Unmanned vehicle control method and device and computer readable storage medium

Abstract

The invention discloses an unmanned vehicle control method and device and a computer readable storage medium, and relates to the technical field of intelligent driving. The method comprises the steps that environment information of a target scene is acquired, the target scene comprises a mining area scene, an environmental sanitation scene and a port scene, and the environment information comprises at least one of wind speed, rainfall, snowfall, visibility and temperature; a scheduling plan of the target mining area is obtained, and the scheduling plan is used for representing scheduling information of target vehicles in the target mining area; controlling the target vehicle to perform self-inspection operation in response to the environmental information meeting the operation condition, and determining self-inspection state information of the target vehicle; and controlling the target vehicle to carry out loading operation based on the scheduling plan in response to the condition that the self-inspection state information meets a preset condition. The technical problem of low working efficiency of an unmanned vehicle in a mining area working scene is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving, and in particular, to a control method, device, and computer-readable storage medium for a driverless vehicle. Background Art

[0002] The mining industry is the foundation and pillar industry of the economy, and the intelligentization of mines is an important trend in the current development of the mining industry. Intelligent mining trucks are mainly used for the transfer of ore soil between the ore soil mining site and the unloading site in the mining area. According to the overall operation cycle, it can be divided into eight types of operation scenarios, such as power-on self-check, empty-load driving, loading, full-load driving, unloading, refueling, fault handling, and parking shutdown. Among them, power-on self-check is the primary task in the operation cycle process.

[0003] Currently, the vehicle power-on self-check is based on the vehicle's own electrical system for individual vehicle self-check. However, this method fails to effectively integrate external environment information during vehicle power-on self-check, which may lead to system failures and affect the working efficiency of driverless vehicles in mining area operation scenarios.

[0004] For the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a control method, device, and computer-readable storage medium for a driverless vehicle to at least solve the technical problem of low working efficiency of driverless vehicles in mining area operation scenarios.

[0006] According to one aspect of the embodiments of the present invention, a control method for a driverless vehicle is provided, including: obtaining environmental information of a target scenario, where the target scenario includes: mining area scenario, sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature; obtaining a scheduling plan of a target mining area, where the scheduling plan is used to represent the scheduling information of a target vehicle in the target mining area; in response to the environmental information satisfying the operation conditions, controlling the target vehicle to perform a self-check operation, and determining the self-check status information of the target vehicle; in response to the self-check status information satisfying the preset conditions, based on the scheduling plan, controlling the target vehicle to perform a loading operation.

[0007] Optionally, before controlling the target vehicle to perform a loading operation based on the scheduling plan, it includes: in response to the wind speed, rainfall, snowfall, visibility, and temperature all satisfying the operation conditions, controlling the target vehicle to perform a self-check operation; in response to at least one of the wind speed, rainfall, snowfall, visibility, and temperature not satisfying the operation conditions, controlling the target vehicle to stop the operation.

[0008] Optionally, before obtaining the scheduling plan for the target mining area, it includes: obtaining the demand information of the target mining area, where the demand information includes the quantity, type, departure location, and destination of the goods to be loaded; determining the scheduling quantity and scheduling route of the target vehicle based on the demand information and environmental information; and determining the scheduling plan based on the scheduling quantity and scheduling route of the target vehicle.

[0009] Optionally, in response to the environmental information meeting the operation conditions, control the target vehicle to perform a self-check operation and determine the self-check status information of the target vehicle, including: in response to the environmental information meeting the operation conditions, power on the target vehicle; perform a self-check operation on the target systems of the target vehicle to determine the self-check results of each target system, where the target systems include: start system, braking system, power system, steering system, suspension system, lighting system, sensor system, communication system, safety system, and software system, and the self-check results include normal self-check and abnormal self-check; determine the self-check status information of the target vehicle based on the self-check results of each target system.

[0010] Optionally, determining the self-check status information of the target vehicle based on the self-check results of each target system includes: in response to at least one of the self-check results of each target system being an abnormal self-check, cut off the communication interface of the target system, generate a prompt message based on the self-check results, and determine that the self-check status information of the target vehicle is an abnormal self-check status, where the prompt message is used to prompt that the self-check result of the target system is an abnormal self-check; in response to the self-check results of each target system all being normal self-checks, determine that the self-check status information of the target vehicle is a normal self-check status.

[0011] Optionally, in response to the self-check status information meeting the preset conditions, control the target vehicle to perform a loading operation based on the scheduling plan, including: in response to the self-check status information being a normal self-check status, obtain the endurance information of the target vehicle, where the endurance information includes: fuel quantity information and coolant quantity information; in response to the endurance information meeting the endurance conditions, control the target vehicle to perform a loading operation based on the scheduling plan.

[0012] Optionally, after obtaining the endurance information of the target vehicle, it includes: in response to the fuel quantity information indicating insufficient fuel, control the refueling vehicle in the target mining area to perform a refueling operation following the target vehicle; obtain the fuel quantity information and coolant quantity information of the target vehicle again; in response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, control the target vehicle to perform a loading operation based on the scheduling plan.

