitate the relevant maintenance object to intuitively locate the abnormal vehicle, an abnormal alarm is sent using the abnormal vehicle.
[0070] In one implementation scenario, the abnormal alarm includes at least one of a prompt audio and a prompt light.
[0071] In other implementations, after the abnormal information matching the abnormal vehicle is generated, only step S402 or step S403 may be performed to prompt the maintenance object to process the abnormal vehicle.
[0072] See also Figure 8 , Figure 8 1 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device comprises: a memory 10 and a processor 20 coupled to each other. The memory 10 stores program instructions, and the processor 20 is used to execute the program instructions to implement the abnormal vehicle positioning method mentioned in any of the above embodiments. Specifically, the electronic device includes but is not limited to: a desktop computer, a laptop computer, a tablet computer, a server, etc., which are not limited here. In addition, the processor 20 can also be called a CPU (Center Processing Unit). The processor 20 may be an integrated circuit chip with signal processing capabilities. The processor 20 may also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 20 may be implemented by an integrated circuit chip.
[0073] See also Fig. 9 , Fig. 9 The storage medium 30 stores program instructions 40 that can be executed by a processor, and when the program instructions 40 are executed by the processor, the abnormal vehicle positioning method mentioned in any of the above embodiments is implemented.
[0074] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.
[0075] 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 present embodiment.
[0076] 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.
[0077] If the integrated 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 technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.
[0078] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A method for locating an abnormal vehicle, characterized in that: The abnormal vehicle positioning method is applied to a target scene including a plurality of reference vehicles, and the method comprises: In response to a preset interference condition being satisfied between a current reference vehicle and at least one other reference vehicle, generating a fault indicator based on the current reference vehicle; Using the current reference vehicle to transmit the fault identification to other corresponding reference vehicles; wherein the transmission direction of the fault identification is consistent with the driving direction of the current reference vehicle; An abnormal vehicle is determined based on the fault identification matched by each reference vehicle in the target scene.
2. The method according to claim 1, characterized in that In response to a preset interference condition being satisfied between the current reference vehicle and at least one other reference vehicle, generating a fault indicator based on the current reference vehicle includes: Acquire a current position of a current reference vehicle, and based on the current position, determine a next target position corresponding to the current reference vehicle and a target path segment between the current position and the target position; In response to detecting that the current reference vehicle and at least one other reference vehicle interfere with each other in the target path segment, the fault indicator matching the current reference vehicle is generated based on the reference information matching the current reference vehicle.
3. The method according to claim 1, characterized in that The method of using the current reference vehicle to transmit the fault identifier to other corresponding reference vehicles includes: Other reference vehicles that meet preset interference conditions with the current reference vehicle are used as target vehicles; In response to a preset communication protocol being set between different reference vehicles, the corresponding fault identifier is transmitted to the target vehicle via the preset communication protocol using the current reference vehicle.
4. The method according to claim 3, characterized in that The determining of an abnormal vehicle based on the fault identification matched by each reference vehicle in the target scene includes: In response to detecting that the preset communication protocol between the current reference vehicle and the target vehicle is interrupted, the target vehicle is regarded as the abnormal vehicle.
5. The method according to claim 3, characterized in that: The determining of an abnormal vehicle based on the fault identification matched by each reference vehicle in the target scene includes: In response to the target vehicle being matched with the fault identifier and there not being other reference vehicles in the target scene that satisfy a preset interference condition with the target vehicle, obtaining driving state information of the target vehicle; Based on the driving state information of the target vehicle, an abnormal vehicle is determined.
6. The method according to claim 5, characterized in that The driving state information includes a driving speed, and determining an abnormal vehicle based on the driving state information of the target vehicle includes: In response to a travel speed of the target vehicle being less than or equal to a speed threshold, the target vehicle is regarded as the abnormal vehicle.
7. The method according to claim 3, characterized in that The determining of an abnormal vehicle based on the fault identification matched by each reference vehicle in the target scene includes: In response to the fault identification received by the target vehicle including reference information matching the target vehicle, the target vehicle is regarded as the abnormal vehicle.
8. The method according to claim 1, characterized in that After determining the abnormal vehicle based on the fault identification matched by each reference vehicle in the target scene, the method includes: Based on the position information of the abnormal vehicle, generating abnormal information matching the abnormal vehicle; In response to all reference vehicles in the target scene including a display interface, displaying the abnormal information on the display interface; and, The abnormal vehicle is used to send an abnormal alarm; wherein the abnormal alarm includes at least one of a prompt audio and a prompt light.
9. An electronic device, characterized in that: include: A memory and a processor are coupled to each other, wherein the memory stores program instructions, and the processor executes the program instructions to implement the abnormal vehicle positioning method as described in any one of claims 1-8.
10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the abnormal vehicle positioning method according to any one of claims 1 to 8 is implemented.