Removable warning board releasing and recycling method and device and vehicle

Abstract

The invention provides a movable warning board releasing and recycling method and device and a vehicle, and the method further comprises the steps that whether a movable warning board releasing requirement exists or not is automatically judged by an automatic driving vehicle, a first judgment result is obtained, and / or a second judgment result sent by a remote control system is received; under the condition that the first judgment result is that the movable warning board release requirement exists and / or the second judgment result is that the movable warning board release requirement exists, a warning board release instruction is received; in response to the warning board release instruction, controlling the movable warning board to be released from the autonomous vehicle to the ground; the movable warning board is controlled to move to the target position; and the movable warning board is controlled to receive the recovery control instruction, so that the movable warning board moves to a recovery position according to the recovery control instruction and is automatically recovered to the autonomous vehicle. The problem that in the prior art, the labor cost is increased due to the defects that a driver independently judges and releases the warning board and manually recycles the warning board is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle warning signs, and in particular to a method for releasing and recovering a movable warning sign, a device for releasing and recovering a movable warning sign, a computer-readable storage medium, a computer program product and a vehicle. Background Art

[0002] After the vehicle stops abnormally, the driver opens the trunk, gets out of the car, takes out the warning sign, and walks to 150m behind the vehicle or other suitable locations with the warning sign to place the warning sign; for unmanned autonomous driving vehicles, it is impossible to place a triangular warning sign. They are all designed for manned driving, and the driver is responsible for judging the release requirements, traffic conditions, and placement of the warning sign on site, which is not suitable for unmanned vehicles; some existing unmanned vehicles can release warning signs, but they are only judged and released by unmanned vehicles without designing redundant control links, and the system robustness is not high. In addition, relying on manual recovery, the driver or safety officer needs to walk to the placement location, pick up the triangular sign, store it, and take it back and place it in the car. This process is not suitable for autonomous driving vehicles. Summary of the invention

[0003] The main purpose of the present application is to provide a movable warning sign releasing and recovering method, a movable warning sign releasing and recovering device, a computer-readable storage medium, a computer program product and a vehicle, so as to at least solve the problem of increased labor costs caused by the defects of the prior art that only rely on the driver's autonomous judgment to release the warning sign and manually recover the warning sign.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for releasing and recovering a movable warning sign is provided, comprising: automatically determining by an autonomous driving vehicle whether there is a need to release the movable warning sign, obtaining a first determination result, and / or receiving a second determination result sent by a remote control system, wherein the movable warning sign is at least one of the following: a movable triangular warning sign and a drone, and the second determination result is the existence of a need to release the movable warning sign determined by the remote control system; in the case where the first determination result is that there is a need to release the movable warning sign and / or the second determination result is that there is a need to release the movable warning sign, receiving a warning sign release result. release instruction; control the movable warning sign to be released from the autonomous driving vehicle to the ground in response to the warning sign release instruction; control the movable warning sign to move to the target position; control the movable warning sign to receive a recovery control instruction, so that the movable warning sign moves to the recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, the recovery position is a set position behind the autonomous driving vehicle, the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction.

[0005] Optionally, the autonomous driving vehicle automatically determines whether there is a need to release the movable warning sign, obtains a first determination result, and / or receives a second determination result sent by the remote control system, including: obtaining a first vehicle state and a second vehicle state automatically monitored by the autonomous driving vehicle, the first vehicle state being abnormal parking of the vehicle or normal parking of the vehicle, the abnormal parking of the vehicle including a failure of the autonomous driving vehicle and failure to drive to the set site, or a collision accident of the autonomous driving vehicle and failure to drive to the set site, the second vehicle state including a state in which a vehicle link is operating normally or a vehicle link is failing, the normal operation of the vehicle link including, when the installation position of the movable warning sign is the rear door, the rear door control link of the autonomous driving vehicle is operating normally, the rear door is not squeezed, and the release link of the movable warning sign is operating normally, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the movable warning sign is The release link of the mobile warning sign works normally, and the failure of the vehicle link is that when the installation position of the movable warning sign is the tailgate, the tailgate control link of the autonomous driving vehicle fails, or the tailgate is squeezed, or the release link of the movable warning sign fails, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the release link of the movable warning sign fails. The release link is a communication line for controlling the release of the movable warning sign. When the first vehicle state is that the vehicle is abnormally parked and the second vehicle state is that the vehicle link works normally, it is determined that the first judgment result is that there is a need to release the movable warning sign. When the second vehicle state is that the vehicle link works normally and a remote release command sent by the remote control system is received, it is determined that the second judgment result is that there is a need to release the movable warning sign and the second judgment result is received.

[0006] Optionally, when the second vehicle status is that the vehicle link is operating normally and the remote release command sent by the remote control system is received, before determining that the second judgment result is that there is a need to release the movable warning sign, the method also includes: sending the monitoring video of the autonomous driving vehicle to the remote control system, so as to use the remote control system to perform an abnormality analysis on the autonomous driving vehicle according to the monitoring video to obtain an analysis result, wherein the analysis result includes that the autonomous driving vehicle has a fault or a collision accident, or that the autonomous driving vehicle has no abnormality; when the analysis result is that the autonomous driving vehicle has a fault or a collision accident has occurred, controlling the remote control system to send the remote release command to the autonomous driving vehicle.

[0007] Optionally, in response to the warning sign release instruction, controlling the movable warning sign to be released from the autonomous driving vehicle to the ground includes: when the installation position of the movable warning sign is the tailgate, sequentially controlling the tailgate to open, controlling the warning sign fixing device to unlock, and controlling the warning sign releasing device to unlock, so that the movable warning sign is released to the ground, the warning sign fixing device is a device for fixing the movable warning sign on the autonomous driving vehicle, and the warning sign releasing device is a device for releasing the movable warning sign from the autonomous driving vehicle; when the installation position of the movable warning sign is the roof or the bottom of the vehicle, sequentially controlling the warning sign fixing device to unlock and controlling the warning sign releasing device to unlock, so that the movable warning sign is released to the ground.

[0008] Optionally, after controlling the movable warning sign to be released from the autonomous driving vehicle to the ground in response to the warning sign release instruction, the method further includes: controlling the traction and attraction device between the movable warning sign and the autonomous driving vehicle to be disconnected, the traction and attraction device being installed on the movable warning sign, the traction and attraction device being connected to a warning sign release device via a traction line, the warning sign release device being a device for releasing the movable warning sign from the autonomous driving vehicle; controlling the warning light bar of the movable warning sign to be turned on; and when the installation position of the movable warning sign is the rear door, controlling the The back door is closed; the current vehicle status is uploaded to the remote control system, the current vehicle status including the back door status, the warning sign fixing device status and the warning sign releasing device status, the back door status including the back door is open or the back door is closed, the warning sign fixing device status including the warning sign fixing device is in the unlocked state or the warning sign fixing device is in the locked state, the warning sign fixing device is a device for fixing the movable warning sign on the automatic driving vehicle, the warning sign releasing device status including the warning sign releasing device is in the unlocked state or the warning sign releasing device is in the locked state.

[0009] Optionally, controlling the movable warning sign to move to a target position includes: obtaining the rear environmental condition of the lane where the autonomous driving vehicle is located; when the rear environmental condition meets environmental conditions, controlling the movable warning sign to move to a position at a set distance from the autonomous driving vehicle, wherein the environmental condition is that there are no obstacles blocking the rear of the lane and there are no curves behind; when the rear environmental condition does not meet the environmental conditions and there is a rear obstacle blocking the lane where the autonomous driving vehicle is located, controlling the movable warning sign to move to a middle position between the autonomous driving vehicle and the rear obstacle; when the rear environmental condition does not meet the environmental conditions and there is a curve behind, controlling the movable warning sign to move to the position of the rear detection end point, wherein the rear detection end point is the end point of the road condition that can be detected by the sensor of the autonomous driving vehicle to the rear of the autonomous driving vehicle in the maximum range.

[0010] Optionally, controlling the movable warning sign to move to the target position further includes: in the process of controlling the movable warning sign to move to the target position, controlling the movable warning sign to receive a first control instruction, so that the movable warning sign uploads the warning sign status to the automatic driving vehicle and the remote control system according to the first control instruction, the first control instruction at least includes a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction, the warning sign status includes at least the current speed, moving path, moving distance and moving status of the movable warning sign, the moving distance is the distance between the movable warning sign and the automatic driving vehicle, the moving status includes at least the movement of the movable warning sign is normal, or an abnormal stuck state or a wheel locked state, the abnormal stuck state is a state in which the movable warning sign stops moving on the spot, and the wheel locked state is a state in which the wheels of the movable warning sign are locked when the movable warning sign reaches the target position.

[0011] Optionally, after controlling the movable warning sign to upload the warning sign status to the autonomous driving vehicle and the remote control system, the method further includes: when the moving status in the warning sign status is the abnormal stuck state, controlling the autonomous driving vehicle to issue a moving instruction to the movable warning sign at set time intervals; when the moving instruction is issued a set number of times and the moving status in the warning sign status is still the abnormal stuck state, issuing a rescue message, wherein the rescue message is used to prompt that the movable warning sign is unable to move due to an abnormal stuck fault.

[0012] Optionally, after controlling the movable warning sign to receive a recovery control instruction so that the movable warning sign moves to the recovery position according to the recovery control instruction, the method further includes: when the installation position of the movable warning sign is the rear door, controlling the rear door to open; controlling the movable warning sign to receive a third control instruction so that the movable warning sign is automatically folded and automatically recovered to the warning sign fixing device of the autonomous driving vehicle according to the third control instruction, and uploading the current warning sign status to the autonomous driving vehicle and the remote control system at the same time, the third control instruction at least includes an instruction to fold the movable warning sign, the movable warning sign The movable warning sign is restored to be connected to the hardware of the autonomous driving vehicle and the movable warning sign is recovered. The movable warning sign is restored to be connected to the hardware of the autonomous driving vehicle and the instruction is for the traction attraction device to be attracted to the warning sign release device. The current warning sign status includes at least that the movable warning sign has been folded, the movable warning sign has failed to be folded, the traction attraction device of the movable warning sign has been attracted, the traction attraction device of the movable warning sign has failed to be attracted, the movable warning sign has been recovered into the vehicle, and the movable warning sign has failed to be recovered. When the installation position of the movable warning sign is the back door, the back door is controlled to be closed.

