Driving behavior control method and device for unmanned passenger elevator vehicle and medium

Abstract

The invention discloses a driving behavior control method and device of an unmanned passenger elevator and a medium, relates to the technical field of passenger elevators, and solves the problem that the driving behavior corresponding to the unmanned passenger elevator has potential safety hazards at present, the driving behavior control method comprises the following steps: S1, setting a driving rule of the unmanned passenger elevator, the unmanned aerial vehicle drives the passenger ladder vehicle to execute driving operation according to the driving rule; s2, collecting driving behavior data of the unmanned passenger elevator vehicle executing the driving operation at the collection time node; s3, analyzing the driving behavior of the unmanned passenger elevator according to the driving behavior data; s4, safety control is conducted on the unmanned passenger elevator according to the behavior control signal, accurate analysis of the driving behavior corresponding to the unmanned passenger elevator is achieved, and safety control over the driving behavior is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of passenger elevators, and in particular to a driving behavior control method, equipment and medium of an unmanned passenger elevator. Background Art

[0002] Passenger elevators are special equipment for airports for passengers to board and disembark. With the development and popularization of unmanned driving technology, unmanned passenger elevators have emerged. Driving behavior control of unmanned passenger elevators is an important part of airport security work, which is related to basic work such as passenger boarding and passenger disembarkation.

[0003] In the prior art, the driving behavior of the unmanned passenger elevator is usually executed according to preset rules. However, due to the influence of signal and other issues, the driving behavior of the unmanned passenger elevator has behavioral deviations in the actual execution process, and the behavioral deviations are likely to cause safety hazards. At the same time, the driving behavior of the existing unmanned passenger elevator is executed in a predetermined scenario. Once an emergency occurs, such as a crowd or other vehicles suddenly breaking into the driving route, if the driving behavior of the unmanned passenger elevator cannot be optimized and controlled in time, it is also likely to cause safety hazards. To this end, the present invention proposes a driving behavior control method, device and medium for an unmanned passenger elevator. Summary of the invention

[0004] The purpose of the present invention is to propose a driving behavior control method, device and medium for an unmanned passenger elevator car to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, a driving behavior control method of an unmanned passenger elevator vehicle is provided, the driving behavior control method comprising: Step S1, setting driving rules for the unmanned passenger elevator, and the unmanned aerial vehicle driving the passenger elevator performs driving operations according to the driving rules; Step S2, collecting driving behavior data of the unmanned passenger elevator vehicle performing driving operations at a collection time node; Step S3, analyzing the driving behavior of the unmanned passenger elevator vehicle based on the driving behavior data; Step S4, safely controlling the unmanned passenger elevator according to the behavior control signal.

[0006] Furthermore, the process of setting the driving rules in step S1 includes: Step S11, obtaining the departure place and destination of the driverless passenger elevator, and obtaining the driving route of the driverless passenger elevator according to the departure place and destination; Step S12, then obtaining the safe driving speed and driving schedule of the unmanned passenger elevator, and obtaining the starting driving time of each unmanned passenger elevator according to the driving schedule; Step S13, simultaneously obtaining the turning points in the driving route and the turning angle and real-time geographic location of each turning point, and obtaining the driving distance from the departure point to each turning point by calculating the distance between the real-time geographic location and the departure point; Step S14, the driving time of the unmanned passenger elevator to each turning point is obtained by dividing the driving distance by the safe driving speed, and the arrival time of the unmanned passenger elevator at each turning point is obtained by adding the driving time to the start driving time, and the arrival time is used as the collection time node of the unmanned passenger elevator at the turning point; Step S15, obtaining the rotation data of the steering wheel in the driverless passenger elevator at each turning point according to the turning angle of each turning point; Step S16, taking the driving route, safe driving speed and starting driving time of the unmanned passenger elevator, the arrival time of the unmanned passenger elevator at each turning point, and the steering wheel rotation data of the unmanned passenger elevator at each turning point as the driving rules of the unmanned passenger elevator.

