Control method and system of ferry vehicle, electronic equipment and computer program product

Abstract

The invention is suitable for the field of traffic equipment and control engineering, and provides a ferry vehicle control method and system, electronic equipment and a computer program product, and the method comprises the steps: determining a target driving path corresponding to a target travel end point based on the target travel end point selected by a user; monitoring an obstacle in a target monitoring range of the ferry vehicle and a target distance between the ferry vehicle and the obstacle in real time; determining a target driving speed and a target reminding mode based on a target distance interval to which the target distance belongs in different distance intervals; and controlling the ferry vehicle to drive along the target driving path according to the target driving speed and the target reminding mode until the ferry vehicle arrives at the travel end point. According to the scheme, the autonomous driving capability of the ferry vehicle which is a walking aid device is improved.

Description

Technical Field

[0001] This application belongs to the field of transportation equipment and control engineering, and particularly relates to a control method, system, electronic device and computer program product for a ferry vehicle. Background Art

[0002] With the development of modern large public places towards large-scale and comprehensive directions, the walking areas in places such as airport terminals and high-speed railway stations are constantly expanding, and people's walking distances have increased significantly. For special people with limited mobility, it is difficult to complete long-distance walking independently. Therefore, walking assistance devices, such as manual wheelchairs, electric wheelchairs or ferry vehicles, are provided to facilitate their travel.

[0003] However, there are many usage obstacles for current walking assistance devices. Existing manual wheelchairs are mainly driven by human power and need to rely on others' assistance or the upper limb strength of the user to move, which is inconvenient to use and cannot meet the need for autonomous driving. Although electric wheelchairs and ferry vehicles solve the driving force problem, they still need to be manually controlled to move forward. Since the models of electric wheelchairs and ferry vehicles are different and the operation logics are different, temporary users need a long time to learn and adapt, with poor autonomy and high risk of operation errors, which is inconvenient to use. Summary of the Invention

[0004] The embodiments of this application provide a control method, system, electronic device and computer program product for a ferry vehicle to solve the problem of poor autonomous driving performance of walking assistance devices in the prior art.

[0005] The first aspect of the embodiments of this application provides a control method for a ferry vehicle, including:

[0006] Based on the target travel end point selected by the user, determine the target travel path corresponding to the target travel end point;

[0007] Real-time monitor the obstacles within the target monitoring range of the ferry vehicle and the target distance between the ferry vehicle and the obstacles;

[0008] Based on the target distance interval to which the target distance belongs in different distance intervals, determine the target travel speed and target reminder method; wherein, different distance intervals correspond to different travel speeds and reminder methods, and the reminder method is used to remind the obstacles to avoid the ferry vehicle and remind relevant personnel to assist the obstacles to avoid the ferry vehicle;

[0009] Control the ferry vehicle to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

[0010] The second aspect of the embodiments of this application provides a control system for a ferry vehicle, including:

[0011] A first determination module, configured to determine a target driving path corresponding to the target trip end point based on the target trip end point selected by a user;

[0012] A monitoring module, configured to monitor in real time an obstacle within a target monitoring range of a ferry vehicle and a target distance between the ferry vehicle and the obstacle corresponding to the obstacle;

[0013] A second determination module, configured to determine a target driving speed and a target reminder mode based on a target distance interval to which the target distance belongs in different distance intervals; wherein different distance intervals correspond to different driving speeds and reminder modes, and the reminder mode is used to remind the obstacle to avoid the ferry vehicle and to remind relevant personnel to assist the obstacle in avoiding the ferry vehicle;

[0014] A driving control module, configured to control the ferry vehicle to travel along the target driving path according to the target driving speed and the target reminder mode until reaching the trip end point.

[0015] A third aspect of the embodiments of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0016] A fourth aspect of the embodiments of the present application provides a computer program product, where the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0017] A fifth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0018] As can be seen from the above, based on the target trip end point selected by a user, the present application determines a target driving path corresponding to the trip end point, controls the ferry vehicle to travel along the automatically determined target driving path, and during the driving process, monitors the obstacle situation in real time, realizes an adaptive adjustment of the driving speed and the reminder mode of the ferry vehicle, so that the ferry vehicle can maintain a good driving state and travel to the target trip end point, improves the driving efficiency, the user only needs to input the target trip end point, enhances the smoothness and comfort of the user's travel, and greatly improves the autonomous driving ability of the ferry vehicle. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic structural diagram of a ferry vehicle provided by an embodiment of the present application;

[0021] Figure 2 It is a schematic top frame structure diagram of a ferry vehicle provided by an embodiment of the present application;

[0022] Figure 3 It is a schematic view of the observation angle of a navigation radar provided by an embodiment of the present application;

[0023] Figure 4 It is the observation angle of the navigation radar under the side view of a ferry vehicle provided by an embodiment of the present application;

[0024] Figure 5 It is a schematic view of the vertical observation angle of a depth camera provided by an embodiment of the present application;

[0025] Figure 6 It is a schematic view of the horizontal observation angle of a depth camera provided by an embodiment of the present application;

[0026] Figure 7 It is a schematic view of the projection cursor of a clearance lamp provided by an embodiment of the present application;

[0027] Figure 8 It is a schematic view of the observation angle of an obstacle avoidance radar provided by an embodiment of the present application;

[0028] Figure 9 It is the flow of a control method of a ferry vehicle provided by an embodiment of the present application Figure 1 ;

[0029] Figure 10 It is a schematic view of a path and travel points provided by an embodiment of the present application;

[0030] Figure 11 It is a schematic view of the distribution of warning lines provided by an embodiment of the present application;

[0031] Figure 12 It is the flow of a control method of a ferry vehicle provided by an embodiment of the present application Figure 2 ;

[0032] Figure 13 It is a structural diagram of a control system of a ferry vehicle provided by an embodiment of the present application;

[0033] Figure 14 It is a structural diagram of an electronic device provided by an embodiment of the present application.

[0034] Reference numerals:

[0035] 2 - top frame, 21 - navigation radar, 22 - front depth camera, 23 - rear depth camera, 24 - front outline lamp, 25 - rear outline lamp, 26 - left outline lamp, 27 - right outline lamp, 28 - first bending position, 29 - second bending position. Detailed implementation manners

[0036] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented in order to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well - known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0037] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0038] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0039] It should be further understood that the term "and / or" used in this specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0040] As used in this specification and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if detecting [the described condition or event]" can be interpreted as meaning "once determined", "in response to determining", "once detecting [the described condition or event]", or "in response to detecting [the described condition or event]" according to the context.