[0013] According to another aspect of the present application, a movable warning sign releasing and recovering device is provided, the device comprising: a determination unit, configured to automatically determine by an autonomous driving vehicle whether there is a release requirement for the movable warning sign, obtain a first determination result, and / or receive a second determination result sent by a remote control system, the movable warning sign being at least one of the following: a movable triangular warning sign and a drone, the second determination result being the existence of a release requirement for the movable warning sign determined by the remote control system; a receiving unit, configured to receive a warning sign release instruction when the first determination result is that there is a release requirement for the movable warning sign and / or the second determination result is that there is a release requirement for the movable warning sign; and a release unit. A unit is used to control the movable warning sign to be released from the autonomous driving vehicle to the ground in response to the warning sign release instruction; a moving unit is used to control the movable warning sign to move to a target position; a recovery unit is used to control the movable warning sign to receive a recovery control instruction, so that the movable warning sign moves to a recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, the recovery position is a set position behind the autonomous driving vehicle, the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0015] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the methods described above is implemented.

[0016] According to another aspect of the present application, a vehicle is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0017] By applying the technical solution of the present application, in a method for releasing and recovering a movable warning sign, first, the autonomous driving vehicle automatically determines whether there is a need to release the movable warning sign, obtains a first determination result, and / or receives a second determination result sent by a remote control system, wherein the movable warning sign is at least one of the following: a movable triangular warning sign and a drone, and the second determination result is the existence of a need to release the movable warning sign determined by the remote control system; then, in the event that the first determination result is that there is a need to release the movable warning sign and / or the second determination result is that there is a need to release the movable warning sign, a warning sign release instruction is received; thereafter, in response, The warning sign release instruction controls the movable warning sign to be released from the autonomous driving vehicle to the ground; then, the movable warning sign is controlled to move to the target position; finally, the movable warning sign is controlled to receive the recovery control instruction, so that the movable warning sign moves to the recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, the recovery position is a set position behind the autonomous driving vehicle, the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a backward instruction, a steering instruction, a locking instruction and a lighting instruction. This application is to load the warning sign in the autonomous driving vehicle in a normalized manner, and control the warning sign to be stably released and moved to the target position according to the release demand; the remote control system can observe the autonomous driving vehicle and the surrounding environment of the warning sign through the monitoring video, determine whether there is a warning sign release demand, and send the warning sign release instruction to the autonomous driving vehicle when there is a warning sign release demand, control the warning sign to be released and moved to the target position, and finally, after the warning task is completed, send the recovery control instruction so that the movable warning sign can be automatically recovered. The present application solves the problem of increased labor costs in the prior art due to the defect that the driver only relies on his own judgment to release the warning sign and manually recover the warning sign. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for releasing and recovering a movable warning sign provided in an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram of a process of releasing and recovering a movable warning sign provided in accordance with an embodiment of the present application is shown;

[0020] Figure 3 An intuitive schematic diagram of releasing a movable warning sign provided according to an embodiment of the present application is shown;

[0021] Figure 4 An architectural diagram of a movable warning sign release system provided according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of the structure of an on-board control module in an autonomous driving vehicle provided according to an embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of the structure of a remote control system provided according to an embodiment of the present application is shown;

[0024] Figure 7 A structural block diagram of a movable warning sign releasing and recovering device provided according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] As introduced in the background technology, in the prior art, the driver needs to judge the warning sign release demand, traffic conditions, placement location, etc. on site, or only the unmanned vehicle makes the judgment and releases without designing redundant control links and manual recovery of warning signs. In order to solve the problem of increased labor costs caused by the defects of the prior art that only relies on the driver's autonomous judgment and release of warning signs and manual recovery of warning signs, the embodiments of the present application provide a movable warning sign releasing and recovering method, a movable warning sign releasing and recovering device, a computer-readable storage medium, a computer program product and a vehicle.

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a movable warning sign release and recovery method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0033] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for releasing and recovering the movable warning sign in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a method for releasing and recovering a movable warning sign running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 FIG. 1 is a flow chart of a method for releasing and recovering a movable warning sign according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0036] In step S201, the autonomous driving vehicle automatically determines whether there is a need to release a movable warning sign, obtains a first determination result, and / or receives a second determination result sent by a remote control system. The movable warning sign is at least one of the following: a movable triangular warning sign and a drone. The second determination result is determined by the remote control system to indicate the need to release the movable warning sign.

[0037] Specifically, Figure 3As shown, the autonomous driving vehicle is equipped with and fixed with a triangular warning sign, and the release requirement is determined by the autonomous driving vehicle or the remote control system. The autonomous driving vehicle monitors the vehicle health status and external environment in real time through its internal status monitoring module. When the vehicle detects abnormal parking, such as a vehicle failure or collision, the status monitoring module will automatically determine whether the movable warning sign needs to be released based on the vehicle sensor data, such as the rear road conditions detected by the rear camera, laser radar, and side rear millimeter wave radar. This judgment is based on comprehensive factors such as vehicle fault information, traffic environment status, and whether the scheduled station has been reached. The remote control system receives video data uploaded by the on-board sensor, and the operator observes the vehicle and traffic status and makes an independent judgment. If the operator believes that the warning sign needs to be released, even if the vehicle itself determines that it is not released, the remote control system can still send a release requirement instruction to the autonomous driving vehicle as a redundant safety guarantee. The high-priority control instructions of the remote control system can override the vehicle's automatic judgment results to ensure the correct placement of the warning sign in complex or emergency situations. The autonomous driving vehicle can respond to vehicle abnormalities immediately and determine whether the movable warning sign needs to be released through intelligent algorithms, avoiding delays in waiting for rescue personnel to arrive and improving traffic safety. The intervention of the remote control system provides additional judgment and control methods, enhances the robustness and safety of the system, and ensures that warning signs can be released in time even if the vehicle's own judgment system fails or misjudges.

[0038] Step S202: When the first determination result is that there is a need to release the movable warning sign and / or the second determination result is that there is a need to release the movable warning sign, a warning sign release instruction is received.

[0039] Specifically, when the first determination result is that there is a need to release the movable warning sign and / or the second determination result is that there is a need to release the movable warning sign, if either determination result is that there is a release demand, the body control module of the autonomous driving vehicle receives a warning sign release command from the state monitoring module or the remote control system. Ensure that the communication between the vehicle and the remote control system is smooth, and can accurately receive the command to release the warning sign, avoiding safety hazards caused by communication failure.

[0040] Step S203, in response to the warning sign release instruction, the movable warning sign is controlled to be released from the autonomous driving vehicle to the ground.

[0041] Specifically, Figure 3 As shown, in response to the above-mentioned warning sign release instruction, the body control module of the autonomous driving vehicle controls the opening of the tailgate, unlocks the warning sign fixing device and the warning sign releasing device, and releases the movable warning sign smoothly to the ground.

[0042] Step S204, controlling the movable warning sign to move to the target position.

[0043] Specifically, Figure 3 As shown, the autonomous driving vehicle or the remote control system can control the movable warning sign to reach the target location. The autonomous driving system is used to control the movable warning sign in a normal manner. The remote control system serves as a high-priority redundant link. If the autonomous driving vehicle controls the warning sign unreasonably or does not control the warning sign, the operator can control the warning sign through the remote control system, and the movable warning sign responds to the control command sent by the remote control system first. The autonomous driving vehicle senses the road conditions behind through the rear sensor and intelligently plans the trajectory of the warning sign. The target position is determined based on the detected obstacles, curves and other conditions. The autonomous driving vehicle or remote control system sends movement control commands to the movable warning sign, including forward, backward, steering, etc., and receives status feedback from the warning sign, such as the current speed, movement status, whether it is stuck, etc., to complete the control closed loop of the movement process.

[0044] Step S205, controlling the movable warning sign to receive a recovery control instruction, so that the movable warning sign moves to the recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, and the recovery position is a set position behind the autonomous driving vehicle, and the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction.

[0045] Specifically, in order to reduce the need for manual recycling and save labor costs, when the fault or accident of the autonomous vehicle is handled, or the road conditions allow the vehicle to continue driving, the system will determine that the warning sign has completed its warning task and needs to be recycled. At this time, the remote control system or the autonomous vehicle will start the recycling process and send a recycling control instruction to the movable warning sign.

[0046] The recovery control instructions include, but are not limited to, forward instructions, reverse instructions, turn instructions, lock instructions, and lighting instructions, which are used to guide the warning sign back to the set recovery position behind the vehicle. This process may involve the warning sign moving backward from its current position, adjusting its direction to ensure alignment with the vehicle, and controlling the speed of movement to ensure a safe and smooth recovery process. After receiving the recovery control instruction, the movable warning sign begins to perform the return operation. It uses its built-in mobile chassis to adjust the driving direction and speed according to the reverse, turn and lock instructions in the instruction, and may use lighting to increase visibility to ensure safe return at night or in low visibility conditions. When approaching the vehicle recovery position, the warning sign will execute a locking instruction to ensure that it will not be damaged due to excessive speed or instability during the recovery process. Once the recovery position is reached, the warning sign will stop moving and wait for the vehicle's recovery operation.

[0047] Through the precise control of the recovery control instructions, it is ensured that the movable warning sign can be safely and smoothly returned to the set recovery position behind the vehicle, avoiding any potential risks during the recovery process, such as collision, overturning or straying into the traffic flow. The automatic recovery of the warning sign reduces the need for manual intervention and saves labor costs, while also avoiding the pollution or interference that the warning sign may cause to the environment when not in use. The implementation of the recovery process forms a closed loop for the entire warning sign release and recovery process, ensuring the integrity and effectiveness of the system in the event of a fault or accident. Through automated recovery, the warning sign can be quickly returned to the vehicle and prepared for the next use, improving the system's response speed and the reuse efficiency of the warning sign.

[0048] In this embodiment, the application routinely loads warning signs in the autonomous driving vehicle, and controls the warning signs to be stably released and moved to the target position according to the release requirements; the remote control system can observe the autonomous driving vehicle and the surrounding environment of the warning sign through monitoring video to determine whether there is a need to release the warning sign, and send a warning sign release command to the autonomous driving vehicle if there is a need to release the warning sign, control the warning sign to be released and moved to the target position, and finally, after the warning task is completed, send a recovery control command to enable the movable warning sign to be automatically recovered. The application solves the problem of increased labor costs in the prior art that only relies on the driver's independent judgment to release the warning sign and manually recover the warning sign.

[0049] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the movable warning sign release and recovery method of the present application will be described in detail below in combination with specific embodiments.