[0013] Optionally, after obtaining the endurance information of the target vehicle, it includes: in response to the coolant level information indicating insufficient coolant, controlling the refueling vehicle in the target mining area to perform a refueling operation on the target vehicle; obtaining the fuel quantity information and coolant level information of the target vehicle again; in response to the fuel quantity information indicating sufficient fuel and the coolant level information indicating sufficient coolant, based on the scheduling plan, controlling the target vehicle to perform a loading operation.

[0014] According to another aspect of the embodiments of the present invention, there is also provided a control device for an autonomous vehicle, including: a first acquisition module for acquiring the environmental information of a target scenario, where the target scenario includes: a mining area scenario, a sanitation scenario, and a port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature; a second acquisition module for acquiring the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area; a self-check module for controlling the target vehicle to perform a self-check operation and determining the self-check status information of the target vehicle in response to the environmental information satisfying the operation conditions; a scheduling module for controlling the target vehicle to perform a loading operation based on the scheduling plan in response to the self-check status information satisfying the preset conditions.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0016] In the embodiments of the present invention, the environmental judgment result is combined with the scheduling plan, and based on whether the environment satisfies the operation conditions, it is intelligently decided whether to start the vehicle for a self-check operation. This intelligent scheduling based on environmental information can optimize the operation process, avoid unnecessary vehicle startups and self-checks, thereby achieving the technical effects of saving energy and improving operation efficiency, and further solving the technical problem of low working efficiency of autonomous vehicles in the mining area operation scenario. Description of the Drawings

[0017] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the illustrative embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 is a flowchart of an optional control method for an autonomous vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a flowchart of an optional control method for an autonomous vehicle according to an embodiment of the present invention;

[0020] Figure 3It is a structural block diagram of a control device for an autonomous vehicle according to an embodiment of the present invention. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to an embodiment of the present invention, an embodiment of a control method for an autonomous vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0024] The method embodiments can be executed in an electronic device including a memory and a processor or a similar computing device. Taking running on a vehicle-mounted terminal as an example, the vehicle-mounted terminal may include one or more processors (the processors may include, but are not limited to, a processing device such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a MicroController Unit (MCU), a Field Programmable Gate Array (FPGA), a Neural-network Processor Unit (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, etc.) and a memory for storing data. Optionally, the above vehicle-mounted terminal may further include a transmission device, an input / output device, and a display device for communication functions. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above vehicle-mounted terminal. For example, the vehicle-mounted terminal may further include more or fewer components than the above structural description, or have a different configuration from the above structural description.

[0025] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the driverless vehicle in the embodiments of the present invention. The processor executes various functional applications and data processing by running the computer programs stored in the memory, that is, implements the above control method of the driverless vehicle. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely disposed relative to the processor, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0026] The transmission device is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of a mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0027] The display device can be, for example, a touch-screen liquid crystal display (Liquid Crustal Display, LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above-mentioned mobile terminal has a Graphical User Interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function here optionally includes the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0028] Figure 1 is a method according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0029] Step S102, obtain the environmental information of the target scenario, where the target scenario includes: mining area scenario, environmental sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature.

[0030] Step S104, obtain the scheduling plan of the target mining area, where the scheduling plan is used to characterize the scheduling information of the target vehicle in the target mining area.

[0031] Step S106, in response to the environmental information satisfying the operation conditions, control the target vehicle to perform a self-check operation and determine the self-check status information of the target vehicle.

[0032] Step S108, in response to the self-check status information satisfying the preset conditions, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0033] In step S102, by real-time monitoring of the environmental information of the target scenario (such as mining areas, sanitation, ports), including but not limited to wind speed, rainfall, snowfall, visibility, temperature, etc., it is possible to ensure that operations are started under suitable environmental conditions. This intelligent judgment based on environmental information avoids the safety risks that may be brought about by operating in bad weather, while also improving the adaptability of vehicle operations and ensuring stable operation in different scenarios. This solution is not only applicable to mining scenarios, but can also be flexibly applied to sanitation scenarios and port scenarios, etc. By adjusting the monitoring indicators and preset conditions of environmental information, it is possible to adapt to the specific requirements of different scenarios and improve the generality and scalability of the technical solution.

[0034] In step S104, through environmental information prediction and vehicle self-inspection before operation, preventive maintenance can be carried out before problems occur, thereby reducing maintenance costs, avoiding operation interruptions, and improving operation continuity and efficiency.

[0035] In step S106, the self-inspection operation is not limited to the electrical system and mechanical state of the vehicle itself, but may also include the communication state between the vehicle and the dispatching system and the ground system, as well as the working state of on-vehicle sensors and other key equipment. Through comprehensive self-inspection, potential vehicle faults or abnormalities can be discovered and processed in a timely manner, avoiding operation interruptions and improving operation efficiency.