[0041] In a specific implementation, the terminal described in the embodiments of the present application includes, but is not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having a touch-sensitive surface (e.g., a touch screen display and / or a touchpad). It should also be understood that in some embodiments, the device is not a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touchpad).

[0042] In the following discussion, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse, and / or a joystick.

[0043] The terminal supports various applications, such as one or more of the following: drawing applications, presentation applications, word processing applications, website creation applications, disc burning applications, spreadsheet applications, game applications, telephone applications, video conferencing applications, email applications, instant messaging applications, exercise support applications, photo management applications, digital camera applications, digital video camera applications, web browsing applications, digital music player applications, and / or digital video player applications.

[0044] Various applications that can be executed on the terminal can use at least one common physical user interface device such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and the corresponding information displayed on the terminal can be adjusted and / or changed between applications and / or within the corresponding applications. In this way, the common physical architecture of the terminal (e.g., the touch-sensitive surface) can support various applications with a user interface that is intuitive and transparent to the user.

[0045] It should be understood that the magnitudes of the sequence numbers of the steps in this embodiment do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0046] To solve the technical problem of the poor autonomous movement performance of current walking assistance devices, the present application provides a ferry vehicle, and correspondingly provides a control method, system, electronic device, and computer program product for the ferry vehicle.

[0047] As Figure 1 shown, Figure 1 is a schematic structural diagram of a ferry vehicle provided by an embodiment of the present application. As Figure 1 can be seen, the ferry vehicle includes components such as a seat, a top frame, and a luggage rack.

[0048] The seat is provided with armrests, ensuring the safety of the user during riding. There is a large space between the top frame and the seat, providing sufficient room for the user to move around, and the riding comfort is relatively good. At the same time, considering that users may carry luggage when traveling, the shuttle bus is provided with a luggage rack for storing the users' luggage.

[0049] The top frame of the shuttle bus is provided with various electronic devices, such as Figure 2 shown in Figure 2 FIG. 7 is a schematic diagram of the top frame structure of a shuttle bus provided by an embodiment of the present application. In Figure 2 FIG. 7, a navigation radar 21, a front depth camera 22, a rear depth camera 23, a front outline light 24, a rear outline light 25, a left outline light 26 and a right outline light 27 are provided on the top frame 2, which are used to realize functions such as venue environment information collection, real-time monitoring of the venue environment and avoidance reminder. There are also a first bending position 28 and a second bending position 29 on the top frame 2, which facilitate the reasonable setting of electronic devices in different directions of the top frame 2.

[0050] The navigation radar 21 is located at the top of the top frame 2 and is installed at the highest position of the top frame 2, centered left and right, and is used to scan the venue environment information to realize distance perception, navigation positioning, etc. The venue is an indoor venue such as an airport terminal building or a high-speed railway station. The installation position of the navigation radar 21 is relatively high, and the objects observed and scanned by it are mainly the relatively high fixed facilities or building objects in the venue, reducing the probability of scanning a large number of moving objects due to the low installation position. When constructing a venue map based on the information collected by it, the noise interference caused by moving objects can be reduced, the accuracy of the venue map can be improved, and it is more usable.

[0051] Figure 3 FIG. 16 is a schematic diagram of the observation angle of a navigation radar provided by an embodiment of the present application. Figure 3 In FIG. 16, H means horizontal and V means vertical. The plane parallel to the ground, such as the bottom surface of a hemisphere, is defined as the XY plane, and the direction perpendicular to the ground is defined as the Z direction. In the XY plane, the navigation radar 21 can achieve 360° omnidirectional observation. In the Z direction, the observation range of the navigation radar 21 tilts upward from the XY plane to 59°. Due to the structural factors of the top frame 2 and the fact that the navigation radar 21 itself has a certain height, the actual observation angle of the navigation radar 21 is not completely parallel to the ground. For details, please refer to Figure 4 FIG. 21, Figure 4 FIG. 22 is a schematic diagram of the observation angle of the navigation radar from the side view of the shuttle bus provided by an embodiment of the present application. According to Figure 4 FIG. 22, the observation range of the navigation radar 21 in space can be clearly known.

[0052] The front depth camera 22 is installed at the very front end of the top frame 2, centered horizontally. The rear depth camera 23 is installed at the rear end of the top frame 2, below the first bend 28 of the top frame 2, higher than the bending diagonal plane of the top frame 2, and centered horizontally. For the observation perspectives of the front depth camera 22 and the rear depth camera 23, please refer to Figure 5 and Figure 6 .

[0053] Figure 5 FIG. is a schematic diagram of the vertical observation perspective of a depth camera provided by an embodiment of the present application. The camera lens of the front depth camera 22 faces forward and is inclined downward. There is a distance between the lower angular side line of its vertical observation perspective and the riding space, and the observation perspective can be free from the interference of the activities of the riding users. There is a certain distance between the intersection point of the lower angular side line of the front depth camera 22 and the horizontal ground and the front end of the front pedal of the ferry vehicle, Figure 5 The distance shown in Figure 5 is 1530 mm, which is a buffer safety distance. When driving, the obstacle can be detected at least 1530 mm in front of the obstacle, and evasive measures can be taken in time. The camera lens of the rear depth camera 23 faces backward and is inclined downward. There is a distance between the lower angular side line of its vertical observation perspective and the luggage rack space, and the observation perspective can be free from the interference of the luggage rack and the luggage on the luggage rack. There is a certain distance between the intersection point of the lower angular side line of the rear depth camera 23 and the horizontal ground and the rear end of the luggage rack at the rear end of the ferry vehicle, Figure 5 The distance shown in Figure 5 is 1318 mm, which is also a buffer safety distance, facilitating the timely detection of obstacles and taking evasive measures. The rear buffer safety distance is slightly shorter than the front buffer safety distance. On the one hand, the speed during backward movement is lower than that during forward movement, and a slightly shorter distance can complete the evasive reaction action. On the other hand, with a smaller turning space, the passing performance and flexibility of the entire ferry vehicle can be improved.