[0007] Further, the rotation data is a standard rotation direction of a steering wheel in an unmanned passenger elevator vehicle, standard rotation angles of different standard rotation directions, standard completion times required for different standard rotation angles, and a standard start image when the rotation starts and a standard completion image when the rotation is completed; The driving behavior data is the real-time video of the steering wheel in the unmanned passenger elevator at the collection time node.

[0008] Furthermore, the step S3 includes the following sub-steps: Step S31, extracting the driving behavior data frame by frame in chronological order to obtain a plurality of rotation image frames corresponding to the steering wheel of the unmanned passenger elevator in the driving behavior data; Step S32, collecting the rotating image frame at the time node, and comparing the rotating image frame with the standard starting image; Step S33, if the rotating image frame at the acquisition time node is different from the standard start image, a behavior control signal is generated; If the rotation image frame at the acquisition time node is the same as the standard start image, the rotation image frame is used as the initial rotation image frame and proceeds to the next step; Step S34, obtaining the real-time rotation direction of the steering wheel corresponding to the driverless passenger elevator in the driving behavior data according to the initial rotation image frame and the next rotation image frame; Step S35, if the real-time rotation direction is different from the corresponding standard rotation direction, a behavior control signal is generated; if the real-time rotation direction is the same as the corresponding standard rotation direction, the next step is entered.

[0009] Furthermore, the step S3 also includes the following sub-steps: Step S36, obtaining the standard completion time corresponding to the current turning point of the driverless passenger elevator, adding the standard completion time to the acquisition time node to obtain the rotation completion time of the driverless passenger elevator at the current turning point, extracting the rotation image frame at the rotation completion time and using it as the end rotation image frame; Step S37, comparing the terminated rotation image frame with the standard completed image; Step S38, if the end-of-rotation image frame is different from the standard completion image, it means that the steering wheel rotation work may be completed in advance or delayed at this turning point, and a behavior control signal is generated; If the ending rotation image frame is the same as the standard completion image, the real-time rotation angle of the steering wheel corresponding to the driverless passenger elevator vehicle is obtained based on the multiple rotation image frames; Step S39, when the real-time rotation angle is the same as the corresponding standard rotation angle, no operation is performed; When the real-time rotation angle is different from the corresponding standard rotation angle, a behavior control signal is generated.

[0010] Furthermore, the driving behavior control method further includes: Step S5, obtaining real-time obstacle data during the driving of the unmanned passenger elevator; The real-time obstacle data includes obstacles measured by the unmanned passenger elevator at a detection distance during driving, obstacle images of obstacles, and real-time obstacle speed and real-time obstacle position of obstacles at different time points; Step S6, analyzing the obstacle conditions during the driving of the driverless passenger elevator according to the real-time obstacle data; Step S7, the unmanned passenger elevator executes safety control measures according to the collision warning duration.

[0011] Furthermore, the step S6 includes the following sub-steps: Step S61, when there is an obstacle in the driving route of the driverless passenger elevator, the obstacle image corresponding to the obstacle is compared with the image library; Step S62: if the obstacle is a supporting facility of the unmanned passenger elevator, no operation is performed; If the obstacle is not a supporting facility of the driverless passenger elevator, the real-time obstacle speed of the obstacle is obtained and the real-time obstacle position of the obstacle at the current time point is recorded; Step S63, when the real-time obstacle speed is zero, the collision warning duration of the unmanned passenger elevator is obtained by dividing the detection distance by the safe driving speed; When the real-time obstacle speed is not zero, the real-time obstacle position of the obstacle at the next time point is obtained, and the movement direction of the obstacle is obtained according to the real-time obstacle positions at the two time points; Step S64: if the obstacle and the driverless passenger elevator are in the same direction, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is compared with the safe driving speed; When the real-time obstacle speed is greater than or equal to the safe driving speed, no operation is performed; When the real-time obstacle speed is less than the safe driving speed, the real-time distance between the obstacle and the driverless passenger elevator is obtained, and the collision warning duration of the driverless passenger elevator is calculated by the formula: Collision warning duration = real-time distance / safe driving speed*(safe driving speed / real-time obstacle speed); Step S65: if the obstacle and the driverless passenger elevator are facing each other, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is added to the safe driving speed to obtain the total speed; At the same time, the real-time distance between the obstacle and the unmanned passenger elevator is obtained, and the collision warning duration of the unmanned passenger elevator is obtained by dividing the real-time distance by the total speed.