[0036] In step S108, by combining environmental information judgment and self-inspection results, the dispatching system can dynamically adjust task allocation to ensure that the vehicle operates at the most suitable time, location, and conditions. This intelligent dispatching based on real-time data can effectively reduce operation delays, reduce resource waste, and improve the efficiency of the operation process. When the vehicle is in an operable state, control the vehicle to perform a loading operation based on the dispatching plan. It not only considers the state of the vehicle itself, but also combines environmental information and the dispatching plan to ensure that the loading operation is carried out in a safe and efficient state, avoiding operation delays caused by vehicle faults or unsuitable environments.

[0037] Based on steps S102 - S108, through the deep linkage between the dispatching system and the vehicle system, automated dispatching and operation control based on environmental information and vehicle status are realized, which helps to improve the level of scenario automation management and promote the wide application of intelligent technologies in fields such as mines, sanitation, and ports. Such a setting can significantly improve the safety, efficiency, and reliability of driverless vehicles operating in different scenarios, while reducing maintenance costs and enhancing the level of intelligent management.

[0038] As an alternative implementation, before controlling the target vehicle to perform a loading operation based on the dispatching plan, it includes:

[0039] Step S201, in response to the wind speed, rainfall, snowfall, visibility, and temperature all meeting the operating conditions, control the target vehicle to perform a self-check operation.

[0040] Step S202, in response to at least one of the wind speed, rainfall, snowfall, visibility, and temperature not meeting the operating conditions, control the target vehicle to stop operating.

[0041] In step S201, when the environmental conditions are suitable, starting the vehicle self-check operation avoids unnecessary waiting time, optimizes the preparation process before operation, and improves the operation efficiency. By ensuring that the environmental conditions (wind speed, rainfall, snowfall, visibility, and temperature) meet the preset safety operation standards, the risk of accidents caused by adverse weather conditions can be effectively reduced, ensuring the safety of the driverless vehicle during operation.

[0042] In step S202, before the environmental conditions do not meet the operation requirements, the vehicle is not started for self-check, which can save energy, reduce the power or fuel consumption of unnecessary self-checks, and reduce the operating cost. In addition, when any environmental condition does not meet the operation requirements, the vehicle operation is immediately stopped, which can prevent potential risks caused by environmental factors, such as collision accidents that may be caused by too low visibility, or vehicle out-of-control that may be caused by too high wind speed. Stopping operation under extreme weather conditions not only ensures the safety of the driverless vehicle but also protects the staff and other vehicles in the operation area, reducing the occurrence of personal injuries and property losses.

[0043] Based on steps S201 - S202, combining the environmental conditions with the vehicle self-check ensures that the vehicle starts operation in the best state, improving the reliability and successful execution rate of the operation. Operating within the allowable range of environmental conditions helps to achieve long-term stable and sustainable operation, avoiding equipment wear and environmental protection problems caused by frequent operation under adverse conditions. Such settings can significantly improve the safety, efficiency, and reliability of the operation, while reducing the operating cost and system failure rate, contributing to the stable operation of the driverless vehicle in different scenarios and promoting the sustainable development of automated operations.

[0044] Optionally, before obtaining the scheduling plan of the target mining area, it includes:

[0045] Step S211, obtain the demand information of the target mining area, where the demand information includes the quantity, type, departure place, and destination of the goods to be loaded.

[0046] Step S212, based on the demand information and environmental information, determine the scheduling quantity and scheduling route of the target vehicle.

[0047] Step S213, based on the scheduling quantity and scheduling route of the target vehicle, determine the scheduling plan.

[0048] In step S211, by collecting specific demand information, such as the quantity, type, origin, and destination of goods, the dispatching system can more accurately understand the current operation demand, provide basic data for subsequent vehicle dispatching and route planning, and achieve precise dispatching of operations. Based on the type and quantity requirements of goods, different types and load capacities of vehicles can be reasonably allocated, avoiding waste of vehicle resources and ensuring that each vehicle can efficiently complete the transportation task. Clear origin and destination information helps to quickly plan the optimal route, reduce the empty driving time and waiting time of vehicles, and improve the efficiency of operations and the overall speed of logistics transportation. The collection of demand information helps to predict future operation volumes, provide forward-looking guidance for vehicle and personnel dispatching, and ensure the timely allocation and sufficient preparation of resources.

[0049] In step S212, by combining demand information and environmental information, weather conditions, road conditions, vehicle performance, and operation requirements can be comprehensively considered to formulate a more reasonable and safe dispatching plan. In case of bad weather or special requirements, the dispatching system can dynamically adjust the number of vehicle dispatches and routes based on real-time environmental information and demand information to ensure that operations are carried out under the premise of safety, and improve the flexibility and response speed of dispatching. By intelligently planning the dispatching route, vehicle congestion in the loading and unloading area can be effectively avoided, the traffic efficiency in the operation area can be improved, waiting time can be reduced, and good environmental conditions can be provided for subsequent operations. The planning of the optimal dispatching route can reduce the driving distance and time of vehicles, reduce energy consumption, and improve the economy and environmental friendliness of operations.