[0054] Figure 6 FIG. is a schematic diagram of the horizontal observation perspective of a depth camera provided by an embodiment of the present application. Figure 6 It shows the observation ranges of the front depth camera 22 and the rear depth camera 23 in the horizontal direction. The front depth camera 22 and the rear depth camera 23 are installed on the high-positioned top frame 2. According to geometric properties, when the lower angular side line of the vertical observation perspective of the depth camera intersects with the horizontal ground, the observation range of the horizontal observation perspective of the depth camera can completely cover the width of the entire ferry vehicle, Figure 6 This characteristic is shown in Figure 6 .

[0055] The top frame 2 is also equipped with outline lights in four directions: front, rear, left, and right. The front outline light 24 is located behind the front depth camera 22 and is installed in an indented manner, centered horizontally. The rear outline light 25 is installed below the rear depth camera 23 and is installed in an indented manner, centered horizontally. There is a certain distance between the front outline light 24 and the front depth camera 22, and there is a certain distance between the rear outline light 25 and the rear depth camera 23 to prevent the light-emitting components of the outline lights from being too close to the camera lenses of the depth cameras, generating noise within the observation perspective of the depth cameras and affecting the observation effect. The left outline light 26 and the right outline light 27 are respectively installed on the left and right sides of the top frame 2. After the outline lights in the four directions are turned on, the outline lights face the ground in their respective directions and project cursor patterns of eye-catching colors obliquely towards the ground. Eventually, the cursor patterns projected in the four directions are combined into a frame shape, specifically as Figure 7 shown, Figure 7 which is a schematic diagram of the projected cursor of an outline light provided by an embodiment of the present application. The cursor pattern projected by the front outline light 24 onto the ground is near the intersection of the lower angular side line of the vertical observation perspective of the front depth camera 22 and the horizontal ground. The cursor pattern projected by the rear outline light 25 onto the ground is near the intersection of the lower angular side line of the vertical observation perspective of the rear depth camera 23 and the horizontal ground. The cursor pattern formed by combining the four outline lights is used to identify the perimeter of the ferry vehicle, that is, to identify the driving area or safety distance of the ferry vehicle, so as to prompt the surrounding personnel that this area will be the driving area of the ferry vehicle and please pay attention to avoiding it to prevent collisions.

[0056] The obstacle avoidance radar is located below the pedal surface of the front footrest, near the edges on both the left and right sides. For the observation perspectives of the left obstacle avoidance radar and the right obstacle avoidance radar, please refer to Figure 8 , Figure 8 which is a schematic diagram of the observation perspective of an obstacle avoidance radar provided by an embodiment of the present application. Figure 8 The upper half of the circular arc area in Figure 8 is the observation area of the left obstacle avoidance radar. Taking the line passing through the left obstacle avoidance radar and parallel to the length of the ferry vehicle as the dividing line, the observation area of the left obstacle avoidance radar is divided into 175° to the left and 45° to the right of this dividing line, with a total of 220°.

[0057] The lower half of the circular arc area in

[0058] is the observation area of the right obstacle avoidance radar. Taking the line passing through the right obstacle avoidance radar and parallel to the length of the ferry vehicle as the dividing line, the observation area of the right obstacle avoidance radar is divided into 175° to the right and 45° to the left of this dividing line, with a total of 220°. The obstacle avoidance radar is installed near the edges on both sides of the ferry vehicle body. The 175° observation angles on both sides can be very close to both sides of the vehicle body, reducing blind spots and enabling as much of the area on both sides of the vehicle body as possible to be within the observation range of the obstacle avoidance radar. The left obstacle avoidance radar and the right obstacle avoidance radar work together to achieve 350° scanning around the vehicle body.Further, the left obstacle avoidance radar and the right obstacle avoidance radar form a dual observation with the front depth camera 22 and the rear depth camera 23, achieving multi-dimensional all-round observation in the horizontal and vertical spaces, which can improve the driving safety of the ferry vehicle.

[0059] The scanning perspectives of the navigation radar 21, the front depth camera 22, the rear depth camera 23, and the obstacle avoidance radar have no intersection with the user's riding space and the luggage rack space, and their observation perspectives will not be interfered by factors such as the actions of the riding users, the hems of clothes, and skirts.

[0060] In addition, in this application, the ferry vehicle is also equipped with playback devices such as horns and lighting devices such as signal lights for outputting prompt or warning signals.

[0061] It should be noted that the devices installed on the ferry vehicle, their observation perspectives, buffer safety distances, and other data are examples and can be adjusted based on actual needs.

[0062] The installation positions of the above electronic devices are relatively prominent, which is convenient for maintenance personnel to perform maintenance and replacement.

[0063] Controlling the above-mentioned walking assistance device of the ferry vehicle to achieve its autonomous driving is convenient for users to travel.

[0064] In order to illustrate the technical solution described in this application, the following will be described through specific embodiments.

[0065] See Figure 9 , Figure 9 is the flowchart of a control method for a ferry vehicle provided by an embodiment of this application Figure 1 .

[0066] As Figure 9 shown, a control method for a ferry vehicle, the method includes the following steps:

[0067] Step 901, based on the target travel end point selected by the user, determine the target travel path corresponding to the target travel end point.

[0068] In some embodiments, there is a ferry vehicle service desk at the travel point. The staff at the ferry vehicle service desk can select and dispatch the ferry vehicle based on the control terminal, and can also input the user's target travel end point based on the control terminal. Through the ferry vehicle service desk, centralized management of the ferry vehicle is realized, assisting the user to select the target travel end point. The user neither needs to know how to operate the ferry vehicle nor how to operate the control interface, avoiding the phenomenon of operation errors caused by the user's unfamiliarity with the operation, ensuring the accuracy of the selected target travel end point, the accuracy of the corresponding travel path, and the driving safety of the ferry vehicle, and facilitating the user's travel.

[0069] The control terminal is a device such as a computer, a tablet, or a mobile phone. The control terminal has a control interface, which can be used to select a shuttle bus from the trip points and the trip end point that the shuttle bus needs to reach during driving. The trip points include a trip start point and a trip end point. The trip points can be displayed in text form for selection, such as Gate B24 and Gate C18. The trip points can also be displayed in picture form for selection to achieve diversified interaction.