[0012] Furthermore, the step S7 includes the following sub-steps: Step S71, comparing the collision warning duration with the duration threshold; Step S72: if the collision warning duration is less than or equal to the duration threshold, immediately execute safety control measures; Step S73: If the collision warning duration is greater than the duration threshold, continue to monitor the obstacle in real time and be ready to execute safety control measures at any time.

[0013] In a second aspect, a computer device is provided, the computer device comprising: A memory storing a computer program; A processor is communicatively connected to the memory, and when the computer program is executed by the processor, a driving behavior control method is implemented.

[0014] In a third aspect, a computer-readable storage medium stores a computer program, which implements a driving behavior control method when executed by a processor.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention first sets the driving rules of the unmanned passenger elevator car, and the unmanned passenger elevator car drives according to the driving rules. Then, the driving behavior data of the unmanned passenger elevator car that performs the driving operation is collected at the collection time node, and the driving behavior of the unmanned passenger elevator car is analyzed according to the driving behavior data. If the analysis generates a behavior control signal, the unmanned passenger elevator car is safely controlled according to the behavior control signal. The present invention realizes accurate analysis of the corresponding driving behavior of the unmanned passenger elevator car and safely controls its driving behavior.

[0016] 2. The present invention obtains real-time obstacle data during the driving of the unmanned passenger elevator, and analyzes the obstacle conditions during the driving of the unmanned passenger elevator based on the real-time obstacle data, and obtains the collision warning duration through analysis. The unmanned passenger elevator executes safety control measures based on the collision warning duration. The present invention realizes safety control of the unmanned passenger elevator when the unmanned passenger elevator encounters an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0018] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a structural schematic diagram of the turning point in the present invention; Figure 3 is another method flow chart of the present invention; Figure 4 It is a schematic diagram of the structure of the computer device in the present invention. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Example 1, please refer to Figure 1 and Figure 2 As shown, the technical solution provided by the present invention is: a driving behavior control method of an unmanned passenger elevator, the driving behavior control method comprising: Step S1, setting driving rules for the unmanned passenger elevator, and the unmanned aerial vehicle driving the passenger elevator performs driving operations according to the driving rules; In this embodiment, the process of setting the driving rules in step S1 includes: Step S11, obtaining the departure place and destination of the driverless passenger elevator, and obtaining the driving route of the driverless passenger elevator according to the departure place and destination; Step S12, then obtaining the safe driving speed and driving schedule of the unmanned passenger elevator, and obtaining the starting driving time of each unmanned passenger elevator according to the driving schedule; Step S13, simultaneously obtaining the turning points in the driving route and the turning angle and real-time geographic location of each turning point, and obtaining the driving distance from the departure point to each turning point by calculating the distance between the real-time geographic location and the departure point; Step S14, the driving time of the unmanned passenger elevator to each turning point is obtained by dividing the driving distance by the safe driving speed, and the arrival time of the unmanned passenger elevator at each turning point is obtained by adding the driving time to the start driving time, and the arrival time is used as the collection time node of the unmanned passenger elevator at the turning point; Step S15, obtaining the rotation data of the steering wheel in the driverless passenger elevator at each turning point according to the turning angle of each turning point; It should be specifically stated that the rotation data is the standard rotation direction of the steering wheel in the unmanned passenger elevator vehicle and the standard rotation angles of different standard rotation directions, the standard completion time required for different standard rotation angles, and the standard start image when the rotation starts and the standard completion image when the rotation is completed. In practice, the rotation data can be obtained by performing multiple simulated driving of the unmanned passenger elevator vehicle; Step S16, taking the driving route, safe driving speed and starting driving time of the unmanned passenger elevator, the arrival time of the unmanned passenger elevator at each turning point, and the steering wheel rotation data of the unmanned passenger elevator at each turning point as the driving rules of the unmanned passenger elevator.

