Unmanned taxi operation control method, device and equipment and storage medium

Abstract

The invention discloses an unmanned taxi operation control method and device, equipment and a storage medium. The unmanned taxi operation control method comprises the steps that environment data of an operation area where a target vehicle is located and health state data of the target vehicle are acquired; analyzing the environment data of the operation area where the target vehicle is located, and determining an environment risk index; analyzing the health state data of the target vehicle, and determining a vehicle risk index; and controlling operation of the target vehicle based on the environmental risk index and the vehicle risk index. By applying the technical scheme provided by the invention, the operation of the target vehicle can be effectively controlled, and the safe operation of the unmanned taxi is ensured.

Description

Technical Field

[0001] The present application relates to the field of computer application technology, and in particular to an unmanned taxi operation control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of computer technology, autonomous driving technology has also developed rapidly. Robotaxi, a new mode of transportation, has been tested and operated in specific areas.

[0003] During the operation of driverless taxis, there are no drivers and they cannot rely on the driver's instant judgment and operation to avoid operational risks like traditional taxis, making the safety of passengers, pedestrians and vehicle property vulnerable to threats.

[0004] Therefore, how to effectively control the operation of driverless taxis and ensure their safe operation is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of this application is to provide a driverless taxi operation control method, device, equipment and storage medium to effectively control the operation of driverless taxis and ensure the safe operation of driverless taxis.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] In a first aspect, a method for controlling operation of an unmanned taxi is provided, comprising:

[0008] Obtaining environmental data of the operating area of ​​a target vehicle and health status data of the target vehicle, where the target vehicle is any unmanned taxi;

[0009] Analyze the environmental data of the operating area where the target vehicle is located to determine the environmental risk index;

[0010] Analyzing the health status data of the target vehicle to determine the vehicle risk index;

[0011] Based on the environmental risk index and the vehicle risk index, the operation of the target vehicle is controlled.

[0012] Optionally, the environmental data includes meteorological data and road condition data, and the analyzing the environmental data of the operating area where the target vehicle is located to determine the environmental risk index includes:

[0013] Analyze the meteorological data of the operating area of ​​the target vehicle to determine the weather risk assessment value;

[0014] Analyze the road condition data of the operating area where the target vehicle is located to determine the road risk assessment value;

[0015] The weighted sum of the weather risk assessment value and the road risk assessment value is determined as an environmental risk index.

[0016] Optionally, analyzing the meteorological data of the operating area where the target vehicle is located to determine the weather risk assessment value includes:

[0017] Determine the probability of occurrence of each weather factor level based on the meteorological data of the operating area where the target vehicle is located;

[0018] The sum of the products of the occurrence probability of each weather factor level and the corresponding risk weight is determined as the weather risk assessment value.

[0019] Optionally, the road condition data includes the current actual traffic volume of each road section, and the analyzing the road condition data of the operating area where the target vehicle is located to determine the road risk assessment value includes:

[0020] For each road section in the operating area where the target vehicle is located, determining a current congestion index of the current road section according to the current actual traffic flow of the current road section and the maximum traffic flow allowed by the current road section;

[0021] Determining a risk weight of the current road section based on a current congestion index of the current road section;

[0022] According to the risk weight of each road section in the operating area where the target vehicle is located, a road risk assessment value of the operating area where the target vehicle is located is determined.

[0023] Optionally, determining the risk weight of the current road section based on the current congestion index of the current road section includes:

[0024] Determining a road congestion level of the current road section according to a data range of a current congestion index of the current road section;

[0025] Based on the road congestion level of the current road section, a risk weight of the current road section is determined.

[0026] Optionally, the road condition data further includes an average congestion index of each road section in each historical period and / or traffic control information of each road section. After determining the risk weight of the current road section based on the current congestion index of the current road section and before determining the road risk assessment value of the operating area where the target vehicle is located according to the risk weight of each road section in the operating area where the target vehicle is located, the method further includes at least one of the following:

[0027] Adjusting the risk weight of the current road section according to the relationship between the historical average congestion index of the current road section and the current congestion index of the current road section;

[0028] The risk weight of the current road section is adjusted according to the traffic control information for the current road section.

[0029] Optionally, determining the road risk assessment value of the operating area where the target vehicle is located according to the risk weight of each road section in the operating area where the target vehicle is located includes:

[0030] The road risk assessment value of the operating area where the target vehicle is located is determined according to the risk weight of each road section in the operating area where the target vehicle is located and the historical order data of the operating area where the target vehicle is located.

[0031] Optionally, analyzing the health status data of the target vehicle to determine the vehicle risk index includes:

[0032] Determining vehicle risk factors existing in the target vehicle according to the health status data of the target vehicle;

[0033] The sum of the products of the quantitative score of each vehicle risk factor and the corresponding risk weight is determined as the vehicle risk index.

[0034] Optionally, controlling the operation of the target vehicle based on the environmental risk index and the vehicle risk index includes:

[0035] Determining an operational risk level of the target vehicle based on the environmental risk index and the vehicle risk index;

[0036] Controlling the operation of the target vehicle according to the operation plan corresponding to the operation risk level of the target vehicle;

[0037] The corresponding relationship between the operation risk level and the operation plan includes at least one of the following:

[0038] If the operational risk level is low, the operational plan includes: normal operation;

[0039] If the operational risk level is medium, the operational plan includes at least one of the following: reducing the driving speed, increasing the safe distance from surrounding vehicles, reporting the vehicle health status to the operation control center in real time, and dispatching to the surrounding operation area;

[0040] If the operational risk level is high, the operational plan includes at least one of the following: suspending operations, driving to a safe area, notifying passengers, providing passengers with alternative travel plan recommendations, and dispatching to surrounding operational areas.

