Control method, device, equipment, storage medium and unmanned vehicle

Abstract

The embodiment of the present invention discloses a control method, device, equipment, storage medium and unmanned vehicle for an unmanned vehicle, the method comprising: obtaining a set vehicle speed and calculating the corresponding acceleration; determining the frequency of acceleration change based on the acceleration; determining the filter coefficient of the filter based on the frequency of change; dynamically adjusting the filter based on the filter coefficient, and dynamically filtering the set vehicle speed of the target unmanned vehicle to obtain the target vehicle speed; and controlling the target unmanned vehicle to travel according to the target vehicle speed. The present application determines the frequency of acceleration change of the target unmanned vehicle, reflects the oscillation severity of the target unmanned vehicle's speed with the frequency of acceleration change, and then determines the filter coefficient of the filter to filter the set vehicle speed, thereby solving the technical problem of poor vehicle driving stability in the prior art when directly filtering the vehicle speed, and not only avoids the influence of high-frequency oscillation of the vehicle speed on the smooth driving of the unmanned vehicle, but also ensures the good timeliness of the vehicle speed following.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving technology, and in particular to a control method, device, equipment, storage medium and unmanned vehicle. Background Art

[0002] At present, the unmanned logistics vehicle industry is generally divided into autonomous driving systems and chassis domain control systems. The control is generally that the autonomous driving system (Apollo Computing Unit, ACU) sends the target vehicle speed to the chassis domain controller (Chassis Domain Control Unit, CDCU) to execute the planned vehicle speed and path, and CDCU generally drives the vehicle through the torque control motor controller (Microcontroller Unit, MCU). CDCU uses the torque self-closed loop algorithm to achieve the target vehicle speed required by ACU, but the ACU algorithm may send a high-frequency oscillating target vehicle speed under certain working conditions, which will cause signal interference to the chassis CDCU, thereby causing the vehicle to oscillate more.

[0003] Usually, CDCU will filter the ACU target speed to prevent sudden changes or fluctuations in the target speed sent by ACU. This can effectively avoid the signal interference caused by the fluctuation of the target speed. However, filtering also brings another problem, that is, the speed obtained after filtering will lag behind the target speed, resulting in excessive speed following time and poor vehicle driving stability. Summary of the invention

[0004] The embodiments of the present invention provide a control method, device, equipment, storage medium and unmanned vehicle for an unmanned vehicle, which solve the technical problem of poor vehicle driving stability existing in the prior art when directly filtering the vehicle speed.

[0005] An embodiment of the present invention provides a control method for an unmanned vehicle, which is applied to a chassis domain controller of a target unmanned vehicle. The control method includes:

[0006] Get the set vehicle speed and calculate the corresponding acceleration;

[0007] determining a frequency of change of the acceleration based on the acceleration;

[0008] Determining a filter coefficient of a filter based on the changing frequency;

[0009] Dynamically adjusting the filter based on the filter coefficient, and dynamically filtering the set speed of the target unmanned vehicle to obtain a target speed;

[0010] The target unmanned vehicle is controlled to travel according to the target vehicle speed.

[0011] Further, the set vehicle speed is the vehicle speed transmitted to the chassis domain controller by the automatic driving system of the target unmanned vehicle; or,

[0012] The set vehicle speed is the vehicle speed transmitted by the remote server to the chassis domain controller.

[0013] Further, determining the change frequency of the acceleration based on the acceleration includes:

[0014] Counting the cumulative number of positive and negative changes in the acceleration;

[0015] The frequency of change of the acceleration within a preset time period is determined based on the accumulated number of positive and negative changes.

[0016] Further, determining a filter coefficient of a filter based on the change frequency includes:

[0017] Based on the change frequency, a filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

[0018] The embodiment of the present invention further provides a control device for an unmanned vehicle, which is applied to a chassis domain controller of a target unmanned vehicle, and the control device includes:

[0019] An acceleration calculation module is used to obtain a set vehicle speed and calculate the corresponding acceleration;

[0020] A frequency determination module, configured to determine a frequency of change of the acceleration based on the acceleration;

[0021] A coefficient determination module, used for determining a filter coefficient of a filter based on the change frequency;

[0022] A vehicle speed processing module, used for dynamically adjusting the filter based on the filter coefficient, and performing dynamic filtering processing on the set vehicle speed of the target unmanned vehicle to obtain a target vehicle speed;

[0023] A driving control module is used to control the driving of the target unmanned vehicle according to the target vehicle speed.