[0070] The trip points in picture form can be seen in Figure 10 , Figure 10 which is a schematic diagram of a path and trip points provided by an embodiment of the present application. There are trip points such as Point A, Point B1, Point B2, Point B3, Point B4, Point B5, Point C1, Point C2, Point C3, Point C4, and Point C5 in the figure, and these trip points can be used as trip end points for selection. Figure 10 The white lines in [the figure] are paths, connecting these trip points. Each trip point can be used as both a trip start point and a trip end point during path planning. For example, when the user is at Point A and wants to take the shuttle bus at Point A to reach Point C3, the user can select Point C3 as the target trip end point. At this time, Point A is the trip start point and Point C3 is the trip end point; when the user is at Point B5 and wants to take the vehicle at Point B5 to reach Point A, the user can select Point A as the target trip end point. At this time, Point B5 is the trip start point and Point A is the trip end point.

[0071] After receiving the target trip end point selected by the user, determine the target driving path to reach the target trip end point, automatically realize path determination, without the user having to plan the path according to the site environment by himself, saving time and effort, which is more convenient.

[0072] In some embodiments, determining the target driving path corresponding to the target trip end point based on the target trip end point selected by the user includes: selecting the target driving path corresponding to the target trip end point from multiple driving paths based on the target trip end point selected by the user.

[0073] Multiple driving paths are pre-planned. As can be seen from Figure 2 , a navigation radar 21 is installed on the top frame 2. The position information of the shuttle bus, that is, which trip point the shuttle bus is located at, is determined by the navigation radar 21 located on the top frame 2. The trip point corresponding to the current position information of the shuttle bus is used as the current trip start point. Combining the target trip end point selected by the user, select the driving path pointing from the current trip start point to the target trip end point from the pre-planned multiple driving paths as the target driving path to achieve high-efficiency determination of the target driving path.

[0074] In some embodiments, before selecting, based on the target trip end point selected by the user, the target driving path corresponding to the target trip end point from multiple driving paths, the method further includes: based on the venue layout information, the position information of at least one trip start point, and the position information of at least one trip end point, generating at least one driving path from the trip start point to the trip end point for each trip start point, and different priorities are corresponding to multiple driving paths of each trip start point to the same trip end point.

[0075] Among them, the venue layout information is a map constructed based on the venue environment information detected by the navigation radar 21 or a directly provided venue map. The venue layout information includes passable paths and trip points, which is convenient for path planning.

[0076] The venue environment detection is realized by the navigation radar 21 arranged on the shuttle bus, without introducing other detection devices, saving costs and realizing the efficient utilization of resources at the same time.

[0077] According to the venue layout information, clarify the trip start point and the trip end point corresponding to each trip start point. Based on the corresponding position information and the passable paths in the venue layout information, realize path planning and obtain the driving path for connecting the trip start point and the trip end point.

[0078] For each trip start point, when it points to a certain trip end point corresponding to it, there are at least one different driving paths. Among them, each driving path is assigned a priority. When planning the path, considering factors such as the path length and the density of people on the path, determine the priorities of multiple driving paths of each trip start point to the same trip end point corresponding to it. For example, the shorter the path length and the lower the density of people, the higher the priority. The priority of the driving path can be adjusted by monitoring the driving state of the shuttle bus.

[0079] When selecting the path, if there are multiple driving paths from the current trip start point to the target trip end point, the driving path with a high priority can be determined as the target driving path, so that the shuttle bus can drive on a path with good road conditions and improve the driving efficiency.

[0080] In some embodiments, determining, based on the target trip end point selected by the user, the target driving path corresponding to the target trip end point includes: generating the target driving path based on the target trip end point selected by the user, the position information of the shuttle bus, and the venue layout information.

[0081] Among them, the trip point corresponding to the position information of the shuttle bus is the current trip start point. The position information of the shuttle bus is determined by the navigation radar 21 installed on the shuttle bus.

[0082] Path planning can be carried out in real time to obtain a target driving path that can reach the target travel end point from the current travel start point. When the venue layout information is updated, for example, a certain section is closed and not allowed to pass, or a certain section is under repair and not allowed to pass, the corresponding section of the venue layout information is set as a no-go section. At this time, through real-time path planning, it is possible to respond to information updates in a timely manner. Based on strong autonomous planning capabilities, the driving path can be adjusted flexibly and quickly, improving the path determination efficiency and driving smoothness.

[0083] Step 902, real-time monitor the obstacles within the target monitoring range of the ferry vehicle and the target distance between the ferry vehicle and the corresponding obstacles.

[0084] Figure 2 The shown top frame 2 is also equipped with a front depth camera 22 and a rear depth camera 23. The target monitoring range is a spatial area jointly formed by the horizontal and vertical observation perspectives of the front depth camera 22, the rear depth camera 23, the left obstacle avoidance radar, and the right obstacle avoidance radar. The target distance is the distance used to determine the driving speed of the ferry vehicle and the reminder method during driving.

[0085] Combined with the front depth camera 22, the rear depth camera 23, the left obstacle avoidance radar, and the right obstacle avoidance radar, monitor whether there are obstacles within the target monitoring range of the ferry vehicle, the distance of the obstacles, and what the specific value of the target distance is.

[0086] In some embodiments, the obstacles can be self-movable obstacles such as pedestrians, or objects that require external force to move, such as suitcases and duffel bags carried by pedestrians.

[0087] Since the observation perspectives of the front depth camera 22, the rear depth camera 23, the left obstacle avoidance radar, and the right obstacle avoidance radar have no intersection with the passenger space and the luggage rack space, real-time monitoring based on these observation devices can achieve comprehensive and accurate environmental perception, without being interfered by the observation of the passenger space and the luggage rack space. The monitored information has a high credibility, and the target distance is more accurate, which helps to improve driving safety.

[0088] The cooperation of the depth camera and the obstacle avoidance radar realizes the accurate monitoring of obstacles in the observation space and the determination of the high-precision target distance.

[0089] In some embodiments, the real-time monitoring of the obstacles within the target monitoring range of the ferry vehicle and the target distance between the ferry vehicle and the corresponding obstacles includes: real-time monitoring of the obstacles within the target monitoring range of the ferry vehicle; if there are no such obstacles within the target monitoring range, the maximum detectable distance is used as the target distance; if there is at least one such obstacle within the target monitoring range, the minimum distance is selected from the relative distances between each of the obstacles and the ferry vehicle as the target distance.

[0090] Monitor the obstacles in the target monitoring range in real time to determine the target distance.