[0041] In a second aspect, an unmanned taxi operation control device is provided, comprising:

[0042] An acquisition module, used to acquire environmental data of an operating area where a target vehicle is located, and health status data of the target vehicle, wherein the target vehicle is any unmanned taxi;

[0043] A first determination module is used to analyze the environmental data of the operating area where the target vehicle is located to determine the environmental risk index;

[0044] A second determination module is used to analyze the health status data of the target vehicle to determine the vehicle risk index;

[0045] A control module is used to control the operation of the target vehicle based on the environmental risk index and the vehicle risk index.

[0046] In a third aspect, an electronic device is provided, including:

[0047] Memory for storing computer programs;

[0048] A processor is used to implement the steps of the unmanned taxi operation control method as described in the first aspect when executing the computer program.

[0049] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the unmanned taxi operation control method as described in the first aspect are implemented.

[0050] In a fifth aspect, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor performs the steps of the unmanned taxi operation control method as described in the first aspect.

[0051] By applying the technical solution provided in the embodiment of the present application, after obtaining the environmental data of the operating area where the target vehicle is located and the health status data of the target vehicle, the environmental data of the operating area where the target vehicle is located is analyzed to determine the environmental risk index, and the health status data of the target vehicle is analyzed to determine the vehicle risk index, and the operation of the target vehicle is controlled based on the environmental risk index and the vehicle risk index. The operation risk of the target vehicle is comprehensively determined by combining the environmental risk index of the operating area where the target vehicle is located and the vehicle risk index of the target vehicle itself, which can ensure the accuracy of the determination of the operation risk, so that the operation of the target vehicle can be effectively controlled based on the operation risk of the target vehicle, and the safe operation of the driverless taxi can be guaranteed.

[0052] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 This is an implementation flow chart of the unmanned taxi operation control method in the embodiment of the present application;

[0055] Figure 2 This is another implementation flow chart of the unmanned taxi operation control method in the embodiment of the present application;

[0056] Figure 3 This is a structural schematic diagram of an unmanned taxi operation control device in an embodiment of the present application;

[0057] Figure 4 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of the present application.

[0059] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0060] The core of this application is to provide a method for controlling the operation of an unmanned taxi, which can be applied to scenarios related to the operation of an unmanned taxi and can be executed by a control server. The control server can be an independent server, a cluster consisting of multiple servers, or a distributed cluster or platform consisting of multiple servers.

[0061] See also Figure 1As shown, it is an implementation flow chart of an unmanned taxi operation control method provided by an embodiment of the present application, and the method may include the following steps:

[0062] S110: Obtain environmental data of the operating area where the target vehicle is located, and health status data of the target vehicle.

[0063] The target vehicle is any driverless taxi.

[0064] In the embodiment of the present application, any driverless taxi can be used as a target vehicle, and the technical solution provided in the embodiment of the present application can be applied to control the operation of the target vehicle.

[0065] During operation, driverless taxis may be distributed in different operation areas. The operation areas may correspond to administrative areas, that is, different operation areas are distinguished according to administrative areas, or the operation areas may correspond to control grids, that is, different operation areas are distinguished according to control grids. There may be one or more driverless taxis operating in the same operation area.

[0066] The environmental data of the operating area where the target vehicle is located and the health status data of the target vehicle can be obtained. The environmental data of the operating area where the target vehicle is located may include meteorological data and road condition data. Among them, meteorological data may include real-time meteorological data and predicted meteorological data, such as meteorological data predicted for the next 24 hours. Meteorological data can be obtained through a meteorological platform. Road condition data may include the current actual traffic volume of each road section, and may also include the average congestion index of each road section in each historical period or traffic control information of each road section. Road condition data may be obtained through a third-party platform. The health status data of the target vehicle may characterize the health status of the target vehicle's hardware and software, such as whether there is a fault in the vehicle chassis, whether the autonomous driving perception device is abnormal, and whether the autonomous driving software is abnormal. The health status data may be obtained through monitoring of the vehicle.

[0067] The acquisition of environmental data of the operating area of ​​the target vehicle and the health status data of the target vehicle can be carried out in real time or according to a set period, so as to timely control the operation of the target vehicle based on the acquired data.

[0068] S120: Analyze the environmental data of the operating area where the target vehicle is located to determine the environmental risk index.

[0069] After obtaining the environmental data of the target vehicle's operating area, the environmental data of the target vehicle's operating area can be analyzed to determine the environmental risk index. Optionally, the meteorological data and the road condition data of the target vehicle's operating area can be analyzed separately, and the environmental risk index can be determined based on the analysis results of the meteorological data and the analysis results of the road condition data.

[0070] The larger the environmental risk index is, the higher the environmental risk is.

[0071] S130: Analyze the health status data of the target vehicle to determine the vehicle risk index.

[0072] After obtaining the health status data of the target vehicle, the health status data of the target vehicle can be analyzed to determine the vehicle risk index. Optionally, the software and hardware failure conditions of the target vehicle can be determined based on the health status data of the target vehicle, thereby determining the vehicle risk index based on the software and hardware failure conditions of the target vehicle.