[0050] In step S213, the determination of the dispatching plan realizes the reasonable allocation of the operation tasks of target vehicles, avoids the situation of task overlap or vehicle vacancy, and improves the utilization rate and operation efficiency of each vehicle. A clear dispatching plan helps to standardize the operation process, facilitate the management and coordination of operation personnel and vehicles, reduce the uncertainty in operations, and improve the predictability and management level of operations. During the execution of the dispatching plan, the vehicle status and operation progress can be monitored in real time, and the dispatching plan can be adjusted in time to handle emergencies and ensure the continuity and stability of operations. Through precise task allocation and route planning, goods can be ensured to be transported to the destination on time and safely.

[0051] Based on steps S211 to S213, the precise capture of the operation demand in the mining area is realized. By combining environmental information, an optimized dispatching plan is formulated, effectively improving the safety, efficiency, and resource utilization rate of operations. At the same time, energy consumption and operating costs are reduced, demonstrating significant technical effects and application values.

[0052] Optionally, in response to the environmental information meeting the operation conditions, control the target vehicle to perform a self-inspection operation, and determine the self-inspection status information of the target vehicle, including:

[0053] Step S221, in response to the environmental information meeting the operation conditions, control the target vehicle to power on.

[0054] Step S222, perform a self-check operation on the target systems of the target vehicle to determine the self-check results of each target system, where the target systems include: starting system, braking system, power system, steering system, suspension system, lighting system, sensor system, communication system, safety system, and software system, and the self-check results include normal self-check and abnormal self-check;

[0055] Step S223, based on the self-check results of each target system, determine the self-check status information of the target vehicle.

[0056] In step S221, ensure that the vehicle is powered on under suitable environmental conditions, avoid damage to the vehicle's electrical system caused by bad weather, and extend the service life of the vehicle. Confirming the environmental conditions before power-on can prevent starting the vehicle under adverse conditions, reducing the risk of safety accidents caused by environmental factors. When the environment is not suitable for operation, do not power on, saving the energy consumption of the vehicle in the standby state and improving the energy utilization efficiency.

[0057] In step S222, comprehensively self-check each key system of the vehicle to ensure that all systems are in a normal working state before the vehicle is put into operation, improving the reliability and safety of the operation. Through self-check, potential system failures can be detected early, and preventive measures can be taken in time to avoid major failures during operation that may cause the operation to interrupt. The automation of the self-check operation process reduces the preparation time and labor costs before operation, and improves the efficiency and accuracy of operation preparation.

[0058] In step S223, comprehensively evaluate the self-check results of each system to ensure that all key systems pass the self-check, and form the complete self-check status information of the target vehicle. The comprehensive evaluation of the self-check status information provides a decision-making basis for the dispatching system, enabling it to judge whether the vehicle is suitable for immediate operation, and optimizing the efficiency and accuracy of the dispatching decision. If the self-check status information contains abnormal self-checks, it can be immediately fed back to the control center and on-site staff to handle the abnormal situation in time and avoid potential safety hazards.

[0059] Based on steps S221 - S223, it is possible to achieve a comprehensive self-check of the target vehicle under suitable environmental conditions, ensure the normal state of the vehicle system, improve the preparation efficiency, safety, and reliability of the operation, reduce energy consumption waste and failure rate, demonstrating significant technical effects and application values.

[0060] Optionally, determining the self-check status information of the target vehicle based on the self-check results of each target system includes:

[0061] Step S231: In response to at least one of the self-check results of each target system being an abnormal self-check, cut off the communication interface of the target system, generate a prompt message based on the self-check result, and determine that the self-check status information of the target vehicle is an abnormal self-check status, where the prompt message is used to prompt that the self-check result of the target system is an abnormal self-check.

[0062] Step S232: In response to the self-check results of all target systems being normal self-checks, determine that the self-check status information of the target vehicle is a normal self-check status.

[0063] In step S231, once an abnormal self-check of any target system is detected, the communication interface of the abnormal system is cut off, avoiding potential driving safety hazards caused by the faulty system. The operation of cutting off the communication interface can effectively isolate the faulty system, prevent it from affecting other normally operating systems, reduce the risk of fault spread, and improve the overall stability of the system. Generating and sending a prompt message ensures that on-site staff and the control center can timely learn about the abnormal status of the vehicle, facilitating quick response and fault handling, and avoiding operation delays. Through the clear confirmation of the self-check status information, the dispatching system can accurately identify the current status of the vehicle, avoid assigning abnormal vehicles to operation tasks, and optimize the quality of dispatching decisions.

[0064] In step S232, the self-check results of all target systems are normal, ensuring that the vehicle is in good condition after a comprehensive inspection, can safely and efficiently participate in operations, improving the preparation efficiency and reliability of operations. The confirmation of the normal self-check status reduces the safety risks caused by system failures during operations, safeguards the safety of operators and vehicles, and reduces the probability of operation accidents. The information of the normal self-check status provides accurate vehicle status data for the dispatching system, helping to make more reasonable vehicle dispatching decisions and avoiding dispatching errors caused by incorrect vehicle status information. The timely confirmation of the vehicle's self-check status ensures the continuity of operations, avoids operation interruptions caused by system failures, and improves the operation efficiency and the continuity of logistics transportation.