[0091] If there are no obstacles in the target monitoring range, the maximum detectable distance is used as the target distance, and the driving speed and reminder method are determined based on the maximum detectable distance. The maximum detectable distance is the farthest distance that the observation device on the shuttle bus can observe relative to the shuttle bus.

[0092] If there is at least one obstacle in the target monitoring range, calculate the relative distance between each obstacle in the target monitoring range and the shuttle bus. The relative distance is the straight-line distance, and the minimum distance among all the relative distances is used as the target distance.

[0093] Real-time monitoring of obstacles and target distance can timely respond to complex driving scenarios, reduce the collision probability between the shuttle bus and obstacles, and ensure driving safety.

[0094] Step 903: Determine the target driving speed and target reminder method based on the target distance interval to which the target distance belongs in different distance intervals.

[0095] Among them, different distance intervals correspond to different driving speeds and reminder methods. The reminder method is used to remind the obstacle to avoid the shuttle bus and remind relevant personnel to assist the obstacle to avoid the shuttle bus.

[0096] When the obstacle is a pedestrian, remind the obstacle, that is, the pedestrian, to avoid the shuttle bus.

[0097] When the obstacle is an object such as a suitcase or a person with limited mobility such as a person in a wheelchair, remind relevant personnel to assist the person and the object to avoid. The relevant personnel include the owner of the object such as the suitcase, the relatives of the person with limited mobility such as the person in a wheelchair, and the venue staff, etc.

[0098] The shuttle bus does not need to re-plan the path to avoid obstacles and can still drive smoothly along the determined target driving path, reducing the operating cost.

[0099] By setting different distance intervals and setting corresponding driving speeds and reminder methods for each distance interval, hierarchical management of shuttle bus control is achieved. On the one hand, the driving speed can be increased or decreased, reducing the discomfort during riding caused by sudden acceleration, sudden braking, etc., improving the riding comfort of users, and avoiding safety problems caused by sudden speed changes. On the other hand, the driving speed is intelligently adjusted, reducing the possibility of traffic congestion and improving the traffic efficiency.

[0100] According to the obtained target distance, determine the target distance interval corresponding to the target distance from different distance intervals, and clarify the target driving speed and target reminder method corresponding to the target distance interval, so that the ferry can work at a better driving speed and corresponding reminder method. Precise control of the driving speed helps to avoid potential safety hazards caused by speeding or too slow speed, and timely reminder ensures driving safety.

[0101] In some embodiments, determining the target driving speed and the target reminder method based on the target distance interval to which the target distance belongs in different distance intervals includes:

[0102] Compare the target distance with multiple said distance intervals to determine the target distance interval to which the target distance belongs;

[0103] When the target distance interval is the first distance interval, determine the first driving speed as the target driving speed and do not give an audible and visual reminder; or,

[0104] When the target distance interval is the second distance interval, determine the second driving speed as the target driving speed and give an audible reminder; or,

[0105] When the target distance interval is the third distance interval, determine the third driving speed as the target driving speed and give an audible and visual reminder; or,

[0106] When the target distance interval is the fourth distance interval, determine the fourth driving speed as the target driving speed and give an audible and visual reminder;

[0107] Wherein, the distances corresponding to the first distance interval, the second distance interval, the third distance interval and the fourth distance interval decrease in sequence, the first driving speed, the second driving speed, the third driving speed and the fourth driving speed decrease in sequence, and the fourth driving speed is 0.

[0108] When the distance between the obstacle and the ferry is getting closer and closer, the target distance is getting smaller and smaller, the corresponding target distance interval is getting smaller and smaller, the reminder method is gradually upgraded, and the driving speed is gradually reduced until the driving speed is reduced to 0, that is, the target distance belongs to the fourth distance interval, and the target driving speed needs to be adjusted to the fourth speed corresponding to the fourth distance interval, which is 0.

[0109] The gradual decrease in the driving speed ensures that the ferry vehicle and pedestrians have sufficient time and space to react to avoid obstacles, such as the ferry vehicle stopping, pedestrians detouring, and pedestrians detouring with objects in hand, effectively avoiding the occurrence of collision accidents. At the same time, it makes the driving of the ferry vehicle more stable and improves the user's riding experience. The gradual upgrade of the reminder method can provide sufficient warnings to obstacles or relevant personnel, warning them to take evasive measures in a timely manner. The confirmation process of the driving speed and reminder method does not require manual intervention. It automatically confirms the driving speed and reminder method that the ferry vehicle needs to achieve according to the change of the target distance. The control of the ferry vehicle is highly automated and intelligent, and the autonomous moving performance of the ferry vehicle is greatly improved, bringing convenience to users' travel.

[0110] The following combines Figure 11 to illustrate the distance intervals. Figure 11 It is a schematic diagram of the distribution of warning lines provided by an embodiment of the present application. Figure 11 The fan-shaped areas corresponding to different light and dark degrees in [ ] are the observation ranges corresponding to the front depth camera 22, the rear depth camera 23, the left obstacle avoidance radar, and the right obstacle avoidance radar. The area formed by the combination of these fan-shaped areas is the observation area jointly formed by the front depth camera 22, the rear depth camera 23, the left obstacle avoidance radar, and the right obstacle avoidance radar, that is, the target monitoring range. Figure 11 There are several types of warning lines in [ ], such as the safety line, the first warning line, the second warning line, and the stop line. The distances of different warning lines to the ferry vehicle are different, and these warning lines divide multiple distance intervals.

[0111] The distance corresponding to the area from the stop line to the ferry vehicle is the distance corresponding to the fourth distance interval. The distance corresponding to the area enclosed by the stop line and the second warning line is the distance corresponding to the third distance interval. The distance corresponding to the area enclosed by the second warning line and the first warning line is the distance corresponding to the second distance interval. The distance corresponding to the area enclosed by the first warning line and the safety line and the area where the safety line continues to move away from the ferry vehicle outward is the distance corresponding to the first distance interval.

[0112] For example, the fourth distance interval is [0, 1600], the third distance interval is (1600, 3800], the second distance interval is (3800, 6300], and the first distance interval is (6300, ∞), and the distance unit is millimeters.