[0073] The larger the vehicle risk index is, the higher the risk of the vehicle itself is.

[0074] It should be noted that the embodiment of the present application has no restriction on the execution order of step S120 and step S130.

[0075] S140: Controlling the operation of the target vehicle based on the environmental risk index and the vehicle risk index.

[0076] After determining the environmental risk index and vehicle risk index, the operational risk of the target vehicle can be further determined based on the environmental risk index and the vehicle risk index, so that the operation of the target vehicle can be controlled based on the operational risk, such as controlling the normal operation of the target vehicle, stopping operation, dispatching it back to the site, dispatching it to the surrounding areas, etc.

[0077] By applying the method provided in the embodiment of the present application, after obtaining the environmental data of the operating area where the target vehicle is located and the health status data of the target vehicle, the environmental data of the operating area where the target vehicle is located is analyzed to determine the environmental risk index, and the health status data of the target vehicle is analyzed to determine the vehicle risk index, and the operation of the target vehicle is controlled based on the environmental risk index and the vehicle risk index. By comprehensively determining the operating risk of the target vehicle in combination with the environmental risk index of the operating area where the target vehicle is located and the vehicle risk index of the target vehicle itself, the accuracy of the determination of the operating risk can be ensured, so that the operation of the target vehicle can be effectively controlled based on the operating risk of the target vehicle, and the safe operation of the driverless taxi can be guaranteed.

[0078] In some embodiments of the present application, the environmental data may include meteorological data and road condition data. Step S120 analyzes the environmental data of the operating area where the target vehicle is located to determine the environmental risk index, which may include the following steps:

[0079] Analyze the meteorological data of the target vehicle’s operating area to determine the weather risk assessment value;

[0080] Analyze the road condition data of the target vehicle’s operating area to determine the road risk assessment value;

[0081] The weighted sum of the weather risk assessment value and the road risk assessment value is determined as the environmental risk index.

[0082] For the convenience of description, the above steps are combined for explanation.

[0083] In the embodiment of the present application, the environmental data may include meteorological data and road condition data. After obtaining the meteorological data and road condition data of the operating area where the target vehicle is located, the meteorological data of the operating area where the target vehicle is located may be analyzed, and the weather risk assessment value may be determined based on the analysis results. At the same time, the road condition data of the operating area where the target vehicle is located may be analyzed, and the road risk assessment value may be determined based on the analysis results.

[0084] After the weather risk assessment value and the road risk assessment value are determined, the weighted sum of the two is determined as the environmental risk index. The weights of the weather risk assessment value and the road risk assessment value can be set and adjusted according to actual conditions or historical data.

[0085] The environmental risk index is determined by combining the weather risk assessment value and the road risk assessment value, taking into account the impact of weather factors and road conditions, which can make the determination of the environmental risk index more accurate.

[0086] In some embodiments of the present application, analyzing the meteorological data of the operating area where the target vehicle is located to determine the weather risk assessment value may include the following steps:

[0087] Determine the probability of occurrence of each weather factor level based on the meteorological data of the target vehicle's operating area;

[0088] The sum of the products of the occurrence probability of each weather factor level and the corresponding risk weight is determined as the weather risk assessment value.

[0089] For the convenience of description, the above two steps are combined for explanation.

[0090] In the embodiment of the present application, weather factors that affect operations can be determined first, such as typhoons, heavy rains, thunderstorms, snow, hail, fog, haze, icy roads, etc. Different weather factors have multiple levels, and each weather factor level corresponds to a risk weight, such as shown in Table 1:

[0091]

[0092] Table 1

[0093] Based on the meteorological data of the target vehicle's operating area, the probability of occurrence of each weather factor level can be determined. Optionally, an estimate can be made based on historical statistical analysis of meteorological data combined with current meteorological data. The sum of the product of the probability of occurrence of each weather factor level and the corresponding risk weight can be determined as the weather risk assessment value.

[0094] For example, the weather risk assessment value WRV can be calculated by the following formula:

[0095]

[0096] Where n is the total number of weather factor levels, P i is the occurrence probability of the i-th weather factor level, W i is the risk weight corresponding to the i-th weather factor level.

[0097] For example, if the probability of light rain in the operating area where the target vehicle is located is 0.3, the probability of moderate rain is 0.2, and other weather factor levels have not yet appeared, then the weather risk assessment value WRV = 0.3 × 0.05 + 0.2 × 0.15 = 0.045.

[0098] Based on the probability of occurrence of each weather factor level and the corresponding risk weight, it helps to accurately determine the weather risk assessment value.

[0099] In some embodiments of the present application, the road condition data may include the current actual traffic volume of each road section. Analyzing the road condition data of the operating area where the target vehicle is located to determine the road risk assessment value may include the following steps:

[0100] For each road section in the operating area where the target vehicle is located, determine the current congestion index of the current road section according to the current actual traffic volume of the current road section and the maximum traffic volume allowed for the current road section;

[0101] Determine the risk weight of the current road section based on the current congestion index of the current road section;

[0102] According to the risk weight of each road section in the operating area where the target vehicle is located, the road risk assessment value of the operating area where the target vehicle is located is determined.

[0103] For the convenience of description, the above steps are combined for explanation.

[0104] In an embodiment of the present application, the operating area where the target vehicle is located includes multiple road sections, and each road section can be distinguished according to road name, direction, etc.