[0050] In order to ensure the correct release of the warning sign and enhance the robustness and safety of the system, in an optional implementation, the above step S201 includes:

[0051] Step S2011, obtaining the first vehicle state and the second vehicle state automatically monitored by the above-mentioned autonomous driving vehicle, the above-mentioned first vehicle state is abnormal parking of the vehicle or normal parking of the vehicle, the above-mentioned abnormal parking of the vehicle includes that the above-mentioned autonomous driving vehicle fails and does not drive to the set site, or the above-mentioned autonomous driving vehicle has a collision accident and does not drive to the above-mentioned set site, the above-mentioned second vehicle state includes the state where the vehicle link is working normally or the vehicle link fails, the above-mentioned vehicle link is working normally when the installation position of the above-mentioned movable warning sign is the back door, the back door control link of the above-mentioned autonomous driving vehicle is working normally, the back door is not squeezed, and the release link of the movable warning sign works normally, or when the movable warning sign is installed on the roof or the bottom of the vehicle, the release link of the movable warning sign works normally, the vehicle link fails when the movable warning sign is installed on the back door, the back door control link of the autonomous driving vehicle fails, or the back door is squeezed, or the release link of the movable warning sign fails, or when the movable warning sign is installed on the roof or the bottom of the vehicle, the release link of the movable warning sign fails, and the release link is a communication line for controlling the release of the movable warning sign;

[0052] Step S2012, when the first vehicle state is that the vehicle is abnormally parked and the second vehicle state is that the vehicle link is working normally, determining that the first determination result is that there is a need to release the movable warning sign;

[0053] Step S2013, when the second vehicle status is that the vehicle link is operating normally and a remote release command sent by the remote control system is received, determining that the second determination result is that there is a release requirement for the movable warning sign and receiving the second determination result.

[0054] In the above embodiment, if Figure 4As shown in the figure, the state monitoring module of the autonomous driving vehicle continuously monitors whether the vehicle has any faults or collision accidents. If the autonomous driving vehicle stops midway without reaching the predetermined station, it is determined that the vehicle has stopped abnormally. The state monitoring module of the vehicle checks whether the physical link (such as the back door control link and the warning sign release link) and the communication link of the vehicle are in normal working state. If the movable warning sign is installed on the back door, the system will check whether the back door control is normal, whether the back door can be opened freely, and whether the warning sign release link (the communication line that controls the release of the warning sign) is available; if the warning sign is installed on the roof or the bottom of the vehicle, the system will focus on checking the status of the warning sign release link. By continuously monitoring the vehicle status and the communication link status, it is ensured that the system can respond in time when the vehicle fails or an accident occurs, and it is also ensured that the physical and communication links of the vehicle are in a reliable state when the system performs the warning sign release task. When the vehicle link status is detected to be abnormal, timely measures can be taken, such as switching to the remote control system control mode, to avoid the potential risk of the warning sign not being released normally due to the vehicle's own state problems.

[0055] When the status monitoring module obtains the first vehicle status of abnormal parking and confirms that the vehicle link is working normally (including the back door control link, warning sign release link, etc.), the system determines that there is a need to release the movable warning sign at this time, that is, the first judgment result is that there is a release demand. When it is confirmed that the vehicle is in an abnormal parking state and the vehicle has the ability to release the warning sign, the system can automatically judge and start the warning sign release process, so as to complete the release of the warning sign in the shortest time and improve road safety. The automatic driving system only determines that the warning sign needs to be released when the automatic driving vehicle does have an abnormal parking and the vehicle link is normal, avoiding misoperation in normal parking state or link failure, and ensuring the accuracy and safety of warning sign release. The remote control system operator manually determines whether the movable warning sign needs to be released by observing the video data of the automatic driving vehicle and the surrounding environment. If the judgment result is that release is required and the vehicle link status detection result is normal operation, the remote control system will send a remote release command to the automatic driving vehicle, and the automatic driving vehicle receives and determines that the second judgment result is that there is a release demand. The intervention of the remote control system provides an additional release demand determination method, which can ensure the correct release of the warning sign even if the vehicle's own judgment system fails, thereby enhancing the robustness and safety of the system. The operator's participation and judgment, combined with the vehicle's automation system, form a human-machine collaborative control mode. This mode combines human intuitive judgment and machine precise control, and can cope with various complex road and vehicle conditions, ensuring that warning signs can be released in a timely and accurate manner in an emergency.

[0056] In order to avoid improper release of the warning sign due to a local failure of the vehicle or misjudgment, in an optional implementation manner, before the above step S2013, the method further includes:

[0057] Step S301, sending the monitoring video of the autonomous driving vehicle to the remote control system, so that the remote control system performs abnormal analysis on the autonomous driving vehicle according to the monitoring video to obtain an analysis result, wherein the analysis result includes that the autonomous driving vehicle has a fault or a collision accident, or that the autonomous driving vehicle has no abnormality;

[0058] Step S302: When the analysis result indicates that the autonomous driving vehicle has a fault or a collision occurs, the remote control system is controlled to send the remote release command to the autonomous driving vehicle.

[0059] In the above embodiment, if Figure 5 As shown, Figure 5 The schematic diagram of the structure of a vehicle control module provided according to an embodiment of the present application is shown. During the operation of the autonomous driving vehicle, the vehicle sensors (rear-facing camera and side rear-facing camera) of the autonomous driving vehicle continuously collect monitoring video data from the rear and side rear of the autonomous driving vehicle. These monitoring videos are transmitted to the remote control system in real time via the 4G / 5G or radio network in the TBOX module. After the remote control system receives these video data, the operator or the system's built-in intelligent analysis software analyzes them to determine whether there is a fault in the vehicle or whether a collision accident has occurred. Figure 6 As shown in the figure, the remote control system can obtain multiple monitoring videos, vehicle status and warning sign status, and switch different monitoring videos through the video switching button. The vehicle control console can issue control instructions to the autonomous vehicle, and the warning sign control console can issue control instructions to the autonomous vehicle. The remote control system can timely understand the real-time status and surrounding environment of the vehicle through monitoring videos. Especially when the on-board sensors may fail or be interfered with, the video data provides intuitive evidence of abnormal conditions and enhances the system's perception ability. The intervention of the remote control system as a redundant control link, even if the vehicle's own status monitoring module fails to timely or accurately judge the abnormal state, the remote control system can make a judgment through video analysis, avoiding safety hazards caused by vehicle misjudgment. The operator can combine the information in the video, such as the environment where the vehicle is stopped, traffic conditions, etc., to make a more comprehensive situation judgment. This human-machine combination method improves the accuracy of abnormal analysis and the reliability of decision-making.

[0060] If the remote control system determines that the autonomous vehicle has a fault or a collision accident through analyzing the monitoring video, the remote control system will generate a remote release command and send it to the autonomous vehicle through the communication network to prompt the autonomous vehicle to release the movable warning sign. The remote release command sent by the remote control system has a high priority. Even if the vehicle itself judges not to release the warning sign, or if the vehicle judgment system fails, the remote control system's command can ensure the release of the warning sign and provide immediate emergency response and safety warning measures. The intervention of the remote control system can avoid improper release of warning signs due to local failures or misjudgments of the vehicle, and enhance the overall robustness and safety of the system. The remote control system can not only analyze video data, but also directly send control commands, demonstrating the high efficiency of remote monitoring and control, so that even if the vehicle is unmanned, the remote control system can handle abnormal conditions in a timely manner to improve road safety.

[0061] In order to improve the flexibility of releasing the movable warning sign, in an optional implementation, the above step S203 includes:

[0062] Step S2031, when the installation position of the movable warning sign is the tailgate, the tailgate is sequentially controlled to be opened, the warning sign fixing device is controlled to be unlocked, and the warning sign releasing device is controlled to be unlocked, so that the movable warning sign is released to the ground, the warning sign fixing device is a device for fixing the movable warning sign on the autonomous driving vehicle, and the warning sign releasing device is a device for releasing the movable warning sign from the autonomous driving vehicle;

[0063] Step S2032, when the installation position of the above-mentioned movable warning sign is the roof or the bottom of the vehicle, the above-mentioned warning sign fixing device and the above-mentioned warning sign releasing device are controlled to be unlocked in sequence, so that the above-mentioned movable warning sign is released to the above-mentioned ground.

[0064] In the above embodiment, when the system determines that the movable warning sign needs to be released (such as the vehicle is parked abnormally and the link is working properly), and the installation position of the warning sign is on the back door, the body control module will perform the following operations: After receiving the command, the body control module first controls the opening link of the back door to ensure that the back door can be opened safely and smoothly. This step provides a physical channel for releasing the warning sign to ensure that the warning sign can be smoothly released from the inside of the vehicle to the ground. After the back door is opened, the body control module continues to control the unlocking link of the warning sign fixing device to release the fixed connection between the warning sign and the vehicle. The design of the fixing device must ensure that the warning sign can remain stable during the driving process of the vehicle (including high acceleration, high speed forward, high deceleration and bumpy state) without being squeezed or bumped. Finally, the body control module controls the warning sign release device to unlock the link and release the movable warning sign to the ground. The design of the release device must ensure that the warning sign can land smoothly to avoid any damage or failure during the release process. Ensure that the release process of the warning sign is carried out in an orderly manner to avoid vehicle or warning sign failures that may be caused by incorrect control sequence. Especially when the tailgate is used as the release position, it ensures that the warning sign can be smoothly released from a closed space (such as the trunk of a vehicle), adapting to the needs of different vehicle models and vehicle layouts.

[0065] When the system determines that the warning sign needs to be released (such as the vehicle is parked abnormally and the link is working properly), and the warning sign is installed on the roof or under the vehicle, the body control module will perform the following operations: Warning sign fixture unlocking: The body control module first controls the unlocking link of the warning sign fixture to release the fixed connection between the movable warning sign and the vehicle. The design of the fixture must ensure that the warning sign can be stably fixed on the roof or under the vehicle under various driving conditions. Subsequently, the body control module controls the unlocking link of the warning sign release device to allow the warning sign to be released from the outside of the vehicle to the ground. The design of the release device must ensure that the movable warning sign can land accurately and will not be affected by any driving of the vehicle. Allowing the warning sign to be released on the roof or under the vehicle provides greater flexibility for different models and application scenarios, especially when the trunk space is limited or it is not suitable to install the release device. Since the warning sign is directly fixed on the roof or under the vehicle, there is no need to open the tailgate, and the release process is more direct and quick, reducing potential failure points during the release process. This design not only optimizes the use of the space inside the vehicle, but also avoids the restrictions of the interior layout on the release of the warning sign through the release method outside the vehicle, enhancing the adaptability and safety of the system.

[0066] In order to improve the visibility of the movable warning sign and the safety of the vehicle, in an optional implementation, after the above step S203, the method further includes:

[0067] Step S401, controlling the traction and engagement device between the movable warning sign and the autonomous driving vehicle to be disconnected, the traction and engagement device being installed on the movable warning sign, the traction and engagement device being connected to a warning sign releasing device via a traction line, the warning sign releasing device being a device for releasing the movable warning sign from the autonomous driving vehicle;

[0068] Step S402, controlling the warning light bar of the movable warning sign to turn on;

[0069] Step S403, when the installation position of the movable warning sign is the back door, controlling the back door to be closed;

[0070] Step S404, uploading the current vehicle status to the above-mentioned remote control system, the above-mentioned current vehicle status includes the back door status, the warning sign fixing device status and the warning sign releasing device status, the above-mentioned back door status includes the back door being open or the back door being closed, the above-mentioned warning sign fixing device status includes the warning sign fixing device being in an unlocked state or the above-mentioned warning sign fixing device being in a locked state, the above-mentioned warning sign fixing device is a device for fixing the above-mentioned movable warning sign on the above-mentioned automatic driving vehicle, and the above-mentioned warning sign releasing device status includes the above-mentioned warning sign releasing device being in an unlocked state or the above-mentioned warning sign releasing device being in a locked state.