[0021] Step S2, collecting driving behavior data of the unmanned passenger elevator vehicle performing driving operations at a collection time node; It should be specifically noted that the driving behavior data is the real-time video of the steering wheel in the driverless passenger elevator at the time of collection; In practice, a surveillance camera capable of photographing the steering wheel is arranged directly above the driving position corresponding to the driver's seat of the unmanned passenger elevator vehicle. A surveillance camera can also be arranged on the chassis of the unmanned passenger elevator vehicle. The surveillance camera arranged on the chassis is used to photograph the steering knuckle of the unmanned passenger elevator vehicle. In this embodiment, the surveillance camera is preferably used to photograph the steering wheel.

[0022] Step S3, analyzing the driving behavior of the unmanned passenger elevator vehicle based on the driving behavior data; In a specific embodiment, step S3 includes the following sub-steps: Step S31, extracting the driving behavior data frame by frame in chronological order to obtain a plurality of rotation image frames corresponding to the steering wheel of the unmanned passenger elevator in the driving behavior data; Step S32, collecting the rotating image frame at the time node, and comparing the rotating image frame with the standard starting image; Among them, there are mature technologies for image comparison, which can be realized through pixel comparison, contour comparison, etc. Step S33, if the rotation image frame at the acquisition time node is different from the standard start image, it means that the corresponding steering wheel of the unmanned passenger elevator vehicle is turned in advance, that is, the unmanned passenger elevator vehicle turns in advance, and a behavior control signal is generated; If the rotation image frame at the acquisition time node is the same as the standard start image, it means that the steering wheel has not rotated, and the rotation image frame is used as the initial rotation image frame and proceeds to the next step; Step S34, obtaining the real-time rotation direction of the steering wheel corresponding to the driverless passenger elevator in the driving behavior data according to the initial rotation image frame and the next rotation image frame; Step S35, if the real-time rotation direction is different from the corresponding standard rotation direction, a behavior control signal is generated; if the real-time rotation direction is the same as the corresponding standard rotation direction, the next step is entered; Step S36, obtaining the standard completion time corresponding to the current turning point of the driverless passenger elevator, adding the standard completion time to the acquisition time node to obtain the rotation completion time of the driverless passenger elevator at the current turning point, extracting the rotation image frame at the rotation completion time and using it as the end rotation image frame; Step S37, comparing the terminated rotation image frame with the standard completed image; Step S38, if the end-of-rotation image frame is different from the standard completion image, it means that the steering wheel rotation work may be completed in advance or delayed at this turning point, and a behavior control signal is generated; If the ending rotation image frame is the same as the standard completion image, the real-time rotation angle of the steering wheel corresponding to the driverless passenger elevator vehicle is obtained based on the multiple rotation image frames; Step S39, when the real-time rotation angle is the same as the corresponding standard rotation angle, no operation is performed; When the real-time rotation angle is different from the corresponding standard rotation angle, a behavior control signal is generated; For example, when the driverless passenger elevator reaches a certain turning point, it needs to turn 90 degrees to the right. At this time, the steering wheel rotation situation is collected and analyzed. If the rotation situation conforms to the driving rules, the current driving behavior is normal. If the rotation situation does not conform to the driving rules, the current driving behavior is abnormal, and control is performed; In other embodiments, the route deviation, driving speed, departure time, etc. of the unmanned passenger elevator can also be analyzed and controlled.

[0023] Step S4, safely controlling the unmanned passenger elevator according to the behavior control signal; In practice, the driverless passenger elevator can be manually controlled through the background terminal.

[0024] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0025] Embodiment 2, as Figure 3 As shown, different from Example 1, the present invention further provides a driving behavior control method for an unmanned passenger elevator vehicle, which is used to analyze and control the obstacle avoidance situation of the unmanned passenger elevator vehicle, and the method includes: Step S5, obtaining real-time obstacle data during the driving of the unmanned passenger elevator; It needs to be explained in detail that the real-time obstacle data is the obstacles and obstacle images measured by the unmanned passenger elevator at the detection distance during driving, as well as the real-time obstacle speed and real-time obstacle position of the obstacles at different time points, among which the detection distance is the maximum distance that the unmanned passenger elevator can detect, and the detection distance is a safe distance; In practice, real-time obstacle data can be obtained through the lidar or surveillance camera in front of the driverless car.