[0105] The acquired road condition data of the operating area where the target vehicle is located may include the current actual traffic volume of each road section.

[0106] For each road section in the operating area where the target vehicle is located, the current congestion index of the current road section can be determined based on the current actual traffic flow of the current road section and the maximum traffic flow allowed for the current road section. The current road section refers to the road section targeted by the current operation. The maximum traffic flow allowed for the current road section represents the traffic capacity of the current road section and can be determined based on the road design standards.

[0107] Optionally, the quotient of the current actual traffic flow of the current road section and the maximum traffic flow allowed by the current road section can be determined as the current congestion index of the current road section.

[0108] Exemplarily, the current congestion index DC of the current road section can be expressed by the following formula:

[0109]

[0110] Among them, Q T is the actual traffic flow of the current road section, Q C The maximum traffic volume allowed on the current road section.

[0111] After the current congestion index of the current road section is determined, the risk weight of the current road section may be further determined based on the current congestion index of the current road section.

[0112] Optionally, the road congestion level of the current road section can be determined according to the data range where the current congestion index of the current road section is located, and the risk weight of the current road section can be determined based on the road congestion level of the current road section. For example, if the current congestion index of the current road section is within the first data range, the road congestion level of the current road section is determined to be unblocked; if the current congestion index of the current road section is within the second data range, the road congestion level of the current road section is determined to be slightly congested; if the current congestion index of the current road section is within the third data range, the road congestion level of the current road section is determined to be moderately congested; and if the current congestion index of the current road section is within the fourth data range, the road congestion level of the current road section is determined to be severely congested.

[0113] The correspondence between road congestion level and risk weight can be pre-set based on historical data or actual experience.

[0114] For example, when DC < 30%, the road congestion level is determined to be smooth, and the risk weight is 0.05;

[0115] When 30%≤DC<60%, the road congestion level is determined to be mild congestion, and the risk weight is 0.2;

[0116] When 60%≤DC<80%, the road congestion level is determined to be moderate congestion, and the risk weight is 0.35;

[0117] When DC ≥ 80%, the road congestion level is determined to be severe congestion, and the risk weight is 0.5.

[0118] Optionally, the road condition data may also include the average congestion index of each road section in each historical period. After determining the risk weight of the current road section based on the current congestion index of the current road section, the risk weight of the current road section may also be adjusted based on the relationship between the average congestion index of the current road section in the historical period and the current congestion index of the current road section.

[0119] It is understandable that the risk weight of each road section has a certain correlation with historical data. If the historical average congestion index of the current road section during the same period is greater than the current congestion index of the current road section, for example, greater than 130% of the current congestion index of the current road section, then the risk weight of the current road section currently determined is considered too high, and the risk weight of the current road section can be reduced, such as reducing the risk weight of the current road section by 0.03. If the historical average congestion index of the current road section during the same period is less than the current congestion index of the current road section, for example, less than 70% of the current congestion index of the current road section, then the risk weight of the current road section currently determined is considered too low, and the risk weight of the current road section can be increased, such as increasing the risk weight of the current road section by 0.03. The above parameter sizes can be adjusted according to actual operating conditions.

[0120] Adjusting the risk weight of the current road section based on the relationship between the historical average congestion index of the current road section and the current congestion index will help improve the accuracy of the risk weight of the current road section.

[0121] Optionally, the road condition data may also include traffic control information for each road section. After determining the risk weight of the current road section based on the current congestion index of the current road section, the risk weight of the current road section may be adjusted according to the traffic control information of the current road section. Optionally, the specific type of traffic control for the current road section may be determined based on the traffic control information of the current road section, and the risk weight of the current road section may be adjusted according to the specific type. For example, if the traffic control for the current road section is construction control, the risk weight of the current road section may be increased by 0.1; if the traffic control for the current road section is accident control, the risk weight of the current road section may be increased by 0.2; if the traffic control for the current road section is activity control, the risk weight of the current road section may be increased by 0.15. The above parameter sizes may be adjusted according to actual operating conditions.

[0122] Adjusting the risk weight of the current road section based on the traffic control information of the current road section helps to improve the accuracy of the risk weight of the current road section.

[0123] It should be noted that the above-mentioned adjustment plans for the risk weight of the current road section can be carried out separately or in combination.

[0124] For each road section in the operating area where the target vehicle is located, after determining the risk weight of the current road section, the risk weight of each road section in the operating area where the target vehicle is located can be obtained. According to the risk weight of each road section in the operating area where the target vehicle is located, the road risk assessment value of the target vehicle in the operating area can be determined.

[0125] Optionally, the average or weighted average or weighted sum of the risk weights of each road section in the operating area where the target vehicle is located can be determined as the road risk assessment value of the target vehicle in the operating area. The weight of the risk weight of each road section can be determined according to the proportion of the number of road sections corresponding to the risk weights contained in each data range. For example, there are 10 road sections corresponding to the risk weights contained in the [0.5,1] data range, and there are 12 road sections in the current operating area. The weight of the risk weights of the above 10 road sections can be 10 / 12.

[0126] Optionally, the road risk assessment value of the operating area where the target vehicle is located can be determined based on the risk weight of each road section in the operating area where the target vehicle is located and the historical order data of each road section in the operating area where the target vehicle is located.

[0127] For example, based on the historical order data of each road section in the operating area where the target vehicle is located, the historical order volume of each road section in the operating area is determined. If the historical order volume of a road section is large, it can be considered that the risk weight of the road section is large. If the historical order volume of a road section is small, it can be considered that the risk weight of the road section is small.