[0065] Based on steps S231 - S232, it is ensured that the vehicle can accurately evaluate its own system status before participating in operations. Abnormal systems are timely isolated, and vehicles in normal status can safely and efficiently participate in operations, effectively improving the safety, efficiency, and system stability of operations, while reducing maintenance costs, demonstrating significant technical effects and application values.

[0066] Optionally, in response to the self-check status information meeting a preset condition, based on the dispatching plan, control the target vehicle to perform a loading operation, including:

[0067] Step S241: In response to the self-check status information indicating normal self-check status, obtain the endurance information of the target vehicle, where the endurance information includes fuel quantity information and coolant quantity information.

[0068] Step S242: In response to the endurance information meeting the endurance condition, based on the scheduling plan, control the target vehicle to perform the loading operation.

[0069] In step S241, by checking the fuel quantity information and coolant quantity information, it is ensured that the vehicle has sufficient energy and coolant before performing the loading operation, avoiding operation interruptions caused by insufficient energy or coolant during the operation, and ensuring the continuity and efficiency of the operation. Checking the coolant quantity information can preventively detect potential problems in the cooling system, perform maintenance in a timely manner, avoid vehicle damage caused by cooling system failures during high-load operations, extend the service life of the vehicle, and reduce maintenance costs. Checking the endurance information before dispatching the vehicle for the loading operation can ensure the smooth execution of the scheduling plan, avoid plan delays caused by insufficient energy, and improve the accuracy and reliability of scheduling.

[0070] In step S242, only when the endurance information of the vehicle meets the preset endurance condition is the vehicle allowed to perform the loading operation, optimizing the use of vehicle resources, avoiding unnecessary energy waste, and improving energy utilization efficiency. Ensuring that the vehicle has sufficient endurance before the operation avoids operation delays caused by insufficient energy, and improves the operation on-time rate and logistics efficiency.

[0071] Through steps S241 - S242, it is ensured that the vehicle has sufficient energy and cooling system guarantee before being put into operation, can execute the scheduling plan safely and efficiently, effectively improves the continuity, safety and energy utilization efficiency of the operation, demonstrates significant technical effects and application values, while reducing the operation cost and personnel burden, and optimizing the operation process and intelligent scheduling decision-making.

[0072] Optionally, after obtaining the endurance information of the target vehicle, it includes:

[0073] Step S251: In response to the fuel quantity information indicating insufficient fuel, control the fuel truck in the target mining area to refuel the target vehicle.

[0074] Step S252: Obtain the fuel quantity information and coolant quantity information of the target vehicle again;

[0075] Step S253: In response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform the loading operation.

[0076] In step S251, when it is detected that the fuel level of the target vehicle is insufficient, a refueling vehicle is immediately dispatched for refueling operations. This can timely replenish the fuel when the vehicle needs it, avoid resource waste caused by improper energy management, optimize the energy distribution and management process, and also prevent operation delays or interruptions caused by insufficient fuel, ensuring the continuity of the operation process. Automated refueling operations reduce the need for manual refueling, lighten the workload of operators, and improve the safety and automation level of the operation.

[0077] In step S252, after the refueling operation is completed, the fuel level information and coolant level information are obtained again to ensure that the refueling operation has effectively replenished the fuel and the cooling system is also in a normal state. This can proactively detect potential problems and reduce safety risks and vehicle damage caused by these problems during the operation.

[0078] In step S253, when it is confirmed that both the fuel level and coolant level are sufficient, the vehicle status fully meets the operation conditions, ensuring the safety of the loading operation, reducing potential risks during the operation, enabling the scheduling system to execute the scheduling plan more accurately, reducing scheduling adjustments due to insufficient energy or coolant, and improving the overall efficiency and accuracy of scheduling, as well as enhancing economic benefits.

[0079] Through the implementation of the above steps S251 to S253, dynamic monitoring and rapid replenishment of the vehicle's energy status are achieved, ensuring that the vehicle is in the best state before the operation, effectively improving the safety, efficiency, and reliability of the operation. At the same time, it reduces human intervention and operation costs, optimizes the energy management and scheduling decision-making process, demonstrating significant technical effects and application values.

[0080] Optionally, after obtaining the endurance information of the target vehicle, it includes:

[0081] Step S261, in response to the coolant level information indicating insufficient coolant, control the liquid filling vehicle in the target mining area to perform a liquid filling operation on the target vehicle.

[0082] Step S262, obtain the fuel level information and coolant level information of the target vehicle again.

[0083] Step S263, in response to the fuel level information indicating sufficient fuel and the coolant level information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0084] In step S261, when it is detected that the coolant level is insufficient, the refueling vehicle is dispatched to replenish the coolant for the vehicle, ensuring the normal operation of the vehicle's cooling system, avoiding engine overheating or system failures caused by insufficient coolant, and ensuring the safe and efficient operation of the vehicle. The automated refueling operation can complete the coolant replenishment in a relatively short time, improving the maintenance efficiency and reducing the fluctuations in maintenance time and inefficiencies caused by manual operations. The on-vehicle refueling operation can be completed together with the vehicle status inspection, avoiding the situation where the vehicle needs to return to the maintenance point for coolant replenishment, reducing the empty driving distance and time of the vehicle, and lowering the maintenance cost.