[0026] Step S6, analyzing the obstacle conditions during the driving of the driverless passenger elevator according to the real-time obstacle data; In this embodiment, step S6 includes the following sub-steps: Step S61, when there is an obstacle in the driving route of the driverless passenger elevator, the obstacle image corresponding to the obstacle is compared with the image library; Step S62: if the obstacle is a supporting facility of the unmanned passenger elevator, no operation is performed; Among them, supporting facilities include but are not limited to aircraft exits to which unmanned passenger elevators dock; If the obstacle is not a supporting facility of the driverless passenger elevator, the real-time obstacle speed of the obstacle is obtained and the real-time obstacle position of the obstacle at the current time point is recorded; Step S63, when the real-time obstacle speed is zero, the collision warning duration of the unmanned passenger elevator is obtained by dividing the detection distance by the safe driving speed; When the real-time obstacle speed is not zero, the real-time obstacle position of the obstacle at the next time point is obtained, and the movement direction of the obstacle is obtained according to the real-time obstacle positions at the two time points; wherein, the interval between the next time point and the current time point is a very short time; Step S64: if the obstacle and the driverless passenger elevator are in the same direction, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is compared with the safe driving speed; When the real-time obstacle speed is greater than or equal to the safe driving speed, no operation is performed; When the real-time obstacle speed is less than the safe driving speed, the real-time distance between the obstacle and the driverless passenger elevator is obtained, and the collision warning duration of the driverless passenger elevator is calculated by the formula: Collision warning duration = real-time distance / safe driving speed*(safe driving speed / real-time obstacle speed); Step S65: if the obstacle and the driverless passenger elevator are facing each other, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is added to the safe driving speed to obtain the total speed; At the same time, the real-time distance between the obstacle and the unmanned passenger elevator is obtained, and the collision warning duration of the unmanned passenger elevator is obtained by dividing the real-time distance by the total speed.

[0027] Step S7, the unmanned passenger elevator performs safety control measures according to the collision warning duration; In this embodiment, step S7 includes the following sub-steps: Step S71, comparing the collision warning duration with the duration threshold; Step S72: if the collision warning duration is less than or equal to the duration threshold, immediately execute safety control measures; Among them, the safety control measures include the unmanned passenger elevator vehicle immediately leaving the current driving route, the obstacle immediately leaving the current driving route, the unmanned passenger elevator vehicle and the obstacle immediately performing emergency braking, etc.; Step S73: If the collision warning duration is greater than the duration threshold, continue to monitor the obstacle in real time and be ready to execute safety control measures at any time.

[0028] Embodiment 3, as Figure 4As shown, this embodiment provides a computer device, which may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute a driving behavior control method for an unmanned passenger elevator vehicle, the method comprising: setting driving rules for the unmanned passenger elevator vehicle, and the unmanned passenger elevator vehicle driving the unmanned passenger elevator vehicle performs driving operations according to the driving rules; collecting driving behavior data of the unmanned passenger elevator vehicle performing driving operations at the collection time node; analyzing the driving behavior of the unmanned passenger elevator vehicle according to the driving behavior data; safely controlling the unmanned passenger elevator vehicle according to the behavior control signal; obtaining real-time obstacle data during the driving process of the unmanned passenger elevator vehicle; analyzing the obstacle conditions during the driving process of the unmanned passenger elevator vehicle according to the real-time obstacle data; and the unmanned passenger elevator vehicle performs safety control measures according to the collision warning duration.

[0029] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0030] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a driving behavior control method for an unmanned passenger elevator car provided by the above-mentioned methods, the method including: setting driving rules for the unmanned passenger elevator car, and the unmanned passenger elevator car driving the unmanned passenger elevator car performs driving operations according to the driving rules; collecting driving behavior data of the unmanned passenger elevator car performing driving operations at a collection time node; analyzing the driving behavior of the unmanned passenger elevator car based on the driving behavior data; safely controlling the unmanned passenger elevator car based on the behavior control signal; obtaining real-time obstacle data of the unmanned passenger elevator car during driving; analyzing the obstacle conditions during driving of the unmanned passenger elevator car based on the real-time obstacle data; the unmanned passenger elevator car executes safety control measures based on the collision warning duration.