[0128] According to the risk weight of each road section and the weight corresponding to each road section determined based on historical order data, the road risk assessment value of the operating area where the target vehicle is located can be determined.

[0129] Firstly, the risk weight of each road section is determined, and then the road risk assessment value of the target vehicle's operating area is determined based on the risk weight of each road section, which helps to improve the accuracy of the road risk assessment value.

[0130] In some embodiments of the present application, step S130 analyzes the health status data of the target vehicle to determine the vehicle risk index, which may include the following steps:

[0131] Determine the vehicle risk factors existing in the target vehicle according to the health status data of the target vehicle;

[0132] The sum of the products of the quantitative score of each vehicle risk factor and the corresponding risk weight is determined as the vehicle risk index.

[0133] For the convenience of description, the above steps are combined for explanation.

[0134] In an embodiment of the present application, the health status data of the target vehicle can be obtained by reporting the target vehicle or monitoring the target vehicle. According to the health status data of the target vehicle, the vehicle risk factors of the target vehicle can be determined. The vehicle risk factors can include multiple risk factors of software and hardware, such as vehicle chassis failure, abnormal autonomous driving perception equipment, abnormal autonomous driving software, etc.

[0135] The quantitative score and corresponding risk weight of each vehicle risk factor can be determined separately. Optionally, each vehicle risk factor can be scored according to a preset scoring standard to obtain a quantitative score for each vehicle risk factor. Optionally, the risk weight corresponding to each vehicle risk factor can be set according to historical data. For example, if the risk factor is a minor fault in the vehicle chassis, the quantitative score of the risk factor is 0.2, and the corresponding risk weight is 0.4. If the risk factor is that some functions of the autonomous driving perception device are abnormal, the quantitative score of the risk factor is 0.3, and the corresponding risk weight is 0.3. If the risk factor is a brief data transmission interruption in the autonomous driving software, the quantitative score of the risk factor is 0.1, and the corresponding risk weight is 0.3.

[0136] The sum of the products of the quantitative score of each vehicle risk factor and the corresponding risk weight can be determined as the vehicle risk index.

[0137] For example, the vehicle risk index VRV can be calculated by the following formula:

[0138]

[0139] Among them, m is the total number of vehicle risk factors, S j is the quantitative score of the j-th vehicle risk factor, W j is the risk weight corresponding to the j-th vehicle risk factor.

[0140] Determining the vehicle risk index based on the quantitative score of each vehicle risk factor and the corresponding risk weight will help improve the accuracy of determining the vehicle risk index.

[0141] In some embodiments of the present application, step S140 controls the operation of the target vehicle based on the environmental risk index and the vehicle risk index, and may include the following steps:

[0142] Determine the operational risk level of the target vehicle based on the environmental risk index and vehicle risk index;

[0143] Control the operation of the target vehicle according to the operation plan corresponding to the operation risk level of the target vehicle;

[0144] The corresponding relationship between the operation risk level and the operation plan includes at least one of the following:

[0145] If the operational risk level is low, the operational plan includes: normal operation;

[0146] If the operational risk level is medium, the operational plan includes at least one of the following: reducing the driving speed, increasing the safe distance from surrounding vehicles, reporting the vehicle health status to the operation control center in real time, and dispatching to the surrounding operation area;

[0147] If the operational risk level is high, the operational plan includes at least one of the following: suspending operations, driving to a safe area, notifying passengers, providing passengers with alternative travel plan recommendations, and dispatching to surrounding operational areas.

[0148] For the convenience of description, the above steps are combined for explanation.

[0149] In an embodiment of the present application, after determining the environmental risk index and the vehicle risk index, the operational risk level of the target vehicle can be further determined based on the environmental risk index and the vehicle risk index. Optionally, the weighted sum of the environmental risk index and the vehicle risk index can be determined as a comprehensive risk index, and then the operational risk level is determined based on the comprehensive risk index. The higher the comprehensive risk index, the higher the corresponding operational risk level. For example, when the comprehensive risk index is less than a first threshold, the operational risk level is determined to be a low risk level, when the comprehensive risk index is greater than or equal to the first threshold and less than the second threshold, the operational risk level is determined to be a medium risk level, and when the comprehensive risk index is greater than or equal to the second threshold, the operational risk level is determined to be a high risk level.

[0150] The weights of the first threshold, the second threshold, the environmental risk index, and the vehicle risk index can be set and adjusted according to actual conditions or historical data. For example, the first threshold is 0.2 and the second threshold is 0.4.

[0151] In the embodiment of the present application, the correspondence between the operation risk level and the operation plan can be preset, and the operation plans corresponding to different operation risk levels may be the same or different. Optionally, the correspondence between the operation risk level and the operation plan can be set based on historical data or actual experience.

[0152] When the operational risk level is low, it is considered that driverless taxis can operate normally. The corresponding operation plan includes normal operation, which can be biased towards improving operational efficiency, such as optimizing route planning to reduce driving time.

[0153] When the operating risk level is medium, it is considered that driverless taxis need to operate with caution. The corresponding operating plans include reducing the driving speed, increasing the safe distance from surrounding vehicles, reporting the vehicle health status to the operation control center in real time, and dispatching to at least one of the surrounding operating areas.