[0085] In step S262, after the refueling operation is completed, the coolant level information is obtained again to ensure that the coolant replenishment operation has effectively brought the coolant level up to the standard, avoiding the operation risks caused by insufficient replenishment or incorrect replenishment. The fuel level information is obtained again to ensure that not only is the coolant level sufficient before the vehicle departs, but the fuel level also meets the operation requirements, guaranteeing the reliability of the overall operation state of the vehicle and improving the safety and efficiency of the operation. By checking the fuel level and coolant level again, repeated replenishment operations caused by inaccurate initial inspection data or incomplete replenishment operations can be avoided, saving resources and improving the operation efficiency.

[0086] In step S263, on the basis of ensuring that both the fuel level and the coolant level are sufficient, the loading operation is carried out, improving the preparation quality and reliability of the operation and avoiding operation failures caused by energy or cooling system problems. The sufficiency of the fuel level and the coolant level ensures that the vehicle can perform the operation in the best state, reducing the additional maintenance requirements during the operation and improving the operation efficiency and the logistics transportation speed.

[0087] Based on steps S261 - S263, the dynamic monitoring and rapid replenishment of the vehicle's coolant level are realized, ensuring that the vehicle operates in the best state, effectively improving the safety, efficiency, and reliability of the operation, while reducing the maintenance cost, optimizing the execution process of the scheduling plan, and demonstrating significant technical effects and application values.

[0088] Figure 2 is a flowchart of another XX according to one embodiment of the present invention, as Figure 2 shown, the method includes the following steps:

[0089] Step S201, in response to the wind speed, rainfall, snowfall, visibility, and temperature all meeting the operation conditions, control the target vehicle to perform a self-check operation.

[0090] Step S202, in response to at least one of the wind speed, rainfall, snowfall, visibility, and temperature not meeting the operation conditions, control the target vehicle to stop the operation.

[0091] Step S211: Obtain the demand information of the target mining area, where the demand information includes the quantity, type, origin, and destination of the goods to be loaded.

[0092] Step S212: Based on the demand information and environmental information, determine the dispatching quantity and dispatching route of the target vehicle.

[0093] Step S213: Based on the dispatching quantity and dispatching route of the target vehicle, determine the dispatching plan.

[0094] Step S221: In response to the environmental information meeting the operation conditions, control the target vehicle to power on.

[0095] Step S222: Perform a self-check operation on the target systems of the target vehicle to determine the self-check results of each target system. The target systems include: starting system, braking system, power system, steering system, suspension system, lighting system, sensor system, communication system, safety system, and software system. The self-check results include normal self-check and abnormal self-check.

[0096] Step S223: Based on the self-check results of each target system, determine the self-check status information of the target vehicle.

[0097] Step S231: In response to at least one of the self-check results of each target system being abnormal, cut off the communication interface of the target system, generate a prompt message based on the self-check results, and determine that the self-check status information of the target vehicle is abnormal self-check status. The prompt message is used to prompt that the self-check result of the target system is abnormal.

[0098] Step S232: In response to all the self-check results of each target system being normal, determine that the self-check status information of the target vehicle is normal self-check status.

[0099] Step S241: In response to the self-check status information being normal self-check status, obtain the endurance information of the target vehicle. The endurance information includes: fuel quantity information and coolant quantity information.

[0100] Step S242: In response to the endurance information meeting the endurance conditions, based on the dispatching plan, control the target vehicle to perform a loading operation.

[0101] Step S251: In response to the fuel quantity information indicating insufficient fuel, control the fuel truck in the target mining area to perform a refueling operation along with the target vehicle;

[0102] Step S252: Obtain the fuel quantity information and coolant quantity information of the target vehicle again;

[0103] Step S253: In response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the dispatching plan, control the target vehicle to perform a loading operation.

[0104] Step S261, in response to the coolant quantity information indicating insufficient coolant quantity, control the refueling vehicle in the target mining area to perform a refueling operation on the target vehicle;

[0105] Step S262, obtain the fuel quantity information and coolant quantity information of the target vehicle again;

[0106] Step S263, in response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant quantity, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0107] Based on the above steps S201 to S203, in the embodiments of the present invention, through steps such as environmental condition judgment, demand information acquisition, vehicle status inspection, energy status monitoring and replenishment, etc., the technical effect of comprehensively optimizing the control of vehicle operations in the unmanned driving scenario in the mining area is achieved, the purpose of improving the safety, efficiency and resource utilization level of operations is achieved, and thus the technical problem of low working efficiency of unmanned vehicles in the mining area operation scenario is solved.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0109] In the embodiments of the present invention, a control device for an unmanned vehicle is further provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0110] Figure 3 is a structural block diagram of a control device for an unmanned vehicle according to an embodiment of the present invention. As Figure 3 shown, this device includes:

[0111] A first acquisition module 301, configured to acquire environmental information of a target scenario, where the target scenario includes: a mining area scenario, a sanitation scenario, and a port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature.