[0031] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute a driving behavior control method for an unmanned passenger elevator vehicle provided above, the method comprising: setting driving rules for the unmanned passenger elevator vehicle, and the unmanned passenger elevator vehicle driving the unmanned passenger elevator vehicle performs driving operations according to the driving rules; collecting driving behavior data of the unmanned passenger elevator vehicle performing driving operations at a collection time node; analyzing the driving behavior of the unmanned passenger elevator vehicle based on the driving behavior data; safely controlling the unmanned passenger elevator vehicle based on a behavior control signal; obtaining real-time obstacle data during the driving process of the unmanned passenger elevator vehicle; analyzing the obstacle conditions during the driving process of the unmanned passenger elevator vehicle based on the real-time obstacle data; and the unmanned passenger elevator vehicle executing safety control measures based on the collision warning duration.

[0032] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0033] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A driving behavior control method for an unmanned passenger elevator, characterized in that: Driving behavior control methods include: Step S1, setting driving rules for the unmanned passenger elevator, and the unmanned aerial vehicle driving the passenger elevator performs driving operations according to the driving rules; Step S2, collecting driving behavior data of the unmanned passenger elevator vehicle performing driving operations at a collection time node; Step S3, analyzing the driving behavior of the unmanned passenger elevator vehicle based on the driving behavior data; Step S4, safely controlling the unmanned passenger elevator car according to the behavior control signal.

2. The driving behavior control method of an unmanned passenger elevator according to claim 1, characterized in that: The process of setting the driving rules in step S1 includes: Step S11, obtaining the departure place and destination of the driverless passenger elevator, and obtaining the driving route of the driverless passenger elevator according to the departure place and destination; Step S12, then obtaining the safe driving speed and driving schedule of the unmanned passenger elevator, and obtaining the starting driving time of each unmanned passenger elevator according to the driving schedule; Step S13, simultaneously obtaining the turning points in the driving route and the turning angle and real-time geographic location of each turning point, and obtaining the driving distance from the departure point to each turning point by calculating the distance between the real-time geographic location and the departure point; Step S14, the driving time of the unmanned passenger elevator to each turning point is obtained by dividing the driving distance by the safe driving speed, and the arrival time of the unmanned passenger elevator at each turning point is obtained by adding the driving time to the start driving time, and the arrival time is used as the collection time node of the unmanned passenger elevator at the turning point; Step S15, obtaining the rotation data of the steering wheel in the driverless passenger elevator at each turning point according to the turning angle of each turning point; Step S16, taking the driving route, safe driving speed and starting driving time of the unmanned passenger elevator, the arrival time of the unmanned passenger elevator at each turning point, and the steering wheel rotation data of the unmanned passenger elevator at each turning point as the driving rules of the unmanned passenger elevator.

3. The driving behavior control method of an unmanned passenger elevator according to claim 2, characterized in that: The rotation data includes the standard rotation direction of the steering wheel in the driverless passenger elevator and the standard rotation angles of different standard rotation directions, the standard completion time required for different standard rotation angles, and the standard start image when the rotation starts and the standard completion image when the rotation is completed; The driving behavior data is the real-time video of the steering wheel in the unmanned passenger elevator at the collection time node.

4. The driving behavior control method of an unmanned passenger elevator according to claim 3, characterized in that: The step S3 includes the following sub-steps: Step S31, extracting the driving behavior data frame by frame in chronological order to obtain a plurality of rotation image frames corresponding to the steering wheel of the unmanned passenger elevator in the driving behavior data; Step S32, collecting the rotating image frame at the time node, and comparing the rotating image frame with the standard starting image; Step S33, if the rotating image frame at the acquisition time node is different from the standard start image, a behavior control signal is generated; If the rotation image frame at the acquisition time node is the same as the standard start image, the rotation image frame is used as the initial rotation image frame and proceeds to the next step; Step S34, obtaining the real-time rotation direction of the steering wheel corresponding to the driverless passenger elevator in the driving behavior data according to the initial rotation image frame and the next rotation image frame; Step S35, if the real-time rotation direction is different from the corresponding standard rotation direction, a behavior control signal is generated; if the real-time rotation direction is the same as the corresponding standard rotation direction, the next step is entered.