[0154] When the operation risk level is high, it is considered that the operation risk of driverless taxis in the current operation area is high. The corresponding operation plans include suspending operations, driving to a safe area, notifying passengers, providing passengers with alternative travel plan recommendations, and dispatching to at least one of the surrounding operation areas.

[0155] Driving to a safe area may include driving to a nearby parking lot or maintenance station, etc. Dispatching to a surrounding operation area may be performed when the transportation capacity of the surrounding operation area is insufficient and the environmental risk index of the surrounding operation area is relatively low.

[0156] After determining the operational risk level of the target vehicle, the operation plan corresponding to the operational risk level of the target vehicle is further determined, so that the operation of the target vehicle can be controlled according to the operation plan. Different operational risk levels correspond to different operation plans. After determining the operational risk level of the target vehicle, the operation of the target vehicle can be effectively controlled according to the corresponding operation plan.

[0157] In some embodiments of the present application, Figure 2 As shown in the figure, the operation control process of the driverless taxi is as follows:

[0158] Obtain weather data for the target vehicle's operating area, such as real-time weather data for the target vehicle's operating area and weather data for the next 12 hours through open data;

[0159] Obtain the road condition data of the target vehicle's operating area. For example, the traffic flow, historical congestion, and traffic control conditions of each road section in the target vehicle's operating area can be obtained through a third-party platform;

[0160] Obtain health status data of the target vehicle, such as whether the vehicle chassis is faulty, whether the autonomous driving perception device is abnormal, whether the autonomous driving software is abnormal, whether the power is abnormal, etc.;

[0161] Determine the environmental risk index based on meteorological data and road condition data, and determine the vehicle risk index based on health status data;

[0162] After determining the environmental risk index and vehicle risk index, determine whether the target vehicle can continue to operate based on the vehicle risk index;

[0163] If the target vehicle cannot continue to operate, the target vehicle is controlled to stop operating, or stop accepting orders, or dispatch the target vehicle back to the site;

[0164] If the target vehicle can continue to operate, determine whether there is an operational risk in the operating area where the target vehicle is located based on the environmental risk index;

[0165] If there is no operation risk in the operation area where the target vehicle is located, control the target vehicle to continue operating in the current operation area;

[0166] If there is an operation risk in the operation area where the target vehicle is located, determine whether there is an operation risk in the surrounding operation areas;

[0167] If there is no operation risk in the surrounding operation areas, further determine whether the transport capacity is insufficient in the surrounding operation areas;

[0168] If there is an operation risk in the surrounding operation areas, or if there is no shortage of transport capacity in the surrounding operation areas, control the vehicles in the operation area where the target vehicle is located to stop operating, or stop receiving orders, or be dispatched back to the yard, and users in the operation area where the target vehicle is located cannot place autonomous driving orders;

[0169] If there is no operation risk in the surrounding operation areas and the transport capacity is insufficient, the vehicles in the operation area where the target vehicle is located can be dispatched to the surrounding operation areas to continue operating.

[0170] In the embodiments of the present application, considering the possible environmental problems or the problems of its own health status during the operation of the driverless taxi, controlling the operation of the driverless taxi helps to reduce the risk of safety accidents. By comprehensively considering various factors, a comprehensive operation risk assessment and safety management technical solution is provided, which improves the safety and reliability of the driverless taxi.

[0171] Corresponding to the above method embodiments, the embodiments of the present application also provide a driverless taxi operation control device, and the driverless taxi operation control device described below can be mutually corresponding and referred to the driverless taxi operation control method described above.

[0172] See Figure 3 As shown, the driverless taxi operation control device 300 includes the following modules:

[0173] An acquisition module 310, configured to acquire the environmental data of the operation area where the target vehicle is located, and the health status data of the target vehicle, where the target vehicle is any driverless taxi;

[0174] A first determination module 320, configured to analyze the environmental data of the operation area where the target vehicle is located to determine the environmental risk index;

[0175] A second determination module 330, configured to analyze the health status data of the target vehicle to determine the vehicle risk index;

[0176] A control module 340, configured to control the operation of the target vehicle based on the environmental risk index and the vehicle risk index.

[0177] By using the device provided in the embodiment of the present application, after obtaining the environmental data of the operating area where the target vehicle is located and the health status data of the target vehicle, the environmental data of the operating area where the target vehicle is located is analyzed to determine the environmental risk index, and the health status data of the target vehicle is analyzed to determine the vehicle risk index, and the operation of the target vehicle is controlled based on the environmental risk index and the vehicle risk index. By comprehensively judging the operating risk of the target vehicle in combination with the environmental risk index of the operating area where the target vehicle is located and the vehicle risk index of the target vehicle itself, the accuracy of the determination of the operating risk can be ensured, so that the operation of the target vehicle can be effectively controlled based on the operating risk of the target vehicle, and the safe operation of the driverless taxi can be guaranteed.

[0178] In some embodiments of the present application, the first determining module 320 is specifically configured to:

[0179] Analyze the meteorological data of the target vehicle’s operating area to determine the weather risk assessment value;

[0180] Analyze the road condition data of the target vehicle’s operating area to determine the road risk assessment value;

[0181] The weighted sum of the weather risk assessment value and the road risk assessment value is determined as the environmental risk index.

[0182] In some embodiments of the present application, the first determining module 320 is specifically configured to:

[0183] Determine the probability of occurrence of each weather factor level based on the meteorological data of the target vehicle's operating area;

[0184] The sum of the products of the occurrence probability of each weather factor level and the corresponding risk weight is determined as the weather risk assessment value.