[0071] In the above embodiment, when the movable warning sign is released from the autonomous driving vehicle, the body control module sends a command to the warning sign control module to control the disconnection of the traction suction device, which is installed on the movable warning sign and connected to the warning sign release device on the vehicle through a traction line. After the disconnection command is received, the traction suction device (such as an electromagnetic suction device or a mechanical locking device) releases the physical connection with the vehicle, allowing the movable warning sign to move freely. Before releasing the movable warning sign, ensure that the connection between the movable warning sign and the vehicle is stable, and ensure that the movable warning sign is released smoothly during the process of releasing the movable warning sign to the ground; after release, the disconnection ensures that the warning sign can move along the predetermined path and will not be dragged by the autonomous driving vehicle, thereby enhancing the safety and stability of the warning sign operation. Once it is confirmed that the traction suction device is disconnected, the warning sign control module will automatically turn on the warning light bar on the warning sign and light up the warning light to improve the warning effect and ensure that the rear vehicle can find it in time and take avoidance measures. At the same time, if the movable warning sign is a triangular warning sign, it is also necessary to pop up the triangular warning light bar to significantly improve the visibility of the warning sign, especially at night, in bad weather or low visibility conditions, ensuring that the rear vehicles can notice the abnormal situation ahead in time.

[0072] After the warning sign is disconnected from the vehicle (i.e. the traction suction device is disconnected), if the warning sign is installed on the back door of the vehicle, the body control module will control the back door to close to ensure the safety of the vehicle. Closing the back door avoids the risk of secondary accidents that may be caused by the vehicle being in an open state during the release of the warning sign, such as the back door may be hit by other vehicles. After completing the release and activation of the warning sign, the body control module will upload the current vehicle status to the remote control system. Including information such as the back door status (open or closed), the warning sign fixture status (unlocked or locked), and the warning sign release device status (unlocked or locked), these status information are sent via 4G / 5G network or radio communication link. By uploading status information, a complete closed-loop control process from demand judgment, release operation to status feedback is formed, which improves the controllability and robustness of the system. Based on the uploaded status information, the remote control system can promptly detect and handle possible faults or abnormal conditions, such as the failure of the warning sign fixture to unlock or the failure of the back door to close, thereby ensuring the safety of system operation.

[0073] In order to adaptively adjust the placement of movable warning signs and improve road safety, in an optional implementation, the above step S204 includes:

[0074] Step S2041, obtaining the rearward environment of the lane where the autonomous driving vehicle is located;

[0075] Step S2042, when the rearward environmental condition meets the environmental condition, controlling the movable warning sign to move to a position at a set distance from the autonomous driving vehicle, and the environmental condition is that there is no obstacle blocking the rear of the lane and there is no curve in the rear direction;

[0076] Step S2043, when the rearward environmental condition does not meet the environmental condition and there is a rearward obstacle blocking the lane where the autonomous driving vehicle is located, controlling the movable warning sign to move to a position between the autonomous driving vehicle and the rearward obstacle;

[0077] Step S2044, when the rear environmental conditions do not meet the above environmental conditions and there is a curve in the rear, control the movable warning sign to move to the position of the rear detection end point, and the rear detection end point is the end point of the road condition that can be detected by the sensor of the above autonomous driving vehicle to the rear of the above autonomous driving vehicle in the maximum range.

[0078] In the above embodiment, the autonomous driving vehicle collects environmental data behind the vehicle in real time through rear-facing on-board sensors, including but not limited to rear-facing cameras, laser radars and millimeter-wave radars. These sensors can detect obstacle information, road conditions (such as curves and straight roads) and dynamic changes in traffic flow behind the vehicle, providing a basis for subsequent path planning and mobile control. Ensure that the autonomous driving vehicle can monitor the rear environment in real time, and provide first-hand data support for the decision-making of the mobile warning sign. If the rear environment meets the environmental conditions (i.e., there are no obstacles and no curves in the rear), the body control module will control the movable warning sign to move to a position at a set distance from the vehicle along a predetermined path (such as 150 meters, which is achieved by installing a distance measurement sensor (GPS\Hall sensor) on the chassis of the movable warning sign, and the triangular warning sign measures and uploads the distance information). In this process, the movement control of the movable warning sign includes forward, backward, steering and speed adjustment. According to road safety standards, the warning sign is placed outside the effective distance to maximize the warning effect and ensure that the rear vehicle has enough time and space to take evasive measures. Through environmental perception, accurate path planning is achieved to ensure the safety and smoothness of the warning sign movement process.

[0079] If there are obstacles in the rearward environment (such as other vehicles, roadblocks, etc.), the body control module will control the movable warning sign to move to the middle position between the vehicle and the obstacle to avoid the warning sign colliding with the obstacle or being blocked by the obstacle, while ensuring that the warning sign can effectively play a warning role. When the rearward environment is complex, it can intelligently avoid obstacles to prevent the warning sign from being damaged during movement and ensure its normal function. Even in an environment with obstacles, the position of the warning sign can be adjusted to ensure that it can still be effectively seen by the rear vehicle to achieve the purpose of warning.

[0080] If there is a curve in the rear, resulting in a limited direct view range behind the vehicle, the body control module will determine a rear detection end position that can cover the road conditions behind the current curve based on the maximum detection range of the vehicle sensor, and then control the movable warning sign to move to that position. This process also requires the support of intelligent path planning and obstacle avoidance algorithms. Common path planning algorithm categories include: curve interpolation-based, graph search-based, numerical optimization-based, model learning-based, etc. Common path planning algorithms include: A* algorithm, EM Planner, etc. When encountering a curve, the position of the warning sign can be adjusted so that it is located in a position that can be seen by the vehicle behind, solving the problem of limited direct view range. Utilize the maximum detection range of the vehicle sensor to ensure that the warning sign is within the farthest effective detection range, thereby maximizing the warning effect.

[0081] In order to ensure the system's accurate control and status monitoring of the warning sign, in an optional implementation, the above step S204 also includes:

[0082] Step S2045, in the process of controlling the movable warning sign to move to the target position, the movable warning sign is controlled to receive a first control instruction, so that the movable warning sign uploads the warning sign status to the automatic driving vehicle and the remote control system according to the first control instruction, the first control instruction at least includes a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction, the warning sign status at least includes the current speed, moving path, moving distance and moving status of the movable warning sign, the moving distance is the distance between the movable warning sign and the automatic driving vehicle, the moving status at least includes the normal movement of the movable warning sign, or the abnormal stuck state or the wheel locked state, the abnormal stuck state is the state in which the movable warning sign stops moving on the spot, and the wheel locked state is the state in which the wheels are locked when the movable warning sign reaches the target position.

[0083] In the above embodiment, when the movable warning sign is controlled to move to the target position, the remote control system and / or the autonomous driving vehicle continuously sends the first control instruction to the warning sign. These first control instructions include but are not limited to forward instructions, backward instructions, steering instructions, locking instructions and lighting instructions, which are used to adjust the movement and status of the warning sign in real time. While the movable warning sign receives and executes these first control instructions, it continuously monitors and uploads the warning sign status to the autonomous driving vehicle and the remote control system through its built-in sensors and communication modules. The warning sign status includes the current speed, moving path, moving distance (i.e., the distance between the warning sign and the autonomous driving vehicle) and moving status (such as normal movement, abnormal stuck state or wheel locked state). Among them, the abnormal stuck state means that the warning sign encounters an obstacle or fault during movement and cannot continue to move; the wheel locked state means that after the warning sign reaches the target position, the wheels are locked to prevent it from moving. The real-time upload of the warning sign status ensures that the autonomous driving vehicle and the remote control system can understand the movement and status of the warning sign at any time, which is crucial for monitoring whether the warning sign reaches the target position safely and accurately. Through continuous status monitoring, the system can promptly detect abnormal stuck states of warning signs, and take measures (such as trying to move again or waiting for rescue) to prevent the warning sign from staying in a dangerous position for a long time and affecting road safety. When the warning sign reaches the target position, the system confirms that the warning sign is stably in place by uploading the wheel locking status, and achieves its locking at the target position, thereby completing the warning duty and ensuring that the following vehicles can effectively see the warning sign. The uploading of the warning sign status and the reception and execution of the first control command form a closed loop of communication and control, ensuring the system's precise control and status monitoring of the warning sign, and improving the overall system's work efficiency and reliability.

[0084] In order to ensure that the movable warning sign failure can be handled in a timely manner, in an optional implementation manner, after the above step S2045, the method further includes:

[0085] Step S501, when the moving state in the warning sign state is the abnormal stuck state, controlling the automatic driving vehicle to send a moving instruction to the movable warning sign at a set time interval;

[0086] Step S502, when the above-mentioned moving instruction is issued for a set number of times and the moving state in the above-mentioned warning sign state is still the above-mentioned abnormal stuck state, a rescue message is issued, and the above-mentioned rescue message is used to prompt that the above-mentioned movable warning sign is abnormally stuck and cannot be moved.

[0087] In the above embodiment, when the system detects that the moving state of the movable warning sign is abnormally stuck (that is, the warning sign stops moving and cannot continue to move automatically to the target position), the autonomous driving vehicle will start the emergency handling process. In this process, the body control module will re-issue movement instructions to the movable warning sign at a preset time interval (such as every 1 minute), trying to release the stuck state so that the warning sign can continue to move. These movement instructions may include but are not limited to forward, backward or turn instructions, which are intended to help the warning sign get out of obstacles or fault points.

[0088] By periodically resending movement instructions, the system attempts to automatically solve the problem, preventing the warning sign from being out of work for a long time, which would affect road safety and warning effects. Sending instructions at set intervals avoids the waste of resources that may be caused by sending instructions continuously, and also prevents excessive consumption of the warning sign battery. This mechanism improves the resilience of the system. Even when encountering obstacles or failures, the system can restore the movement function of the warning sign through multiple attempts, reducing the risk of system failure due to a single point of failure.

[0089] If the warning sign still shows an abnormal stuck state within the set number of times (e.g. after 3 attempts), that is, the warning sign cannot resume normal movement through the re-issued movement command, the system will determine that the warning sign is faulty and cannot recover by itself. At this time, the remote control system will generate and send rescue information, which will contain key information such as the fault status of the movable warning sign, the current location, and the relative distance from the vehicle to alert the ground staff or road rescue service that the warning sign has an abnormal stuck fault and needs to be inspected and repaired on site.