[0113] In some embodiments, the first driving speed is the set speed, for example, 1.2 m / s. The second driving speed can be 70%-80% of the set speed, for example, 0.84 m / s. The third driving speed can be 30%-40% of the set speed, for example, 0.36 m / s. The fourth driving speed can be 0% of the set speed, that is, the fourth driving speed is 0. The set speed and the corresponding percentages mentioned in this embodiment are all examples and can be adjusted according to actual needs.

[0114] When the target distance is within the first distance range, it means that the distance between the ferry vehicle and the obstacle is relatively far, and the reminder method is not to give a reminder, that is, no sound reminder or light reminder is carried out, saving resources.

[0115] When the target distance is within the second distance range, the distance between the ferry vehicle and the obstacle shrinks. The reminder method is to give a sound reminder. For example, it can be reminded by honking the horn or giving a voice reminder "Please give way" through the horn, so that pedestrians can avoid the ferry vehicle, and relevant personnel can also assist objects and pedestrians with limited mobility to avoid the ferry vehicle.

[0116] When the target distance is within the third distance range, the distance between the ferry vehicle and the obstacle further shrinks, and the reminder method is upgraded to use both sound reminder and light reminder to achieve the reminder, enhancing the warning effect. Figure 2 The shown top frame 2 is also equipped with a front outline lamp 24, a rear outline lamp 25, a left outline lamp 26 and a right outline lamp 27. The light reminder can be to turn on the front outline lamp 24, the rear outline lamp 25, the left outline lamp 26 and the right outline lamp 27. The four outline lamps project cursor patterns obliquely to the ground, and these cursor patterns are combined into a cursor frame to identify the safe distance of the ferry vehicle and achieve the light reminder. The light reminder is intuitive and clear, and the projected cursor patterns can also flash to dynamically remind pedestrians to stay away from the cursor pattern area and away from the ferry vehicle.

[0117] When the target distance belongs to the fourth distance range, the reminder method of using both sound reminder and light reminder together is continued to maintain the enhanced reminder until the target distance belongs to the second distance range or the first distance range, and then the reminder method is adjusted.

[0118] Whether it is a sound reminder or a light reminder, it helps to guide pedestrians to keep a safe distance from the ferry vehicle, avoid entering potential dangerous areas, ensure the smooth driving of the ferry vehicle, and ensure the safety of pedestrians.

[0119] When the distance gradually shrinks, the reminder method is upgraded to use both sound and light reminders at the same time, which can achieve the reminder for visually impaired and hearing impaired people, providing more perception channels and protecting their safety.

[0120] In some embodiments, the performing of the sound and light reminder includes: adjusting the volume and broadcast frequency of the sound reminder according to the distance of the target; and / or adjusting the light color and flashing frequency of the light reminder.

[0121] After determining the reminder method according to the distance range, the specific implementation methods of the sound reminder and the light reminder can also be adjusted in combination with the distance.

[0122] For example, when the target distance is 3m, the volume is 60dB, the announcement frequency is once every 2.5 seconds, the light color is blue, and the blinking frequency is 2 times per second. When the target distance is 2m, the volume is 80dB, the announcement frequency is once per second, the light color is red, and the blinking frequency is 4 times per second.

[0123] Through adjustment, the visual and auditory impact effects are enhanced to achieve efficient reminder.

[0124] The above settings of the first distance interval, the second distance interval, the third distance interval, the fourth distance interval, and the corresponding driving speed settings and reminder methods are an example. In this application, the hierarchical division of the distance interval, the setting of the driving speed, and the setting of the reminder method can be adaptively adjusted in combination with data such as the size of the venue, the set speed of the shuttle bus, and the personnel flow of the venue.

[0125] Step 904, control the shuttle bus to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

[0126] During the driving process of the shuttle bus, the target distance is determined by real-time monitoring of obstacles, and the current corresponding driving speed and reminder method of the shuttle bus are further determined according to the real-time determined target distance. Then, the shuttle bus is controlled to travel along the determined target travel speed and target reminder method along the target travel path, realizing the adaptive adjustment of the driving control of the shuttle bus.

[0127] Without relying on navigation auxiliary marks such as magnetic tracks, precise control of the shuttle bus can be achieved, enabling it to travel according to the set path. This not only avoids the problem of increased operating costs caused by wear or failure of navigation auxiliary marks such as magnetic tracks, but also improves the flexibility and reliability of driving.

[0128] Based on navigation radar, obstacle avoidance radar, depth camera, and outline lights, etc., automatic guided driving is realized, and the autonomous driving ability is greatly enhanced. Without the need for user driving, it can be safely and accurately sent to the corresponding destination, which is convenient and fast, and also greatly improves the riding experience and driving safety.

[0129] In the embodiment of this application, based on the target travel end point selected by the user, the target travel path corresponding to this travel end point is determined, the shuttle bus is controlled to travel along the automatically determined target travel path, and during the driving process, the obstacle situation is monitored in real time to realize the adaptive adjustment of the driving speed and reminder method of the shuttle bus, so that the shuttle bus can maintain a good driving state and travel to the target travel end point, improving the driving efficiency. The user only needs to input the target travel end point, enhancing the smoothness and comfort of the user's travel and greatly improving the autonomous driving ability of the shuttle bus.

[0130] SeeFigure 12 , Figure 12 is the flow of a control method for a shuttle bus provided by an embodiment of the present application Figure 2 . As Figure 12 shown, a control method for a shuttle bus, the method includes the following steps:

[0131] Step 1201, based on the target travel end point selected by the user, determine the target travel path corresponding to the target travel end point.

[0132] The implementation process of this step is the same as that of step 901 in the foregoing embodiment, and will not be elaborated here.

[0133] Step 1202, real-time monitor the obstacles within the target monitoring range of the shuttle bus and the target distance between the shuttle bus and the obstacles.

[0134] The implementation process of this step is the same as that of step 902 in the foregoing embodiment, and will not be elaborated here.

[0135] Step 1203, based on the target distance interval to which the target distance belongs in different distance intervals, determine the target travel speed and the target reminder method.

[0136] The implementation process of this step is the same as that of step 903 in the foregoing embodiment, and will not be elaborated here.

[0137] Step 1204, control the shuttle bus to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

[0138] The implementation process of this step is the same as that of step 904 in the foregoing embodiment, and will not be elaborated here.

[0139] Step 1205, when it is detected that the load mass of the shuttle bus reaches the set mass and / or the residence duration of the shuttle bus reaches the set duration, control the shuttle bus to travel along the set travel path to the set position.