[0185] In some embodiments of the present application, the first determining module 320 is specifically configured to:

[0186] For each road section in the operating area where the target vehicle is located, determine the current congestion index of the current road section according to the current actual traffic volume of the current road section and the maximum traffic volume allowed for the current road section;

[0187] Determine the risk weight of the current road section based on the current congestion index of the current road section;

[0188] According to the risk weight of each road section in the operating area where the target vehicle is located, the road risk assessment value of the operating area where the target vehicle is located is determined.

[0189] In some embodiments of the present application, the first determining module 320 is specifically configured to:

[0190] Determine the road congestion level of the current road section according to the data range of the current congestion index of the current road section;

[0191] Based on the road congestion level of the current road section, the risk weight of the current road section is determined.

[0192] In some embodiments of the present application, the traffic data further includes the average congestion index of each road section in each historical period and / or the traffic control information of each road section. The first determination module 320 is further used to:

[0193] After determining the risk weight of the current road section based on the current congestion index of the current road section and before determining the road risk assessment value of the operating area where the target vehicle is located based on the risk weight of each road section in the operating area where the target vehicle is located, perform at least one of the following:

[0194] The risk weight of the current road section is adjusted according to the relationship between the historical average congestion index of the current road section and the current congestion index of the current road section;

[0195] According to the traffic control information for the current road section, the risk weight of the current road section is adjusted.

[0196] In some embodiments of the present application, the first determining module 320 is specifically configured to:

[0197] The road risk assessment value of the target vehicle's operating area is determined based on the risk weight of each road section in the target vehicle's operating area and the historical order data of the target vehicle's operating area.

[0198] In some embodiments of the present application, the second determining module 330 is specifically configured to:

[0199] Determine the vehicle risk factors existing in the target vehicle according to the health status data of the target vehicle;

[0200] The sum of the products of the quantitative score of each vehicle risk factor and the corresponding risk weight is determined as the vehicle risk index.

[0201] In some embodiments of the present application, the control module 340 is specifically configured to:

[0202] Determine the operational risk level of the target vehicle based on the environmental risk index and vehicle risk index;

[0203] Control the operation of the target vehicle according to the operation plan corresponding to the operation risk level of the target vehicle;

[0204] The corresponding relationship between the operation risk level and the operation plan includes at least one of the following:

[0205] If the operational risk level is low, the operational plan includes: normal operation;

[0206] If the operational risk level is medium, the operational plan includes at least one of the following: reducing the driving speed, increasing the safe distance from surrounding vehicles, reporting the vehicle health status to the operation control center in real time, and dispatching to the surrounding operation area;

[0207] If the operational risk level is high, the operational plan includes at least one of the following: suspending operations, driving to a safe area, notifying passengers, providing passengers with alternative travel plan recommendations, and dispatching to surrounding operational areas.

[0208] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0209] Corresponding to the above method embodiment, the present application embodiment further provides an electronic device, including:

[0210] Memory for storing computer programs;

[0211] A processor is used to implement the steps of the above-mentioned driverless taxi operation control method when executing a computer program.

[0212] like Figure 4 , which is a schematic diagram of the composition structure of an electronic device, the electronic device may include: a processor 10, a memory 11, a communication interface 12 and a communication bus 13. The processor 10, the memory 11 and the communication interface 12 all communicate with each other through the communication bus 13.

[0213] In the embodiment of the present application, the processor 10 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic devices, etc.

[0214] The processor 10 can call the program stored in the memory 11. Specifically, the processor 10 can execute the operations in the embodiment of the unmanned taxi operation control method.

[0215] The memory 11 is used to store one or more programs, which may include program codes, and the program codes include computer operation instructions. In the embodiment of the present application, the memory 11 at least stores programs for implementing the following functions:

[0216] Obtain the environmental data of the target vehicle's operating area and the health status data of the target vehicle, where the target vehicle is any driverless taxi;

[0217] Analyze the environmental data of the target vehicle’s operating area and determine the environmental risk index;

[0218] Analyze the health status data of the target vehicle and determine the vehicle risk index;

[0219] Based on the environmental risk index and the vehicle risk index, the operation of the target vehicle is controlled.

[0220] In a possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0221] In addition, the memory 11 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0222] The communication interface 12 may be an interface of a communication module, and is used to connect to other devices or systems.

[0223] Of course, it should be noted that Figure 4 The structure shown does not constitute a limitation on the electronic device in the embodiment of the present application. In actual applications, the electronic device may include Figure 4 More or fewer components than shown, or combinations of certain components.

[0224] Corresponding to the above method embodiment, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned unmanned taxi operation control method are implemented.

[0225] In addition, it should be noted that: the embodiment of the present application also provides a computer program product or a computer program, which may include computer instructions, and the computer instructions may be stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor can execute the computer instructions so that the computer device executes the description of the unmanned taxi operation control method in the corresponding embodiment above, so it will not be repeated here. In addition, the description of the beneficial effects of using the same method will not be repeated. For technical details not disclosed in the computer program product or computer program embodiment involved in this application, please refer to the description of the method embodiment of this application.

[0226] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0227] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0228] Through the description of the above implementation methods, those skilled in the art can also clearly understand that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0229] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein can be directly implemented using hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a removable disk, a compact disc read-only memory (CD-ROM), or any other form of storage medium known in the art, including several instructions to execute the methods described in the various embodiments of the present application.