[0024] Furthermore, the frequency determination module includes:

[0025] A times counting submodule, used to count the cumulative times of positive and negative changes of the acceleration;

[0026] The frequency calculation submodule is used to determine the frequency of change of the acceleration within a preset time period based on the accumulated number of positive and negative changes.

[0027] Furthermore, the coefficient determination module is specifically used for:

[0028] Based on the change frequency, a filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

[0029] An embodiment of the present invention further provides a control device for an unmanned vehicle, the control device for the unmanned vehicle comprising:

[0030] at least one processor; and

[0031] a memory communicatively connected to the at least one processor; wherein,

[0032] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the unmanned vehicle described in any of the above embodiments.

[0033] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the unmanned vehicle described in any of the above embodiments when executed.

[0034] An embodiment of the present invention further provides an unmanned vehicle, which includes the control device of the unmanned vehicle described in any of the above embodiments.

[0035] The embodiment of the present invention discloses a control method, device, equipment, storage medium and unmanned vehicle for an unmanned vehicle, and the control method includes: obtaining a set vehicle speed and calculating the corresponding acceleration; determining the frequency of acceleration change based on the acceleration; determining the filter coefficient of the filter based on the frequency of change; dynamically adjusting the filter based on the filter coefficient, and dynamically filtering the set vehicle speed of the target unmanned vehicle to obtain the target vehicle speed; and controlling the target unmanned vehicle to travel according to the target vehicle speed. The present application determines the frequency of acceleration change of the target unmanned vehicle, reflects the oscillation severity of the target unmanned vehicle's speed with the frequency of acceleration change, and then determines the filter coefficient of the filter to filter the set vehicle speed, thereby solving the technical problem of poor vehicle driving stability in the prior art of directly filtering the vehicle speed, which not only avoids the influence of high-frequency oscillation of the vehicle speed on the smooth driving of the unmanned vehicle, but also ensures the good timeliness of the vehicle speed following, and improves the vehicle driving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a control method of an unmanned vehicle provided by an embodiment of the present invention;

[0037] Figure 2 is a structural diagram of a control device for an unmanned vehicle provided by an embodiment of the present invention;

[0038] Figure 3It is a structural schematic diagram of a control device for an unmanned vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0040] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish different objects, rather than to limit a specific order. The following embodiments of the present invention can be implemented separately, or in combination with each other, and the embodiments of the present invention do not impose specific limitations on this.

[0041] Figure 1 It is a flow chart of a control method of an unmanned vehicle provided by an embodiment of the present invention.

[0042] like Figure 1 As shown, the control method of the unmanned vehicle is applied to the chassis domain controller of the target unmanned vehicle, and specifically includes the following steps:

[0043] S101, obtaining a set vehicle speed and calculating a corresponding acceleration.

[0044] Specifically, since the set speed transmitted by the autonomous driving system to the chassis domain controller carries a high-frequency oscillation signal, it will affect the driving stability of the target unmanned vehicle, so the set speed needs to be processed to filter out the high-frequency oscillation signal. However, directly filtering the high-frequency oscillation signal of the set speed will cause the processed speed obtained by the chassis domain controller to have a lag, which will lead to a large speed following time edge, so it is necessary to start with acceleration.

[0045] By obtaining the set speed transmitted by the automatic driving system within a preset time and converting it into acceleration, on the one hand, the frequency of acceleration change can be used to reflect the oscillation of the set speed, and on the other hand, the problem of excessive speed following time edge when filtering the set speed directly is avoided, which leads to poor vehicle driving stability. Then, the frequency of acceleration change is used to filter the set speed.

[0046] S102, determining a frequency of acceleration change based on the acceleration.

[0047] Specifically, after the acceleration is obtained, the change of the acceleration is determined based on the obtained acceleration, that is, the frequency of the acceleration changing to a value greater than 0 or changing to a value less than 0 within a preset time period.

[0048] S103, determining a filter coefficient of a filter based on the change frequency.

[0049] Specifically, after determining the frequency of change of acceleration, the filter coefficient of the filter is determined using the frequency of change. Generally speaking, the frequency of change is the dynamic filter parameter of the filter. The larger the frequency of change, the larger the filter coefficient, and the smaller the frequency of change, the smaller the filter coefficient.