[0140] In some embodiments, the shuttle bus is provided with a voice prompt for prompting the passengers. After detecting that the shuttle bus reaches the target travel end point, it can remind "The end point of this trip has been reached, please get off in time", which is an instant reminder to urge the passengers to get off as soon as possible, ensuring that they do not miss the getting-off opportunity. At the same time, it enables the shuttle bus to be put into the next operation faster, improving the vehicle turnover efficiency of the shuttle bus.

[0141] After the shuttle bus reaches the end of the target journey, the carrying mass of the seats and luggage racks of the shuttle bus is detected in real time or at regular intervals, and the carrying mass is compared with the set mass to determine whether the user has got off and whether the luggage has been taken down, that is, whether the shuttle bus is in an idle state and can be put into the next operation.

[0142] In some embodiments, after the shuttle bus reaches the end of the target journey, the residence duration of the shuttle bus at the end of the target journey can also be recorded to determine whether the shuttle bus can be put into the next operation.

[0143] When the carrying mass of the shuttle bus reaches the set mass and / or the residence duration of the shuttle bus reaches the set duration, it means that the shuttle bus can participate in the next operation. At this time, the shuttle bus can be controlled to travel along the set driving path to the set position.

[0144] In some embodiments, the set position is the default original journey starting point, that is, the current journey starting point used when determining the target driving path. Correspondingly, the set driving path is the target driving path. At this time, the starting point and the ending point of this path are swapped, and the shuttle bus is controlled to return to the original journey starting point along this path to continue serving the users at the original journey starting point.

[0145] In some embodiments, the set position is a dispatching journey point reset by the staff in the background, which is the journey point that the user at the end of the target journey wants to reach or the dispatching journey point that lacks vehicles and requires vehicle dispatching. The driving path corresponding to the end of the target journey or the dispatching journey point is determined as the set driving path, and the shuttle bus is controlled to travel along the set driving path to the set position to meet the travel needs of the users, realize the effective dispatching and management of the shuttle bus, and optimize the utilization of vehicle resources.

[0146] During the driving process, the driving speed and reminder method of the shuttle bus are also adaptively adjusted according to the target distance to ensure the autonomy and safety of the shuttle bus during driving.

[0147] In the embodiments of the present application, after the shuttle bus travels to the end of the target journey according to the target driving speed and target reminder method, the carrying mass and residence duration of the shuttle bus are detected. When the carrying mass reaches the set mass and / or the residence duration reaches the set duration, the shuttle bus is controlled to travel along the set driving path to the set position to ensure the reallocation of vehicle resources and improve the vehicle turnover efficiency of the shuttle bus.

[0148] See Figure 13 , Figure 13 FIG. is a structural diagram of a control system of a shuttle bus provided by the embodiments of the present application. For the sake of simplicity, only the parts related to the embodiments of the present application are shown.

[0149] The control system 1300 of the shuttle vehicle includes: a first determination module 1301, a monitoring module 1302, a second determination module 1303, and a driving control module 1304.

[0150] The first determination module 1301 is configured to determine a target driving path corresponding to the target travel end point based on the target travel end point selected by the user.

[0151] The monitoring module 1302 is configured to monitor in real time obstacles within the target monitoring range of the shuttle vehicle and a target distance between the shuttle vehicle and the obstacles corresponding thereto.

[0152] The second determination module 1303 is configured to determine a target driving speed and a target reminder mode based on a target distance interval to which the target distance belongs among different distance intervals; wherein different distance intervals correspond to different driving speeds and reminder modes, and the reminder mode is used to remind the obstacles to avoid the shuttle vehicle and to remind relevant personnel to assist the obstacles in avoiding the shuttle vehicle.

[0153] The driving control module 1304 is configured to control the shuttle vehicle to travel along the target driving path in accordance with the target driving speed and the target reminder mode until reaching the travel end point.

[0154] In some embodiments, the first determination module is specifically configured to:

[0155] Select a target driving path corresponding to the target travel end point from multiple driving paths based on the target travel end point selected by the user; or,

[0156] Generate the target driving path based on the target travel end point selected by the user, the position information of the shuttle vehicle, and the venue layout information.

[0157] In some embodiments, the system further includes a path planning module, which is configured to:

[0158] Generate at least one driving path from each travel start point to the travel end point for each travel start point based on the venue layout information, the position information of at least one travel start point, and the position information of at least one travel end point, and different priorities are corresponding to multiple driving paths from the same travel start point to the same travel end point.

[0159] In some embodiments, the monitoring module is specifically configured to:

[0160] Monitor in real time the obstacles within the target monitoring range of the shuttle vehicle;

[0161] If there are no obstacles within the target monitoring range, take the maximum detectable distance as the target distance;

[0162] If there is at least one of the obstacles within the target monitoring range, select the minimum distance from the relative distances between each of the obstacles and the ferry vehicle as the target distance.

[0163] In some embodiments, the second determination module is specifically configured to:

[0164] Compare the target distance with a plurality of the distance intervals to determine the target distance interval to which the target distance belongs;

[0165] When the target distance interval is the first distance interval, determine the first driving speed as the target driving speed and do not perform sound and light reminders; or,

[0166] When the target distance interval is the second distance interval, determine the second driving speed as the target driving speed and perform a sound reminder; or,

[0167] When the target distance interval is the third distance interval, determine the third driving speed as the target driving speed and perform sound and light reminders; or,

[0168] When the target distance interval is the fourth distance interval, determine the fourth driving speed as the target driving speed and perform sound and light reminders;

[0169] Wherein, the distances corresponding to the first distance interval, the second distance interval, the third distance interval and the fourth distance interval decrease in sequence, the first driving speed, the second driving speed, the third driving speed and the fourth driving speed decrease in sequence, and the fourth driving speed is 0.

[0170] In some embodiments, the driving control module is specifically configured to:

[0171] Adjust the volume and broadcast frequency of the sound reminder according to the distance of the target distance; and / or adjust the light color and flashing frequency of the light reminder.

[0172] In some embodiments, the driving control module is further configured to:

[0173] When it is detected that the carrying mass of the ferry vehicle reaches the set mass and / or the residence time of the ferry vehicle reaches the set time length, control the ferry vehicle to travel along the set driving path to the set position.