[0230] The embodiments of the present application are described above in conjunction with the accompanying drawings, and the description of the above embodiments is only used to help understand the technical solution and its core idea of ​​the present application. It should be pointed out that the present application is not limited to the above-mentioned specific implementation methods, which are merely illustrative and not restrictive. For ordinary technicians in this field, many forms of implementation methods can be made without departing from the scope of protection of the purpose of the present application and the claims, and the present application can also be improved and modified in a number of ways, and these implementation methods, improvements and modifications are all within the scope of protection of the present application.

Claims

1. A method for controlling the operation of an unmanned taxi, characterized in that: include: Obtaining environmental data of the operating area of ​​a target vehicle and health status data of the target vehicle, where the target vehicle is any unmanned taxi; Analyze the environmental data of the operating area where the target vehicle is located to determine the environmental risk index; Analyzing the health status data of the target vehicle to determine the vehicle risk index; Based on the environmental risk index and the vehicle risk index, the operation of the target vehicle is controlled.

2. The method according to claim 1, characterized in that The environmental data includes meteorological data and road condition data. The environmental data of the operating area where the target vehicle is located is analyzed to determine the environmental risk index, including: Analyze the meteorological data of the operating area of ​​the target vehicle to determine the weather risk assessment value; Analyze the road condition data of the operating area where the target vehicle is located to determine the road risk assessment value; The weighted sum of the weather risk assessment value and the road risk assessment value is determined as the environmental risk index.

3. The method according to claim 2, characterized in that The step of analyzing the meteorological data of the operating area where the target vehicle is located to determine the weather risk assessment value includes: Determine the probability of occurrence of each weather factor level based on the meteorological data of the operating area where the target vehicle is located; The sum of the products of the occurrence probability of each weather factor level and the corresponding risk weight is determined as the weather risk assessment value.

4. The method according to claim 2, characterized in that: The road condition data includes the current actual traffic volume of each road section. The road condition data of the operating area where the target vehicle is located is analyzed to determine the road risk assessment value, including: For each road section in the operating area where the target vehicle is located, determining a current congestion index of the current road section according to the current actual traffic flow of the current road section and the maximum traffic flow allowed by the current road section; Determining a risk weight of the current road section based on a current congestion index of the current road section; According to the risk weight of each road section in the operating area where the target vehicle is located, a road risk assessment value of the operating area where the target vehicle is located is determined.

5. The method according to claim 4, characterized in that The determining the risk weight of the current road section based on the current congestion index of the current road section includes: Determining a road congestion level of the current road section according to a data range of a current congestion index of the current road section; Based on the road congestion level of the current road section, a risk weight of the current road section is determined.

6. The method according to claim 4, characterized in that The road condition data also includes the average congestion index of each road section in each historical period and / or the traffic control information of each road section. After determining the risk weight of the current road section based on the current congestion index of the current road section and before determining the road risk assessment value of the operating area where the target vehicle is located according to the risk weight of each road section in the operating area where the target vehicle is located, the method further includes at least one of the following: Adjusting the risk weight of the current road section according to the relationship between the historical average congestion index of the current road section and the current congestion index of the current road section; The risk weight of the current road section is adjusted according to the traffic control information for the current road section.

7. The method according to claim 4, characterized in that Determining the road risk assessment value of the operating area where the target vehicle is located according to the risk weight of each road section in the operating area where the target vehicle is located includes: The road risk assessment value of the operating area where the target vehicle is located is determined according to the risk weight of each road section in the operating area where the target vehicle is located and the historical order data of the operating area where the target vehicle is located.

8. The method according to claim 1, characterized in that The analyzing the health status data of the target vehicle to determine the vehicle risk index includes: Determining vehicle risk factors existing in the target vehicle according to the health status data of the target vehicle; The sum of the products of the quantitative score of each vehicle risk factor and the corresponding risk weight is determined as the vehicle risk index.

9. The method according to any one of claims 1 to 8, characterized in that The controlling the operation of the target vehicle based on the environmental risk index and the vehicle risk index includes: Determining the operational risk level of the target vehicle based on the environmental risk index and the vehicle risk index; Controlling the operation of the target vehicle according to the operation plan corresponding to the operation risk level of the target vehicle; The corresponding relationship between the operation risk level and the operation plan includes at least one of the following: If the operational risk level is low, the operational plan includes: normal operation; If the operational risk level is medium, the operational plan includes at least one of the following: reducing the driving speed, increasing the safe distance from surrounding vehicles, reporting the vehicle health status to the operation control center in real time, and dispatching to the surrounding operation area; If the operational risk level is high, the operational plan includes at least one of the following: suspending operations, driving to a safe area, notifying passengers, providing passengers with alternative travel plan recommendations, and dispatching to surrounding operational areas.

10. An unmanned taxi operation control device, characterized in that: include: An acquisition module, used to acquire environmental data of an operating area where a target vehicle is located, and health status data of the target vehicle, wherein the target vehicle is any unmanned taxi; A first determination module is used to analyze the environmental data of the operating area where the target vehicle is located to determine the environmental risk index; A second determination module is used to analyze the health status data of the target vehicle to determine the vehicle risk index; A control module is used to control the operation of the target vehicle based on the environmental risk index and the vehicle risk index.

11. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the unmanned taxi operation control method as described in any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the unmanned taxi operation control method as described in any one of claims 1 to 9 are implemented.

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