[0090] After multiple attempts to restore movement failed, the system automatically triggered the rescue mechanism, ensuring that the fault could be discovered and handled in time, avoiding road safety hazards caused by warning sign failure. The system automatically sends out rescue information, reducing the need for direct intervention by operators, reducing the cost of manual monitoring and intervention, and improving the operating efficiency of the system.

[0091] In order to reduce the need for manual recycling and save labor costs, in an optional implementation, after the above step S205, the method further includes:

[0092] Step S601, when the installation position of the movable warning sign is the back door, control the back door to open;

[0093] Step S602, controlling the movable warning sign to receive a third control instruction, so that the movable warning sign is automatically folded and automatically recovered to the warning sign fixing device of the autonomous driving vehicle according to the third control instruction, and the current warning sign status is uploaded to the autonomous driving vehicle and the remote control system at the same time, the third control instruction at least includes an instruction to fold the movable warning sign, an instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle, and an instruction to recover the movable warning sign, the instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle is an instruction to attract the traction attraction device and the warning sign release device, and the current warning sign status at least includes that the movable warning sign has been folded, the movable warning sign has failed to be folded, the traction attraction device of the movable warning sign has been attracted, the traction attraction device of the movable warning sign has failed to attract, the movable warning sign has been recovered into the vehicle, and the movable warning sign has failed to be recovered;

[0094] Step S603, when the installation position of the movable warning sign is the back door, controlling the back door to be closed.

[0095] In the above embodiment, when the vehicle confirms that the warning sign has completed its warning task on the road and the vehicle is ready to recycle the warning sign, the body control module controls the back door to open. This operation provides a physical channel for the recovery operation of the warning sign to ensure that the warning sign can enter the vehicle smoothly. After the back door is opened, the body control module sends a third control instruction to the movable warning sign, including an instruction to fold the movable warning sign, an instruction to restore the hardware connection with the automatic driving vehicle, and an instruction to recycle the movable warning sign. According to the instruction, the warning sign begins to fold automatically, and the tripod and the triangle sign are restored to the folded state for easy storage; at the same time, the traction suction device begins to be sucked with the warning sign release device to restore the hardware connection with the vehicle; after completing the above actions, the warning sign will automatically move to the position where the back door of the vehicle is opened, and can be smoothly recovered into the vehicle through the vehicle's mechanical guide device, such as a ramp or a slide rail, and fixed on the warning sign fixing device. In this process, the warning sign will upload its current status in real time, including whether it has been folded, whether the folding is successful, whether the traction suction device has been sucked, whether the suction is successful, whether the warning sign has been recovered into the vehicle, and whether the recovery is successful. The warning sign can be folded and recycled automatically, which reduces the need for manual intervention and improves the efficiency and safety of the recycling process. The hardware connection between the warning sign and the vehicle is restored to ensure the stability of the warning sign in the vehicle and prepare for the next use. When the warning sign is completely recycled into the vehicle, and the traction suction device and the warning sign release device are fully attracted, confirming that the warning sign has been fixed in the vehicle, the body control module will control the tailgate to close to protect the warning sign and other items in the vehicle from the intrusion of external factors such as rain and dust. If the installation location of the movable warning sign is not the tailgate, there is no need to control the opening and closing of the tailgate.

[0096] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0097] The embodiments of the present application also provide a movable warning sign releasing and recovering device. It should be noted that the movable warning sign releasing and recovering device of the embodiments of the present application can be used to execute the movable warning sign releasing and recovering method provided by the embodiments of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] The following is an introduction to the movable warning sign releasing and recovering device provided in an embodiment of the present application.

[0099] Figure 7 is a structural block diagram of a movable warning sign release and recovery device according to an embodiment of the present application. Figure 7 As shown, the device comprises:

[0100] The determination unit 10 is used for automatically determining by the autonomous driving vehicle whether there is a need to release a movable warning sign, obtaining a first determination result, and / or receiving a second determination result sent by a remote control system, wherein the movable warning sign is at least one of the following: a movable triangular warning sign and a drone, and the second determination result is the presence of a need to release the movable warning sign determined by the remote control system.

[0101] Specifically, Figure 3 As shown, the autonomous driving vehicle is equipped with and fixed with a triangular warning sign, and the release requirement is determined by the autonomous driving vehicle or the remote control system. The autonomous driving vehicle monitors the vehicle health status and external environment in real time through its internal status monitoring module. When the vehicle detects abnormal parking, such as a vehicle failure or collision, the status monitoring module will automatically determine whether the movable warning sign needs to be released based on the vehicle sensor data, such as the rear road conditions detected by the rear camera, laser radar, and side rear millimeter wave radar. This judgment is based on comprehensive factors such as vehicle fault information, traffic environment status, and whether the scheduled station has been reached. The remote control system receives video data uploaded by the on-board sensor, and the operator observes the vehicle and traffic status and makes an independent judgment. If the operator believes that the warning sign needs to be released, even if the vehicle itself determines that it is not released, the remote control system can still send a release requirement instruction to the autonomous driving vehicle as a redundant safety guarantee. The high-priority control instructions of the remote control system can override the vehicle's automatic judgment results to ensure the correct placement of the warning sign in complex or emergency situations. The autonomous driving vehicle can respond to vehicle abnormalities immediately and determine whether the movable warning sign needs to be released through intelligent algorithms, avoiding delays in waiting for rescue personnel to arrive and improving traffic safety. The intervention of the remote control system provides additional judgment and control methods, enhances the robustness and safety of the system, and ensures that warning signs can be released in time even if the vehicle's own judgment system fails or misjudges.

[0102] The receiving unit 20 is used to receive a warning sign release instruction when the first determination result is that there is a release requirement for the movable warning sign and / or the second determination result is that there is a release requirement for the movable warning sign.

[0103] Specifically, when the first determination result is that there is a need to release the movable warning sign and / or the second determination result is that there is a need to release the movable warning sign, if either determination result is that there is a release demand, the body control module of the autonomous driving vehicle receives a warning sign release command from the state monitoring module or the remote control system. Ensure that the communication between the vehicle and the remote control system is smooth, and can accurately receive the command to release the warning sign, avoiding safety hazards caused by communication failure.

[0104] The release unit 30 is used to control the movable warning sign to be released from the automatic driving vehicle to the ground in response to the warning sign release instruction.

[0105] Specifically, Figure 3 As shown, in response to the above-mentioned warning sign release instruction, the body control module of the autonomous driving vehicle controls the opening of the tailgate, unlocks the warning sign fixing device and the warning sign releasing device, and releases the movable warning sign smoothly to the ground.

[0106] The moving unit 40 is used to control the movable warning sign to move to a target position.

[0107] Specifically, Figure 3 As shown, the autonomous driving vehicle or the remote control system can control the movable warning sign to reach the target location. The autonomous driving system is used to control the movable warning sign in a normal manner. The remote control system serves as a high-priority redundant link. If the autonomous driving vehicle controls the warning sign unreasonably or does not control the warning sign, the operator can control the warning sign through the remote control system, and the movable warning sign responds to the control command sent by the remote control system first. The autonomous driving vehicle senses the road conditions behind through the rear sensor and intelligently plans the trajectory of the warning sign. The target position is determined based on the detected obstacles, curves and other conditions. The autonomous driving vehicle or remote control system sends movement control commands to the movable warning sign, including forward, backward, steering, etc., and receives status feedback from the warning sign, such as the current speed, movement status, whether it is stuck, etc., to complete the control closed loop of the movement process.

[0108] The recovery unit 50 is used to control the above-mentioned movable warning sign to receive the recovery control instruction, so that the above-mentioned movable warning sign moves to the recovery position according to the above-mentioned recovery control instruction, and the above-mentioned movable warning sign is automatically recovered from the above-mentioned recovery position to the above-mentioned automatic driving vehicle, and the above-mentioned recovery position is a set position behind the above-mentioned automatic driving vehicle. The above-mentioned recovery control instruction is used to control the return of the above-mentioned movable warning sign, and the above-mentioned recovery control instruction at least includes a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction.

[0109] Specifically, in order to reduce the need for manual recycling and save labor costs, when the fault or accident of the autonomous vehicle is handled, or the road conditions allow the vehicle to continue driving, the system will determine that the warning sign has completed its warning task and needs to be recycled. At this time, the remote control system or the autonomous vehicle will start the recycling process and send a recycling control instruction to the movable warning sign.

[0110] The recovery control instructions include, but are not limited to, forward instructions, reverse instructions, turn instructions, lock instructions, and lighting instructions, which are used to guide the warning sign back to the set recovery position behind the vehicle. This process may involve the warning sign moving backward from its current position, adjusting its direction to ensure alignment with the vehicle, and controlling the speed of movement to ensure a safe and smooth recovery process. After receiving the recovery control instruction, the movable warning sign begins to perform the return operation. It uses its built-in mobile chassis to adjust the driving direction and speed according to the reverse, turn and lock instructions in the instruction, and may use lighting to increase visibility to ensure safe return at night or in low visibility conditions. When approaching the vehicle recovery position, the warning sign will execute a locking instruction to ensure that it will not be damaged due to excessive speed or instability during the recovery process. Once the recovery position is reached, the warning sign will stop moving and wait for the vehicle's recovery operation.

[0111] In this embodiment, the application routinely loads warning signs in the autonomous driving vehicle, and controls the warning signs to be stably released and moved to the target position according to the release requirements; the remote control system can observe the autonomous driving vehicle and the surrounding environment of the warning sign through monitoring video to determine whether there is a need to release the warning sign, and send a warning sign release command to the autonomous driving vehicle if there is a need to release the warning sign, control the warning sign to be released and moved to the target position, and finally, after the warning task is completed, send a recovery control command to enable the movable warning sign to be automatically recovered. The application solves the problem of increased labor costs in the prior art that only relies on the driver's independent judgment to release the warning sign and manually recover the warning sign.

[0112] In order to ensure the correct release of the warning sign and enhance the robustness and safety of the system, in an optional implementation manner, the above-mentioned determination unit includes:

[0113] a first acquisition module, configured to acquire a first vehicle state and a second vehicle state automatically monitored by the autonomous driving vehicle, wherein the first vehicle state is abnormal parking of the vehicle or normal parking of the vehicle, wherein the abnormal parking of the vehicle includes a failure of the autonomous driving vehicle and failure to drive to the set station, or a collision accident occurs in the autonomous driving vehicle and failure to drive to the set station, and the second vehicle state includes a state in which a vehicle link is operating normally or a vehicle link is failing, wherein the normal operation of the vehicle link includes when the installation position of the movable warning sign is the rear door, the rear door control link of the autonomous driving vehicle is operating normally, the rear door is not squeezed, and the release link of the movable warning sign is operating normally, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the release link of the movable warning sign is operating normally, and the vehicle link failure includes when the installation position of the movable warning sign is the rear door, the rear door control link of the autonomous driving vehicle is failing, or the rear door is squeezed, or the release link of the movable warning sign is failing, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the release link of the movable warning sign is failing, and the release link is a communication line for controlling the release of the movable warning sign;

[0114] A first determination module is used to determine that the first determination result is that there is a need to release the movable warning sign when the first vehicle state is that the vehicle is abnormally parked and the second vehicle state is that the vehicle link is working normally;

[0115] The second determination module is used to determine that the second determination result is that there is a release requirement for the movable warning sign and receive the second determination result when the second vehicle state is that the vehicle link is working normally and a remote release command sent by the remote control system is received.