[0112] A second acquisition module 302, configured to acquire a scheduling plan for a target mining area, where the scheduling plan is used to represent scheduling information of target vehicles in the target mining area.

[0113] A self-check module 303, configured to control a target vehicle to perform a self-check operation and determine self-check status information of the target vehicle in response to the environmental information meeting the operation conditions.

[0114] A scheduling module 304, configured to control the target vehicle to perform a loading operation based on the scheduling plan in response to the self-check status information meeting a preset condition.

[0115] Optionally, the self-check module 303 is further configured to control the target vehicle to perform a self-check operation in response to the wind speed, rainfall, snowfall, visibility, and temperature all meeting the operation conditions; and control the target vehicle to stop operating in response to at least one of the wind speed, rainfall, snowfall, visibility, and temperature not meeting the operation conditions.

[0116] Optionally, the first acquisition module 301 is further configured to acquire demand information of the target mining area, where the demand information includes the quantity, type, departure place, and destination of the goods to be loaded; determine the scheduling quantity and scheduling route of the target vehicle based on the demand information and the environmental information; and determine the scheduling plan based on the scheduling quantity and scheduling route of the target vehicle.

[0117] Optionally, the self-check module 303 is further configured to control the target vehicle to be powered on in response to the environmental information meeting the operation conditions; perform a self-check operation on target systems of the target vehicle to determine self-check results of the target systems, where the target systems include: a starting system, a braking system, a power system, a steering system, a suspension system, a lighting system, a sensor system, a communication system, a safety system, and a software system, and the self-check results include normal self-check and abnormal self-check; and determine the self-check status information of the target vehicle based on the self-check results of the target systems.

[0118] Optionally, the self-check module 303 is further configured to cut off the communication interface of the target system in response to at least one of the self-check results of the target systems being abnormal self-check, generate a prompt message based on the self-check results, and determine that the self-check status information of the target vehicle is abnormal self-check status, where the prompt message is used to prompt that the self-check result of the target system is abnormal self-check; and determine that the self-check status information of the target vehicle is normal self-check status in response to all the self-check results of the target systems being normal self-check.

[0119] Optionally, the scheduling module 304 is further configured to acquire endurance information of the target vehicle in response to the self-check status information being normal self-check status, where the endurance information includes fuel quantity information and coolant quantity information; and control the target vehicle to perform a loading operation based on the scheduling plan in response to the endurance information meeting the endurance conditions.

[0120] Optionally, the scheduling module 304 is further configured to, in response to the fuel quantity information indicating insufficient fuel, control the fuel truck in the target mining area to refuel the target vehicle; obtain the fuel quantity information and coolant quantity information of the target vehicle again; and in response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0121] Optionally, the scheduling module 304 is further configured to, in response to the coolant quantity information indicating insufficient coolant, control the liquid filling vehicle in the target mining area to perform a liquid filling operation on the target vehicle; obtain the fuel quantity information and coolant quantity information of the target vehicle again; and in response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0122] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are separately located in different processors in any combination.

[0123] According to one embodiment of the present invention, an electronic device is further provided, including: a memory storing an executable program; a processor for running the program, wherein when the program runs, it executes the control method of the driverless vehicle described above.

[0124] Optionally, in this embodiment, the above-mentioned processor can be set to execute the following steps through a computer program:

[0125] Step S102, obtain the environmental information of the target scenario, where the target scenario includes: a mining area scenario, a sanitation scenario, and a port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature.

[0126] Step S104, obtain the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area.

[0127] Step S106, in response to the environmental information meeting the operation conditions, control the target vehicle to perform a self-check operation to determine the self-check status information of the target vehicle.

[0128] Step S108, in response to the self-check status information meeting the preset conditions, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0129] According to one embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the storage medium is located to execute the control method of the driverless vehicle described above.

[0130] Optionally, in this embodiment, the above storage medium may be configured to store a computer program for executing the following steps:

[0131] Step S102, obtain the environmental information of the target scenario, where the target scenario includes: mining area scenario, sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature.

[0132] Step S104, obtain the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area.

[0133] Step S106, in response to the environmental information satisfying the operation conditions, control the target vehicle to perform a self-check operation, and determine the self-check status information of the target vehicle.

[0134] Step S108, in response to the self-check status information satisfying the preset conditions, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0135] Optionally, in this embodiment, the above storage medium may include but is not limited to: various media that can store computer programs such as USB flash drives, read-only memories (ROM), random access memories (RAM), mobile hard disks, magnetic disks, or optical discs.

[0136] According to one embodiment of the present invention, there is also provided a computer program product, including a computer program, where the computer program, when executed by a processor, implements the above control method for an unmanned vehicle.