[0050] S104, dynamically adjusting the filter based on the filter coefficient, and dynamically filtering the set speed of the target unmanned vehicle to obtain the target speed.

[0051] S105, controlling the target unmanned vehicle to travel according to the target vehicle speed.

[0052] Specifically, after determining the filter coefficient, the filter is adjusted using the filter coefficient, and then the set vehicle speed is filtered using the adjusted filter. Finally, the target vehicle speed is used to control the driving of the target unmanned vehicle, so as to avoid the oscillation interference of the set vehicle speed and ensure a good speed following delay, thereby achieving the technical effect of improving the vehicle driving stability.

[0053] It should be noted that since the autonomous driving system sends the set vehicle speed to the chassis domain controller in real time, the chassis domain controller also converts the set vehicle speed into acceleration in real time. While converting the acceleration, the cumulative number of positive and negative changes in the acceleration is counted in real time, and then the filter coefficient of the filter is determined according to the real-time change frequency of the acceleration. Finally, the set vehicle speed is dynamically filtered based on the filter coefficient determined in real time, thereby achieving the effect of adjusting the driving state of the target unmanned vehicle in real time.

[0054] The present application determines the frequency of change of the acceleration of the target unmanned vehicle, uses the frequency of change of the acceleration to reflect the severity of the oscillation of the speed of the target unmanned vehicle, and then determines the filter coefficient of the filter to achieve filtering processing of the set vehicle speed, thereby solving the technical problem of poor vehicle driving stability that exists in the prior art when directly filtering the vehicle speed. It not only avoids the influence of high-frequency oscillation of the vehicle speed on the smooth driving of the unmanned vehicle, but also ensures the good timeliness of the vehicle speed following, thereby improving the vehicle driving stability.

[0055] Optionally, the vehicle speed is set to the vehicle speed transmitted to the chassis domain controller by the automatic driving system of the target unmanned vehicle; or, the vehicle speed is set to the vehicle speed transmitted to the chassis domain controller by the remote server.

[0056] Specifically, in addition to the automatic driving system sending the set vehicle speed to the chassis domain controller based on the pre-planned vehicle speed, path, etc., the set vehicle speed can also be sent to the chassis domain controller through a remote server based on the pre-planned vehicle speed, path, etc., thereby realizing remote control of the target unmanned vehicle.

[0057] Based on the above calculation schemes, S102, determining the frequency of acceleration change based on the acceleration specifically includes:

[0058] The cumulative number of positive and negative changes in acceleration is counted; and the frequency of acceleration change within a preset time period is determined based on the cumulative number of positive and negative changes.

[0059] Specifically, since the acceleration is obtained in real time, after the acceleration is obtained, the positive and negative changes of the acceleration are counted in real time to obtain the cumulative number of positive and negative changes, and then the change frequency of the acceleration within the preset time length is determined according to the obtained cumulative number of positive and negative changes, and the change frequency is used to reflect the violent shock of the set vehicle speed. It should be noted that the preset time length can be set as needed and is not specifically limited here.

[0060] Optionally, S103, determining a filter coefficient of a filter based on the change frequency includes:

[0061] Based on the change frequency, the filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

[0062] Specifically, the specific value of the filter coefficient can be determined by debugging based on test measurement results on the one hand, or by calibration based on experience on the other hand. The specific principle to be followed is that the filter coefficient is proportional to the frequency of change, that is, the greater the frequency of change, the larger the filter coefficient, and the smaller the frequency of change, the smaller the filter coefficient.

[0063] Figure 2 It is a structural diagram of a control device for an unmanned vehicle provided in an embodiment of the present invention.

[0064] The acceleration calculation module 21 is used to obtain the set vehicle speed and calculate the corresponding acceleration;

[0065] A frequency determination module 22, configured to determine a frequency of acceleration change based on the acceleration;

[0066] A coefficient determination module 23, used to determine the filter coefficient of the filter based on the change frequency;

[0067] The vehicle speed processing module 24 is used to dynamically adjust the filter based on the filter coefficient and dynamically filter the set vehicle speed of the target unmanned vehicle to obtain the target vehicle speed;

[0068] The driving control module 25 is used to control the target unmanned vehicle to travel according to the target vehicle speed.