[0116] In the above embodiment, if Figure 4As shown in the figure, the state monitoring module of the autonomous driving vehicle continuously monitors whether the vehicle has any faults or collision accidents. If the autonomous driving vehicle stops midway without reaching the predetermined station, it is determined that the vehicle has stopped abnormally. The state monitoring module of the vehicle checks whether the physical link (such as the back door control link and the warning sign release link) and the communication link of the vehicle are in normal working state. If the movable warning sign is installed on the back door, the system will check whether the back door control is normal, whether the back door can be opened freely, and whether the warning sign release link (the communication line that controls the release of the warning sign) is available; if the warning sign is installed on the roof or the bottom of the vehicle, the system will focus on checking the status of the warning sign release link. By continuously monitoring the vehicle status and the communication link status, it is ensured that the system can respond in time when the vehicle fails or an accident occurs, and it is also ensured that the physical and communication links of the vehicle are in a reliable state when the system performs the warning sign release task. When the vehicle link status is detected to be abnormal, timely measures can be taken, such as switching to the remote control system control mode, to avoid the potential risk of the warning sign not being released normally due to the vehicle's own state problems.

[0117] When the status monitoring module obtains the first vehicle status of abnormal parking and confirms that the vehicle link is working normally (including the back door control link, warning sign release link, etc.), the system determines that there is a need to release the movable warning sign at this time, that is, the first judgment result is that there is a release demand. When it is confirmed that the vehicle is in an abnormal parking state and the vehicle has the ability to release the warning sign, the system can automatically judge and start the warning sign release process, so as to complete the release of the warning sign in the shortest time and improve road safety. The automatic driving system only determines that the warning sign needs to be released when the automatic driving vehicle does have an abnormal parking and the vehicle link is normal, avoiding misoperation in normal parking state or link failure, and ensuring the accuracy and safety of warning sign release. The remote control system operator manually determines whether the movable warning sign needs to be released by observing the video data of the automatic driving vehicle and the surrounding environment. If the judgment result is that release is required and the vehicle link status detection result is normal operation, the remote control system will send a remote release command to the automatic driving vehicle, and the automatic driving vehicle receives and determines that the second judgment result is that there is a release demand. The intervention of the remote control system provides an additional release demand determination method, which can ensure the correct release of the warning sign even if the vehicle's own judgment system fails, thereby enhancing the robustness and safety of the system. The operator's participation and judgment, combined with the vehicle's automation system, form a human-machine collaborative control mode. This mode combines human intuitive judgment and machine precise control, and can cope with various complex road and vehicle conditions, ensuring that warning signs can be released in a timely and accurate manner in an emergency.

[0118] In order to avoid improper release of the warning sign due to a local failure of the vehicle or misjudgment, in an optional implementation, the device further includes:

[0119] an analysis unit, configured to send the monitoring video of the autonomous driving vehicle to the remote control system before determining that the second determination result is that there is a release requirement for the movable warning sign when the second vehicle state is that the vehicle link is operating normally and the remote release command sent by the remote control system is received, so as to use the remote control system to perform an abnormality analysis on the autonomous driving vehicle according to the monitoring video to obtain an analysis result, wherein the analysis result includes that the autonomous driving vehicle has a fault or a collision accident, or that there is no abnormality in the autonomous driving vehicle;

[0120] The first control unit is used to control the remote control system to send the remote release instruction to the autonomous driving vehicle when the analysis result shows that the autonomous driving vehicle has a fault or a collision occurs.

[0121] In the above embodiment, if Figure 5 As shown, Figure 5 The schematic diagram of the structure of a vehicle control module provided according to an embodiment of the present application is shown. During the operation of the autonomous driving vehicle, the vehicle sensors (rear-facing camera and side rear-facing camera) of the autonomous driving vehicle continuously collect monitoring video data from the rear and side rear of the autonomous driving vehicle. These monitoring videos are transmitted to the remote control system in real time via 4G / 5G or radio networks. After the remote control system receives these video data, the operator or the system's built-in intelligent analysis software analyzes them to determine whether there is a fault in the vehicle or whether a collision accident has occurred. Figure 6 As shown in the figure, the remote control system can obtain multiple monitoring videos, vehicle status and warning sign status, and switch different monitoring videos through the video switching button. The vehicle control console can issue control instructions to the autonomous vehicle, and the warning sign control console can issue control instructions to the autonomous vehicle. The remote control system can timely understand the real-time status and surrounding environment of the vehicle through monitoring videos. Especially when the on-board sensors may fail or be interfered with, the video data provides intuitive evidence of abnormal conditions and enhances the system's perception ability. The intervention of the remote control system as a redundant control link, even if the vehicle's own status monitoring module fails to timely or accurately judge the abnormal state, the remote control system can make a judgment through video analysis, avoiding safety hazards caused by vehicle misjudgment. The operator can combine the information in the video, such as the environment where the vehicle is stopped, traffic conditions, etc., to make a more comprehensive situation judgment. This human-machine combination method improves the accuracy of abnormal analysis and the reliability of decision-making.

[0122] If the remote control system determines that the autonomous vehicle has a fault or a collision accident through analyzing the monitoring video, the remote control system will generate a remote release command and send it to the autonomous vehicle through the communication network to prompt the autonomous vehicle to release the movable warning sign. The remote release command sent by the remote control system has a high priority. Even if the vehicle itself judges not to release the warning sign, or if the vehicle judgment system fails, the remote control system's command can ensure the release of the warning sign and provide immediate emergency response and safety warning measures. The intervention of the remote control system can avoid improper release of warning signs due to local failures or misjudgments of the vehicle, and enhance the overall robustness and safety of the system. The remote control system can not only analyze video data, but also directly send control commands, demonstrating the high efficiency of remote monitoring and control, so that even if the vehicle is unmanned, the remote control system can handle abnormal conditions in a timely manner to improve road safety.

[0123] In order to improve the flexibility of releasing the movable warning sign, in an optional implementation, the release unit includes:

[0124] a first control module, for, when the installation position of the movable warning sign is the rear door, sequentially controlling the opening of the rear door, unlocking of the warning sign fixing device and unlocking of the warning sign releasing device, so that the movable warning sign is released to the ground, the warning sign fixing device is a device for fixing the movable warning sign on the autonomous driving vehicle, and the warning sign releasing device is a device for releasing the movable warning sign from the autonomous driving vehicle;

[0125] The second control module is used to control the unlocking of the warning sign fixing device and the unlocking of the warning sign releasing device in sequence when the installation position of the movable warning sign is the roof or the bottom of the vehicle, so as to release the movable warning sign to the ground.

[0126] In the above embodiment, when the system determines that the movable warning sign needs to be released (such as the vehicle is parked abnormally and the link is working properly), and the installation position of the warning sign is on the back door, the body control module will perform the following operations: After receiving the command, the body control module first controls the opening link of the back door to ensure that the back door can be opened safely and smoothly. This step provides a physical channel for releasing the warning sign to ensure that the warning sign can be smoothly released from the inside of the vehicle to the ground. After the back door is opened, the body control module continues to control the unlocking link of the warning sign fixing device to release the fixed connection between the warning sign and the vehicle. The design of the fixing device must ensure that the warning sign can remain stable during the driving process of the vehicle (including high acceleration, high speed forward, high deceleration and bumpy state) without being squeezed or bumped. Finally, the body control module controls the unlocking link of the warning sign release device to release the movable warning sign to the ground. The design of the release device must ensure that the warning sign can land smoothly to avoid any damage or failure during the release process. Ensure that the release process of the warning sign is carried out in an orderly manner to avoid vehicle or warning sign failures that may be caused by incorrect control sequence. Especially when the tailgate is used as the release position, it ensures that the warning sign can be smoothly released from a closed space (such as the trunk of a vehicle), adapting to the needs of different vehicle models and vehicle layouts.

[0127] When the system determines that the warning sign needs to be released (such as the vehicle is parked abnormally and the link is working properly), and the warning sign is installed on the roof or under the vehicle, the body control module will perform the following operations: Warning sign fixture unlocking: The body control module first controls the unlocking link of the warning sign fixture to release the fixed connection between the movable warning sign and the vehicle. The design of the fixture must ensure that the warning sign can be stably fixed on the roof or under the vehicle under various driving conditions. Subsequently, the body control module controls the unlocking link of the warning sign release device to allow the warning sign to be released from the outside of the vehicle to the ground. The design of the release device must ensure that the movable warning sign can land accurately and will not be affected by any driving of the vehicle. Allowing the warning sign to be released on the roof or under the vehicle provides greater flexibility for different models and application scenarios, especially when the trunk space is limited or it is not suitable to install the release device. Since the warning sign is directly fixed on the roof or under the vehicle, there is no need to open the tailgate, and the release process is more direct and quick, reducing potential failure points during the release process. This design not only optimizes the use of the space inside the vehicle, but also avoids the restrictions of the interior layout on the release of the warning sign through the release method outside the vehicle, enhancing the adaptability and safety of the system.

[0128] In order to improve the visibility of the movable warning sign and the safety of the vehicle, in an optional embodiment, the device further includes:

[0129] a second control unit, used for controlling the disconnection of a traction and engagement device between the movable warning sign and the autonomous driving vehicle, wherein the traction and engagement device is mounted on the movable warning sign, and the traction and engagement device is connected to a warning sign release device via a traction line, and the warning sign release device is a device for releasing the movable warning sign from the autonomous driving vehicle;

[0130] A third control unit, used to control the warning light bar of the movable warning sign to turn on;

[0131] a fourth control unit, configured to control the back door to be closed when the movable warning sign is installed at the back door;

[0132] An uploading unit is used to upload the current vehicle status to the above-mentioned remote control system, the above-mentioned current vehicle status includes the back door status, the warning sign fixing device status and the warning sign releasing device status, the above-mentioned back door status includes the back door being open or the back door being closed, the above-mentioned warning sign fixing device status includes the warning sign fixing device being in an unlocked state or the above-mentioned warning sign fixing device being in a locked state, the above-mentioned warning sign fixing device is a device for fixing the above-mentioned movable warning sign on the above-mentioned automatic driving vehicle, and the above-mentioned warning sign releasing device status includes the above-mentioned warning sign releasing device being in an unlocked state or the above-mentioned warning sign releasing device being in a locked state.