[0137] Optionally, in this embodiment, the above computer program product may be configured to store a computer program for executing the following steps:

[0138] Step S102, obtain the environmental information of the target scenario, where the target scenario includes: mining area scenario, sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature.

[0139] Step S104, obtain the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area.

[0140] Step S106, in response to the environmental information satisfying the operation conditions, control the target vehicle to perform a self-check operation, and determine the self-check status information of the target vehicle.

[0141] Step S108, in response to the self-check status information satisfying the preset conditions, based on the scheduling plan, control the target vehicle to perform a loading operation.

[0142] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own emphasis. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0143] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0144] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, the functional units in the various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0146] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs, etc., which can store program codes.

[0147] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an autonomous vehicle, characterized in that, Including: Obtain the environmental information of the target scenario, where the target scenario includes: mining area scenario, sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature; Obtain the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area; In response to the environmental information meeting the operating conditions, control the target vehicle to perform a self-check operation to determine the self-check status information of the target vehicle; In response to the self-check status information meeting the preset conditions, based on the scheduling plan, control the target vehicle to perform a loading operation.

2. The method according to claim 1, wherein Before controlling the target vehicle to perform the loading operation based on the scheduling plan, including: In response to the wind speed, rainfall, snowfall, visibility, and temperature all meeting the operating conditions, control the target vehicle to perform the self-check operation; In response to at least one of the wind speed, rainfall, snowfall, visibility, and temperature not meeting the operating conditions, control the target vehicle to stop operating.

3. The method according to claim 2, wherein Before obtaining the scheduling plan of the target mining area, including: Obtain the demand information of the target mining area, where the demand information includes the quantity, type, departure place, and destination of the goods to be loaded; Based on the demand information and the environmental information, determine the scheduling quantity and scheduling route of the target vehicle; Based on the scheduling quantity and scheduling route of the target vehicle, determine the scheduling plan.

4. The method according to any one of claims 1 to 3, characterized in that, In response to the environmental information meeting the operating conditions, control the target vehicle to perform the self-check operation to determine the self-check status information of the target vehicle, including: In response to the environmental information meeting the operating conditions, control the target vehicle to power on; Perform the self-check operation on the target system of the target vehicle to determine the self-check results of each target system, where the target system includes: starting system, braking system, power system, steering system, suspension system, lighting system, sensor system, communication system, safety system, and software system, and the self-check results include normal self-check and abnormal self-check; Based on the self-check results of each target system, determine the self-check status information of the target vehicle.

5. The method according to claim 4, wherein Based on the self-check results of each target system, determine the self-check status information of the target vehicle, including: In response to at least one of the self-check results of each target system being the abnormal self-check, cut off the communication interface of the target system, generate a prompt message based on the self-check results, and determine that the self-check status information of the target vehicle is abnormal self-check status, where the prompt message is used to prompt that the self-check result of the target system is the abnormal self-check; In response to the self-check results of each target system all being the normal self-check, determine that the self-check status information of the target vehicle is normal self-check status.

6. The method according to any one of claims 1-3 and 5, characterized in that, In response to the self-check status information meeting the preset conditions, based on the scheduling plan, control the target vehicle to perform the loading operation, including: In response to the self-check status information indicating normal self-check status, obtain the endurance information of the target vehicle, where the endurance information includes: fuel quantity information and coolant quantity information; In response to the endurance information meeting the endurance condition, based on the scheduling plan, control the target vehicle to perform the loading operation.

7. The method according to claim 6, wherein After obtaining the endurance information of the target vehicle, it includes: In response to the fuel quantity information indicating insufficient fuel, control the refueling vehicle in the target mining area to perform refueling operations following the target vehicle; Obtain the fuel quantity information and the coolant quantity information of the target vehicle again; In response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform the loading operation.

8. The method according to claim 6, wherein After obtaining the endurance information of the target vehicle, it includes: In response to the coolant quantity information indicating insufficient coolant, control the liquid filling vehicle in the target mining area to perform liquid filling operations on the target vehicle; Obtain the fuel quantity information and the coolant quantity information of the target vehicle again; In response to the fuel quantity information indicating sufficient fuel and the coolant quantity information indicating sufficient coolant, based on the scheduling plan, control the target vehicle to perform the loading operation.

9. A control device for an autonomous vehicle, characterized in that, It includes: A first acquisition module for acquiring the environmental information of the target scenario, where the target scenario includes: mining area scenario, sanitation scenario, and port scenario, and the environmental information includes at least one of the following: wind speed, rainfall, snowfall, visibility, and temperature; A second acquisition module for acquiring the scheduling plan of the target mining area, where the scheduling plan is used to represent the scheduling information of the target vehicle in the target mining area; A self-check module for controlling the target vehicle to perform a self-check operation and determining the self-check status information of the target vehicle in response to the environmental information meeting the operation conditions; A scheduling module for controlling the target vehicle to perform a loading operation based on the scheduling plan in response to the self-check status information meeting the preset conditions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, where when the executable program runs, it controls the device where the storage medium is located to execute the method according to any one of claims 1 to 8.

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