[0069] Optionally, the frequency determination module 22 includes:

[0070] The frequency statistics submodule is used to count the cumulative number of positive and negative changes in acceleration;

[0071] The frequency calculation submodule is used to determine the frequency of acceleration changes within a preset time period based on the cumulative number of positive and negative changes.

[0072] Optionally, the coefficient determination module 23 is specifically used for:

[0073] Based on the change frequency, the filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

[0074] The control device of the unmanned vehicle provided in the embodiment of the present invention has the same technical features as the control method of the unmanned vehicle provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0075] Figure 3 : is a structural schematic diagram of a control device for an unmanned vehicle provided by an embodiment of the present invention. The control device for the unmanned vehicle is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0076] like Figure 3 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0077] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0078] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for an unmanned vehicle.

[0079] In some embodiments, the control method of the unmanned vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the unmanned vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method of the unmanned vehicle in any other appropriate manner (e.g., by means of firmware).

[0080] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0081] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0082] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0083] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0084] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0085] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0086] An embodiment of the present invention further provides an unmanned vehicle, which includes the control device of the unmanned vehicle in any of the above embodiments.

[0087] The unmanned vehicle provided in the embodiment of the present invention includes the control device of the unmanned vehicle in the above embodiment. Therefore, the unmanned vehicle provided in the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be repeated here.

[0088] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0089] Finally, it should be noted that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for an unmanned vehicle, characterized in that: The control method applied to the chassis domain controller of the target unmanned vehicle includes: Get the set vehicle speed and calculate the corresponding acceleration; determining a frequency of change of the acceleration based on the acceleration; Determining a filter coefficient of a filter based on the changing frequency; Dynamically adjusting the filter based on the filter coefficient, and dynamically filtering the set speed of the target unmanned vehicle to obtain a target speed; The target unmanned vehicle is controlled to travel according to the target vehicle speed.

2. The control method of the unmanned vehicle according to claim 1, characterized in that: The set vehicle speed is the vehicle speed transmitted to the chassis domain controller by the automatic driving system of the target unmanned vehicle; or, The set vehicle speed is the vehicle speed transmitted by the remote server to the chassis domain controller.

3. The control method of the unmanned vehicle according to claim 1, characterized in that: Determining the frequency of change of the acceleration based on the acceleration includes: Counting the cumulative number of positive and negative changes in the acceleration; The frequency of change of the acceleration within a preset time period is determined based on the accumulated number of positive and negative changes.

4. The control method of the unmanned vehicle according to claim 1, characterized in that: Determining a filter coefficient of a filter based on the change frequency includes: Based on the change frequency, a filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

5. A control device for an unmanned vehicle, characterized in that: A chassis domain controller applied to a target unmanned vehicle, the control device comprising: An acceleration calculation module is used to obtain a set vehicle speed and calculate the corresponding acceleration; A frequency determination module, configured to determine a frequency of change of the acceleration based on the acceleration; A coefficient determination module, used for determining a filter coefficient of a filter based on the change frequency; A vehicle speed processing module, used for dynamically adjusting the filter based on the filter coefficient, and performing dynamic filtering processing on the set vehicle speed of the target unmanned vehicle to obtain a target vehicle speed; A driving control module is used to control the driving of the target unmanned vehicle according to the target vehicle speed.

6. The control device for the unmanned vehicle according to claim 5, characterized in that: The frequency determination module comprises: A times counting submodule, used to count the cumulative times of positive and negative changes of the acceleration; The frequency calculation submodule is used to determine the frequency of change of the acceleration within a preset time period based on the accumulated number of positive and negative changes.

7. The control device for the unmanned vehicle according to claim 5, characterized in that: The coefficient determination module is specifically used for: Based on the change frequency, a filter coefficient of the filter is determined by using a preset experimental calibration change rule, wherein the filter coefficient is proportional to the change frequency.

8. A control device for an unmanned vehicle, characterized in that: The control device of the unmanned vehicle includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the unmanned vehicle according to any one of claims 1-4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the unmanned vehicle according to any one of claims 1 to 4 when executed.

10. An unmanned vehicle, characterized in that: The unmanned vehicle includes the unmanned vehicle control device described in any one of claims 5-7 above.

Images