[0133] In the above embodiment, when the movable warning sign is released from the autonomous driving vehicle, the body control module sends a command to the warning sign control module to control the disconnection of the traction suction device, which is installed on the movable warning sign and connected to the warning sign release device on the vehicle through a traction line. After the disconnection command is received, the traction suction device (such as an electromagnetic suction device or a mechanical locking device) releases the physical connection with the vehicle, allowing the movable warning sign to move freely. Before releasing the movable warning sign, ensure that the connection between the movable warning sign and the vehicle is stable, and ensure that the movable warning sign is released smoothly during the process of releasing the movable warning sign to the ground; after release, the disconnection ensures that the warning sign can move along the predetermined path and will not be dragged by the autonomous driving vehicle, thereby enhancing the safety and stability of the warning sign operation. Once it is confirmed that the traction suction device is disconnected, the warning sign control module will automatically turn on the warning light bar on the warning sign and light up the warning light to improve the warning effect and ensure that the rear vehicle can find it in time and take avoidance measures. At the same time, if the movable warning sign is a triangular warning sign, it is also necessary to pop up the triangular warning light bar to significantly improve the visibility of the warning sign, especially at night, in bad weather or low visibility conditions, ensuring that the rear vehicles can notice the abnormal situation ahead in time.

[0134] After the warning sign is disconnected from the vehicle (i.e. the traction suction device is disconnected), if the warning sign is installed on the back door of the vehicle, the body control module will control the back door to close to ensure the safety of the vehicle. Closing the back door avoids the risk of secondary accidents that may be caused by the vehicle being in an open state during the release of the warning sign, such as the back door may be hit by other vehicles. After completing the release and activation of the warning sign, the body control module will upload the current vehicle status to the remote control system. Including information such as the back door status (open or closed), the warning sign fixture status (unlocked or locked), and the warning sign release device status (unlocked or locked), these status information are sent via 4G / 5G network or radio communication link. By uploading status information, a complete closed-loop control process from demand judgment, release operation to status feedback is formed, which improves the controllability and robustness of the system. Based on the uploaded status information, the remote control system can promptly detect and handle possible faults or abnormal conditions, such as the failure of the warning sign fixture to unlock or the failure of the back door to close, thereby ensuring the safety of system operation.

[0135] In order to adaptively adjust the placement of the movable warning sign and improve road safety, in an optional implementation, the mobile unit includes:

[0136] The second acquisition module is used to obtain the rear environment of the lane where the autonomous driving vehicle is located;

[0137] A third control module is used to control the movable warning sign to move to a position at a set distance from the autonomous driving vehicle when the rearward environmental condition meets the environmental condition, and the environmental condition is that there is no obstacle blocking the rear of the lane and there is no curve in the rear direction;

[0138] a fourth control module, configured to control the movable warning sign to move to a position between the autonomous driving vehicle and the rear obstacle when the rearward environmental condition does not meet the environmental condition and there is a rearward obstacle blocking the lane where the autonomous driving vehicle is located;

[0139] The fifth control module is used to control the movable warning sign to move to the position of the rear detection end point when the rear environmental conditions do not meet the above environmental conditions and there is a curve behind. The rear detection end point is the end point of the road condition that can be detected by the sensor of the above autonomous driving vehicle to the rear of the above autonomous driving vehicle in the maximum range.

[0140] In the above embodiment, the autonomous driving vehicle collects environmental data behind the vehicle in real time through rear-facing on-board sensors, including but not limited to rear-facing cameras, laser radars and millimeter-wave radars. These sensors can detect obstacle information, road conditions (such as curves and straight roads) and dynamic changes in traffic flow behind the vehicle, providing a basis for subsequent path planning and mobile control. Ensure that the autonomous driving vehicle can monitor the rear environment in real time, and provide first-hand data support for the decision-making of the mobile warning sign. If the rear environment meets the environmental conditions (i.e., there are no obstacles and no curves in the rear), the body control module will control the movable warning sign to move to a position at a set distance from the vehicle along a predetermined path (such as 150 meters, which is achieved by installing a distance measurement sensor (GPS\Hall sensor) on the chassis of the movable warning sign, and the triangular warning sign measures and uploads the distance information). In this process, the movement control of the movable warning sign includes forward, backward, steering and speed adjustment. According to road safety standards, the warning sign is placed outside the effective distance to maximize the warning effect and ensure that the rear vehicle has enough time and space to take evasive measures. Through environmental perception, accurate path planning is achieved to ensure the safety and smoothness of the warning sign movement process.

[0141] If there are obstacles in the rearward environment (such as other vehicles, roadblocks, etc.), the body control module will control the movable warning sign to move to the middle position between the vehicle and the obstacle to avoid the warning sign colliding with the obstacle or being blocked by the obstacle, while ensuring that the warning sign can effectively play a warning role. When the rearward environment is complex, it can intelligently avoid obstacles to prevent the warning sign from being damaged during movement and ensure its normal function. Even in an environment with obstacles, the position of the warning sign can be adjusted to ensure that it can still be effectively seen by the rear vehicle to achieve the purpose of warning.

[0142] If there is a curve in the rear, resulting in a limited direct view range behind the vehicle, the body control module will determine a rear detection end position that can cover the road conditions behind the current curve based on the maximum detection range of the vehicle sensor, and then control the movable warning sign to move to that position. This process also requires the support of intelligent path planning and obstacle avoidance algorithms. Common path planning algorithm categories include: curve interpolation-based, graph search-based, numerical optimization-based, model learning-based, etc. Common path planning algorithms include: A* algorithm, EM Planner, etc. When encountering a curve, the position of the warning sign can be adjusted so that it is located in a position that can be seen by the vehicle behind, solving the problem of limited direct view range. Utilize the maximum detection range of the vehicle sensor to ensure that the warning sign is within the farthest effective detection range, thereby maximizing the warning effect.

[0143] In order to ensure the system's accurate control and status monitoring of the warning sign, in an optional implementation, the mobile unit further includes:

[0144] The sixth control module is used to control the movable warning sign to receive the first control instruction during the process of controlling the movable warning sign to move to the target position, so that the movable warning sign uploads the warning sign status to the automatic driving vehicle and the remote control system according to the first control instruction, the first control instruction at least includes a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction, the warning sign status at least includes the current speed, moving path, moving distance and moving status of the movable warning sign, the moving distance is the distance between the movable warning sign and the automatic driving vehicle, the moving status at least includes the normal movement of the movable warning sign, or the abnormal stuck state or the wheel locked state, the abnormal stuck state is the state in which the movable warning sign stops moving on the spot, and the wheel locked state is the state in which the wheels are locked when the movable warning sign reaches the target position.

[0145] In the above embodiment, when the movable warning sign is controlled to move to the target position, the remote control system and / or the autonomous driving vehicle continuously sends the first control instruction to the warning sign. These first control instructions include but are not limited to forward instructions, backward instructions, steering instructions, locking instructions and lighting instructions, which are used to adjust the movement and status of the warning sign in real time. While the movable warning sign receives and executes these first control instructions, it continuously monitors and uploads the warning sign status to the autonomous driving vehicle and the remote control system through its built-in sensors and communication modules. The warning sign status includes the current speed, moving path, moving distance (i.e., the distance between the warning sign and the autonomous driving vehicle) and moving status (such as normal movement, abnormal stuck state or wheel locked state). Among them, the abnormal stuck state means that the warning sign encounters an obstacle or fault during movement and cannot continue to move; the wheel locked state means that after the warning sign reaches the target position, the wheels are locked to prevent it from moving. The real-time upload of the warning sign status ensures that the autonomous driving vehicle and the remote control system can understand the movement and status of the warning sign at any time, which is crucial for monitoring whether the warning sign reaches the target position safely and accurately. Through continuous status monitoring, the system can promptly detect abnormal stuck states of warning signs, and take measures (such as trying to move again or waiting for rescue) to prevent the warning sign from staying in a dangerous position for a long time and affecting road safety. When the warning sign reaches the target position, the system confirms that the warning sign is stably in place by uploading the wheel locking status, and achieves its locking at the target position, thereby completing the warning duty and ensuring that the following vehicles can effectively see the warning sign. The uploading of the warning sign status and the reception and execution of the first control command form a closed loop of communication and control, ensuring the system's precise control and status monitoring of the warning sign, and improving the overall system's work efficiency and reliability.

[0146] In order to ensure that the movable warning sign failure can be handled in time, in an optional implementation manner, the device further includes:

[0147] a fifth control unit, configured to, after controlling the movable warning sign to upload the warning sign status to the autonomous driving vehicle and the remote control system, control the autonomous driving vehicle to issue a movement instruction to the movable warning sign at a set time interval when the movement status in the warning sign status is the abnormal stuck state;

[0148] The issuing unit is used to issue a rescue message when the above-mentioned moving instruction has been issued for a set number of times and the moving state in the above-mentioned warning sign state is still the above-mentioned abnormal stuck state. The above-mentioned rescue message is used to prompt that the above-mentioned movable warning sign has an abnormal stuck fault and cannot be moved.

[0149] In order to reduce the need for manual recycling and save labor costs, in an optional embodiment, the device also includes:

[0150] a sixth control unit, configured to control the movable warning sign to receive a recovery control instruction so that the movable warning sign moves to a recovery position according to the recovery control instruction, and, if the installation position of the movable warning sign is the rear door, control the rear door to be opened;

[0151] a seventh control unit, for controlling the movable warning sign to receive a third control instruction, so that the movable warning sign is automatically folded and automatically recovered to the warning sign fixing device of the autonomous driving vehicle according to the third control instruction, and the current warning sign status is uploaded to the autonomous driving vehicle and the remote control system at the same time, the third control instruction at least includes an instruction to fold the movable warning sign, an instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle, and an instruction to recover the movable warning sign, the instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle is an instruction to attract the traction attraction device and the warning sign releasing device, and the current warning sign status at least includes that the movable warning sign has been folded, the movable warning sign has failed to be folded, the traction attraction device of the movable warning sign has been attracted, the traction attraction device of the movable warning sign has failed to attract, the movable warning sign has been recovered into the vehicle, and the movable warning sign has failed to be recovered;

[0152] The eighth control unit is used to control the back door to be closed when the installation position of the movable warning sign is the back door.

[0153] The above-mentioned movable warning sign release and recovery device includes a processor and a memory. The above-mentioned determination unit, receiving unit and release unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0154] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem of relying solely on the driver's autonomous judgment to release the warning sign and manually recovering the warning sign in the prior art, which increases labor costs.

[0155] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0156] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the movable warning sign release and recovery method.

[0157] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes the steps of the movable warning sign release and recovery method when running.

[0158] An embodiment of the present invention provides a vehicle, which includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements at least the steps of the method when executing the program.

[0159] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes at least the steps of the movable warning sign release and recovery method.