5. The driving behavior control method of an unmanned passenger elevator according to claim 4, characterized in that: The step S3 also includes the following sub-steps: Step S36, obtaining the standard completion time corresponding to the current turning point of the driverless passenger elevator, adding the standard completion time to the acquisition time node to obtain the rotation completion time of the driverless passenger elevator at the current turning point, extracting the rotation image frame at the rotation completion time and using it as the end rotation image frame; Step S37, comparing the terminated rotation image frame with the standard completed image; Step S38, if the end-of-rotation image frame is different from the standard completion image, it means that the steering wheel rotation work may be completed in advance or delayed at this turning point, and a behavior control signal is generated; If the ending rotation image frame is the same as the standard completion image, the real-time rotation angle of the corresponding steering wheel of the unmanned passenger elevator vehicle is obtained based on the multiple rotation image frames; Step S39, when the real-time rotation angle is the same as the corresponding standard rotation angle, no operation is performed; When the real-time rotation angle is different from the corresponding standard rotation angle, a behavior control signal is generated.

6. The driving behavior control method of an unmanned passenger elevator according to claim 1, characterized in that: Driving behavior control methods also include: Step S5, obtaining real-time obstacle data during the driving of the unmanned passenger elevator; The real-time obstacle data includes obstacles measured by the unmanned passenger elevator at a detection distance during driving, obstacle images of obstacles, and real-time obstacle speed and real-time obstacle position of obstacles at different time points; Step S6, analyzing the obstacle conditions during the driving of the driverless passenger elevator according to the real-time obstacle data; Step S7, the unmanned passenger elevator executes safety control measures according to the collision warning duration.

7. The driving behavior control method of an unmanned passenger elevator according to claim 6, characterized in that: The step S6 includes the following sub-steps: Step S61, when there is an obstacle in the driving route of the driverless passenger elevator, the obstacle image corresponding to the obstacle is compared with the image library; Step S62: if the obstacle is a supporting facility of the unmanned passenger elevator, no operation is performed; If the obstacle is not a supporting facility of the driverless passenger elevator, the real-time obstacle speed of the obstacle is obtained and the real-time obstacle position of the obstacle at the current time point is recorded; Step S63, when the real-time obstacle speed is zero, the collision warning duration of the unmanned passenger elevator is obtained by dividing the detection distance by the safe driving speed; When the real-time obstacle speed is not zero, the real-time obstacle position of the obstacle at the next time point is obtained, and the movement direction of the obstacle is obtained according to the real-time obstacle positions at the two time points; Step S64: if the obstacle and the driverless passenger elevator are in the same direction, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is compared with the safe driving speed; When the real-time obstacle speed is greater than or equal to the safe driving speed, no operation is performed; When the real-time obstacle speed is less than the safe driving speed, the real-time distance between the obstacle and the driverless passenger elevator is obtained, and the collision warning duration of the driverless passenger elevator is calculated by the formula: Collision warning duration = real-time distance / safe driving speed*(safe driving speed / real-time obstacle speed); Step S65, if the obstacle and the driverless passenger elevator are facing each other, the real-time obstacle speed of the obstacle is obtained, and the real-time obstacle speed is added to the safe driving speed to obtain the total speed; At the same time, the real-time distance between the obstacle and the unmanned passenger elevator is obtained, and the collision warning duration of the unmanned passenger elevator is obtained by dividing the real-time distance by the total speed.

8. The driving behavior control method of an unmanned passenger elevator according to claim 7, characterized in that: The step S7 includes the following sub-steps: Step S71, comparing the collision warning duration with the duration threshold; Step S72: if the collision warning duration is less than or equal to the duration threshold, immediately execute safety control measures; Step S73: If the collision warning duration is greater than the duration threshold, continue to monitor the obstacle in real time and be ready to execute safety control measures at any time.

9. A computer device, characterized in that: The computer device comprises: A memory storing a computer program; A processor is communicatively connected to the memory, and when the computer program is executed by the processor, the method described in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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