[0174] The control system of the ferry vehicle provided by the embodiments of the present application can implement each process of the embodiments of the above-mentioned control method of the ferry vehicle and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0175] Figure 14It is a structural diagram of an electronic device provided by an embodiment of the present application. As shown in this figure, the electronic device 14 of this embodiment includes: at least one processor 140( Figure 14 only one is shown), a memory 141, and a computer program 142 stored in the memory 141 and executable on the at least one processor 140. When the processor 140 executes the computer program 142, it implements the steps in any of the above method embodiments.

[0176] The electronic device 14 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device 14 may include, but is not limited to, a processor 140 and a memory 141. Those skilled in the art can understand that Figure 14 these are merely examples of the electronic device 14 and do not constitute a limitation on the electronic device 14. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the electronic device may further include input / output devices, network access devices, a bus, etc.

[0177] The processor 140 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0178] The memory 141 may be an internal storage unit of the electronic device 14, such as the hard disk or memory of the electronic device 14. The memory 141 may also be an external storage device of the electronic device 14, such as a plug-in hard disk equipped on the electronic device 14, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 141 may also include both the internal storage unit and the external storage device of the electronic device 14. The memory 141 is used to store the computer program and other programs and data required by the electronic device. The memory 141 may also be used to temporarily store data that has been output or will be output.

[0179] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the foregoing method embodiment and will not be repeated here.

[0180] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0181] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0182] In the embodiments provided in this application, it should be understood that the disclosed system / electronic device and method can be implemented in other ways. For example, the system / electronic device embodiments described above are only illustrative. For example, the division of the above-mentioned module or unit is only 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 between each other can be through some interfaces. The indirect coupling or communication connection of the system or unit can be in electrical, mechanical or other forms.

[0183] The unit described as a separated component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, can exist physically separately for each unit, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0185] If the above integrated module / 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, to implement all or part of the processes in the above method embodiments of the present application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0186] To implement all or part of the processes in the above method embodiments of the present application, it can also be achieved by a computer program product. When the computer program product runs on an electronic device, it causes the electronic device to execute and implement the steps in the above method embodiments.

[0187] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for a ferry vehicle, characterized in that, Including: Based on the selected target travel end point of the user, determine the target travel path corresponding to the target travel end point; Real-time monitor the obstacles within the target monitoring range of the shuttle bus and the target distance between the shuttle bus and the obstacles corresponding to the obstacles; Based on the target distance interval to which the target distance belongs among different distance intervals, determine the target travel speed and the target reminder method; wherein, different distance intervals correspond to different travel speeds and reminder methods, and the reminder method is used to remind the obstacles to avoid the shuttle bus and to remind relevant personnel to assist the obstacles in avoiding the shuttle bus; Control the shuttle bus to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

2. The method according to claim 1, wherein The determining of the target travel path corresponding to the target travel end point based on the selected target travel end point of the user includes: Based on the selected target travel end point of the user, select the target travel path corresponding to the target travel end point from multiple travel paths; or, Based on the selected target travel end point of the user, the position information of the shuttle bus, and the venue layout information, generate the target travel path.

3. The method according to claim 2, wherein Before the selecting of the target travel path corresponding to the target travel end point from multiple travel paths based on the selected target travel end point of the user, it further includes: Based on the venue layout information, the position information of at least one travel start point, and the position information of at least one travel end point, generate at least one travel path from the travel start point to the travel end point for each travel start point, and multiple travel paths corresponding to the same travel end point from each travel start point have different priorities.

4. The method according to claim 1, characterized in that The real-time monitoring of the obstacles within the target monitoring range of the shuttle bus and the target distance between the shuttle bus and the obstacles corresponding to the obstacles includes: Real-time monitor the obstacles within the target monitoring range of the shuttle bus; If there are no obstacles within the target monitoring range, use the maximum detectable distance as the target distance; If there is at least one obstacle within the target monitoring range, select the minimum distance from the relative distances between each obstacle and the shuttle bus as the target distance.

5. The method according to claim 1, wherein The determining of the target travel speed and the target reminder method based on the target distance interval to which the target distance belongs among different distance intervals includes: Compare the target distance with multiple distance intervals to determine the target distance interval to which the target distance belongs; When the target distance interval is the first distance interval, determine the first travel speed as the target travel speed and do not give audible and visual reminders; or, When the target distance interval is the second distance interval, determine the second travel speed as the target travel speed and give a sound reminder; or, When the target distance interval is the third distance interval, determine the third travel speed as the target travel speed and give audible and visual reminders; or, When the target distance interval is the fourth distance interval, determine the fourth travel speed as the target travel speed and give audible and visual reminders; Among them, the distances corresponding to the first distance interval, the second distance interval, the third distance interval, and the fourth distance interval decrease in sequence, the first driving speed, the second driving speed, the third driving speed, and the fourth driving speed decrease in sequence, and the fourth driving speed is 0.

6. The method according to claim 5, characterized in that, The performing of the sound and light reminder includes: Adjusting the volume and broadcast frequency of the sound reminder according to the distance of the target distance; and / or adjusting the light color and flashing frequency of the light reminder.

7. The method according to claim 1, characterized in that, After controlling the shuttle vehicle to travel along the target travel path according to the target driving speed and the target reminder method until reaching the end point of the journey, it further includes: When it is detected that the load mass of the shuttle vehicle reaches the set mass and / or the residence time of the shuttle vehicle reaches the set time, controlling the shuttle vehicle to travel along the set travel path to the set position.

8. A control system of a ferry vehicle, characterized in that It includes: A first determination module, configured to determine the target travel path corresponding to the target travel end point based on the target travel end point selected by the user; A monitoring module, configured to monitor in real time the obstacles within the target monitoring range of the shuttle vehicle and the target distance between the shuttle vehicle and the obstacles; A second determination module, configured to determine the target driving speed and the target reminder method based on the target distance interval to which the target distance belongs in different distance intervals; wherein, different distance intervals correspond to different driving speeds and reminder methods, and the reminder method is used to remind the obstacles to avoid the shuttle vehicle and to remind relevant personnel to assist the obstacles to avoid the shuttle vehicle; A travel control module, configured to control the shuttle vehicle to travel along the target travel path according to the target driving speed and the target reminder method until reaching the end point of the journey.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, It includes a computer program, and when the computer program is run, the method according to any one of claims 1 to 7 is executed.

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