[0160] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0161] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0162] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0166] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0167] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0168] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0169] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0170] 1) The movable warning sign release and recovery method of the present application is to load the warning sign in the autonomous driving vehicle in a normal manner, and control the warning sign to be stably released and moved to the target position according to the release demand; the remote control system can observe the autonomous driving vehicle and the surrounding environment of the warning sign through the monitoring video to determine whether there is a need to release the warning sign, and send a warning sign release command to the autonomous driving vehicle when there is a need to release the warning sign, and control the warning sign to be released and moved to the target position. The present application solves the problem of increased labor costs in the prior art that only relies on the driver's independent judgment to release the warning sign and manually recover the warning sign.

[0171] 2) The movable warning sign releasing and recovering device of the present application, by normally loading warning signs in the autonomous driving vehicle, and controlling the warning signs to be stably released and moved to the target position according to the release requirements; the remote control system can observe the autonomous driving vehicle and the surrounding environment of the warning sign through monitoring video to determine whether there is a need to release the warning sign, and send a warning sign release instruction to the autonomous driving vehicle when there is a need to release the warning sign. The control warning solves the problem of increased labor costs in the prior art that the warning sign is released only by the driver's independent judgment and manual recovery of the warning sign.

[0172] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for releasing and recovering a movable warning sign, characterized in that: include: The autonomous driving vehicle automatically determines whether there is a need to release the movable warning sign, and obtains a first determination result, and / or receives a second determination result sent by the remote control system, wherein the movable warning sign is at least one of the following: a movable triangular warning sign and a drone, and the second determination result is that there is a need to release the movable warning sign determined by the remote control system; When the first determination result is that there is a demand for releasing the movable warning sign and / or the second determination result is that there is a demand for releasing the movable warning sign, receiving a warning sign release instruction; In response to the warning sign release instruction, controlling the movable warning sign to be released from the autonomous driving vehicle to the ground; Controlling the movable warning sign to move to a target position; The movable warning sign is controlled to receive a recovery control instruction, so that the movable warning sign moves to a recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, wherein the recovery position is a set position behind the autonomous driving vehicle, and the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction.

2. The method according to claim 1, characterized in that The autonomous driving vehicle automatically determines whether there is a need to release the movable warning sign, obtains a first determination result, and / or receives a second determination result sent by the remote control system, including: Acquire a first vehicle state and a second vehicle state automatically monitored by the autonomous driving vehicle, wherein the first vehicle state is abnormal parking of the vehicle or normal parking of the vehicle, wherein the abnormal parking of the vehicle includes that the autonomous driving vehicle fails and fails to drive to the set station, or that the autonomous driving vehicle encounters a collision accident and fails to drive to the set station, and the second vehicle state includes a state in which a vehicle link is operating normally or a vehicle link fails, wherein the normal operation of the vehicle link includes that when the installation position of the movable warning sign is the rear door, the rear door control link of the autonomous driving vehicle operates normally, the rear door is not squeezed, and the release link of the movable warning sign operates normally, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the release link of the movable warning sign operates normally, and the vehicle link fails includes that when the installation position of the movable warning sign is the rear door, the rear door control link of the autonomous driving vehicle fails, or the rear door is squeezed, or the release link of the movable warning sign fails, or when the installation position of the movable warning sign is the roof or the bottom of the vehicle, the release link of the movable warning sign fails, and the release link is a communication line for controlling the release of the movable warning sign; When the first vehicle state is that the vehicle is abnormally parked and the second vehicle state is that the vehicle link is operating normally, determining that the first determination result is that there is a need to release the movable warning sign; When the second vehicle status is that the vehicle link is operating normally and a remote release command sent by the remote control system is received, it is determined that the second determination result is that there is a release requirement for the movable warning sign and the second determination result is received.

3. The method according to claim 2, characterized in that When the second vehicle state is that the vehicle link is operating normally and a remote release instruction sent by the remote control system is received, before determining that the second determination result is that there is a release requirement for the movable warning sign, the method further includes: Sending the monitoring video of the autonomous driving vehicle to the remote control system, so as to use the remote control system to perform abnormal analysis on the autonomous driving vehicle according to the monitoring video to obtain an analysis result, wherein the analysis result includes that the autonomous driving vehicle has a fault or a collision accident, or that the autonomous driving vehicle has no abnormality; When the analysis result indicates that the autonomous driving vehicle has a fault or a collision occurs, the remote control system is controlled to send the remote release command to the autonomous driving vehicle.

4. The method according to claim 1, characterized in that: In response to the warning sign release instruction, controlling the movable warning sign to be released from the autonomous driving vehicle to the ground includes: In the case where the installation position of the movable warning sign is the back door, the back door is opened, the warning sign fixing device is unlocked, and the warning sign releasing device is unlocked in sequence, so that the movable warning sign is released to the ground, the warning sign fixing device is a device for fixing the movable warning sign on the autonomous driving vehicle, and the warning sign releasing device is a device for releasing the movable warning sign from the autonomous driving vehicle; When the installation position of the movable warning sign is the roof or the bottom of the vehicle, the warning sign fixing device and the warning sign releasing device are controlled to be unlocked in sequence, so that the movable warning sign is released to the ground.

5. The method according to claim 1, characterized in that After controlling the movable warning sign to be released from the autonomous driving vehicle to the ground in response to the warning sign release instruction, the method further includes: Controlling the disconnection of the traction and engagement device between the movable warning sign and the autonomous driving vehicle, wherein the traction and engagement device is mounted on the movable warning sign, and the traction and engagement device is connected to a warning sign release device via a traction line, and the warning sign release device is a device for releasing the movable warning sign from the autonomous driving vehicle; Controlling the warning light bar of the movable warning sign to turn on; When the installation position of the movable warning sign is the back door, controlling the back door to be closed; The current vehicle status is uploaded to the remote control system, wherein the current vehicle status includes the status of a rear door, a status of a warning sign fixing device, and a status of a warning sign releasing device. The status of the rear door includes the rear door being open or the rear door being closed. The status of the warning sign fixing device includes the warning sign fixing device being in an unlocked state or the warning sign fixing device being in a locked state. The warning sign fixing device is a device for fixing the movable warning sign on the autonomous driving vehicle. The status of the warning sign releasing device includes the warning sign releasing device being in an unlocked state or the warning sign releasing device being in a locked state.

6. The method according to claim 1, characterized in that Controlling the movable warning sign to move to a target position includes: Obtain the rearward environment of the lane where the autonomous driving vehicle is located; When the rearward environmental condition satisfies an environmental condition, controlling the movable warning sign to move to a position at a set distance from the autonomous driving vehicle, wherein the environmental condition is that there is no obstacle blocking the rearward direction of the lane and there is no curve in the rearward direction; When the rearward environmental condition does not satisfy the environmental condition and there is a rearward obstacle blocking the lane where the autonomous driving vehicle is located, controlling the movable warning sign to move to a position between the autonomous driving vehicle and the rearward obstacle; When the rear environmental condition does not meet the environmental conditions and there is a curve in the rear, the movable warning sign is controlled to move to the position of the rear detection end point, and the rear detection end point is the end point of the road condition that can be detected by the sensor of the autonomous driving vehicle to the rear of the autonomous driving vehicle in the maximum range.

7. The method according to claim 1, characterized in that Controlling the movable warning sign to move to a target position also includes: In the process of controlling the movable warning sign to move to the target position, the movable warning sign is controlled to receive a first control instruction so that the movable warning sign uploads the warning sign status to the automatic driving vehicle and the remote control system according to the first control instruction, the first control instruction at least includes a forward instruction, a reverse instruction, a steering instruction, a locking instruction and a lighting instruction, the warning sign status at least includes the current speed, moving path, moving distance and moving status of the movable warning sign, the moving distance is the distance between the movable warning sign and the automatic driving vehicle, the moving status at least includes the normal movement of the movable warning sign, or the abnormal stuck state or the wheel locked state, the abnormal stuck state is the state in which the movable warning sign stops moving on the spot, and the wheel locked state is the state in which the wheels of the movable warning sign are locked when the movable warning sign reaches the target position.

8. The method according to claim 7, characterized in that After controlling the movable warning sign to upload the warning sign status to the autonomous driving vehicle and the remote control system, the method further includes: When the moving state in the warning sign state is the abnormal stuck state, controlling the automatic driving vehicle to issue a moving instruction to the movable warning sign at a set time interval; When the movement instruction is issued a set number of times and the movement state in the warning sign state is still the abnormal stuck state, a rescue message is issued, and the rescue message is used to prompt that the movable warning sign is unable to move due to an abnormal stuck fault.

9. The method according to claim 1, characterized in that: After controlling the movable warning sign to receive the recycling control instruction so that the movable warning sign moves to the recycling position according to the recycling control instruction, the method further includes: When the installation position of the movable warning sign is the back door, controlling the back door to open; Controlling the movable warning sign to receive a third control instruction, so that the movable warning sign is automatically folded and automatically recovered to the warning sign fixing device of the autonomous driving vehicle according to the third control instruction, and at the same time uploading the current warning sign status to the autonomous driving vehicle and the remote control system, the third control instruction at least includes an instruction to fold the movable warning sign, an instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle, and an instruction to recover the movable warning sign, the instruction to restore the hardware connection of the movable warning sign with the autonomous driving vehicle is an instruction to attract the traction attraction device and the warning sign releasing device, and the current warning sign status at least includes that the movable warning sign has been folded, the movable warning sign has failed to be folded, the traction attraction device of the movable warning sign has been attracted, the traction attraction device of the movable warning sign has failed to attract, the movable warning sign has been recovered into the vehicle, and the movable warning sign has failed to be recovered; When the installation position of the movable warning sign is the back door, the back door is controlled to be closed.

10. A movable warning sign release and recovery device, characterized in that: The device comprises: a determination unit, configured to automatically determine by the autonomous driving vehicle whether there is a need to release the movable warning sign, obtain a first determination result, and / or receive a second determination result sent by the remote control system, wherein the movable warning sign is at least one of the following: a movable triangular warning sign and a drone, and the second determination result is the existence of a need to release the movable warning sign determined by the remote control system; A receiving unit, configured to receive a warning sign release instruction when the first determination result is that there is a release requirement for the movable warning sign and / or the second determination result is that there is a release requirement for the movable warning sign; a release unit, configured to control the movable warning sign to be released from the autonomous driving vehicle to the ground in response to the warning sign release instruction; A moving unit, used for controlling the movable warning sign to move to a target position; A recovery unit is used to control the movable warning sign to receive a recovery control instruction, so that the movable warning sign moves to a recovery position according to the recovery control instruction, and the movable warning sign is automatically recovered from the recovery position to the autonomous driving vehicle, wherein the recovery position is a set position behind the autonomous driving vehicle, and the recovery control instruction is used to control the return of the movable warning sign, and the recovery control instruction includes at least a forward instruction, a reverse instruction, a steering instruction, a locking instruction, and a lighting instruction.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 9.

12. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

13. A vehicle, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 9.

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