On-site acousto-optic early warning method, system and device based on unmanned trolley

Abstract

The invention relates to the technical field of acousto-optic early warning, and discloses an on-site acousto-optic early warning method, system and device based on an unmanned trolley. According to the invention, the vehicle movement information of the unmanned vehicle is collected in real time, and the preset vehicle movement parameters are combined, so that the unmanned vehicle can be accurately controlled to execute the movement operation according to the to-be-moved distance in real time, and the control accuracy and flexibility of the position movement of the unmanned vehicle are improved; after the unmanned trolley runs to a target position or in the running process, the unmanned trolley can be immediately controlled to execute sound and light early warning operation, and early warning sound and a warning light source are output. The whole early warning process (including movement control, position confirmation, early warning triggering and the like) is automatically completed through preset programs and algorithms, and manual intervention is not needed. Different from the manual operation risk of manually placing the triangular warning board in the prior art, the intelligent and automatic design not only improves the response speed and efficiency of the early warning system, but also reduces the manual placing risk of the triangular warning board.

Description

Technical Field

[0001] The present invention relates to the technical field of acoustic and optical warning, and in particular to a method, system and device for on-site acoustic and optical warning based on an unmanned vehicle. Background Art

[0002] According to traffic regulations and relevant regulations, when a motor vehicle breaks down on a highway and is difficult to move, a warning sign should be set up more than 150 meters away from the oncoming vehicle direction of the broken-down vehicle. Therefore, when a driver stops on a highway after encountering a vehicle breakdown, a triangular warning sign for motor vehicles will be set up. However, in some specific situations, the effect of this reflective warning facility placed on the road surface is worrying. For example, under the influence of bad weather, the driver's vision is blocked and the warning sign cannot be observed at a farther distance; or when the driver is fatigued, it is often difficult to notice the traditional triangular warning sign with a smaller size. This warning sign lacks active warning and cannot effectively warn the following vehicle at the scene of a dangerous traffic accident. In addition, after an accident, the triangular warning sign is often not placed at the distance stipulated by traffic regulations, further reducing the warning effect of the warning sign, and there are also personnel safety problems in the process of placing the warning sign on the highway surface. It can be seen that it is particularly important to provide a corresponding solution to the problems of poor warning effect and inaccurate placement position of the existing warning sign in application. Summary of the Invention

[0003] The present invention provides a method, system and device for on-site acoustic and optical warning based on an unmanned vehicle, which can help improve the warning effect of the warning sign, and at the same time improve the accuracy and intelligence of the placement position of the warning sign.

[0004] The first aspect of the present invention discloses a method for on-site acoustic and optical warning based on an unmanned vehicle, and the method includes: When a start instruction for the unmanned vehicle is detected and it is determined that the current moving condition for the unmanned vehicle is satisfied, obtain moving control information for controlling the movement of the unmanned vehicle, where the moving control information at least includes the distance to be moved by the unmanned vehicle and vehicle movement parameters for controlling the movement of the unmanned vehicle; According to the vehicle movement parameters, control the unmanned vehicle to perform a movement operation according to the distance to be moved, and after determining that the unmanned vehicle has traveled to a target position corresponding to the distance to be moved, or, during the process of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved, control the unmanned vehicle to perform an acoustic and optical warning operation; the acoustic and optical warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is at least configured with a triangular warning sign, and the triangular warning sign is used to output the warning light source; And, the controlling the unmanned vehicle to perform a movement operation according to the distance to be moved according to the vehicle movement parameters includes: Collect the vehicle movement information of the driverless vehicle in real time, where the vehicle movement information includes the real-time position of the driverless vehicle; According to the vehicle movement information and the vehicle movement parameters, control the driverless vehicle to perform a driving control operation according to the to-be-moved distance, so that the driverless vehicle travels to a target position corresponding to the to-be-moved distance, and the driving control operation at least includes a linear movement control operation.

[0005] As an alternative implementation manner, in the first aspect of the present invention, the driverless vehicle is further configured with a sound amplification component; The controlling the driverless vehicle to perform an acoustic-optic warning operation includes: Judge whether the triangular warning sign meets a preset light warning condition. When it is judged that the triangular warning sign meets the light warning condition, control the triangular warning sign to output a warning light according to a preset light warning program; Determine a sound amplification sound source for the sound amplification component, where the sound amplification sound source includes a first sound source defined by the user or a non-first sound source; and control the sound amplification component to output the sound amplification sound source according to a preset sound source output program.

[0006] As an alternative implementation manner, in the first aspect of the present invention, the judging whether the triangular warning sign meets a preset light warning condition includes: Determine the illumination orientation corresponding to the light-emitting surface of the triangular warning sign; Judge whether the illumination orientation is consistent with the moving direction of the driverless vehicle moving to the target position; when it is judged that the illumination orientation is consistent with the moving direction of the driverless vehicle moving to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is judged that the illumination orientation is inconsistent with the moving direction of the driverless vehicle moving to the target position, determine that the triangular warning sign does not meet the preset light warning condition; The controlling the driverless vehicle to perform an acoustic-optic warning operation further includes: When it is judged that the triangular warning sign does not meet the light warning condition, use the moving direction as a calibration direction, and control the illumination orientation to rotate to be consistent with the moving direction; or, generate an illumination error message for the triangular warning sign, and feedback the illumination error message to the control personnel to trigger the control personnel to adjust the illumination orientation of the triangular warning sign to be consistent with the moving direction according to the illumination error message.

[0007] As an alternative implementation manner, in the first aspect of the present invention, before obtaining the movement control information for controlling the movement of the driverless vehicle, the method further includes: Collect the surrounding road information corresponding to the location of the driverless vehicle, and determine the road side closest to the driverless vehicle according to the surrounding road information, where the road side includes the leftmost side or the rightmost side of the road; Determine the angle between the forward direction of the driverless vehicle and the road side; According to the angle and the distance to be moved, determine whether it is necessary to perform an angle adjustment operation on the driverless vehicle. When it is determined that an angle adjustment operation needs to be performed on the driverless vehicle, generate first angle adjustment information for the driverless vehicle according to the angle, and perform a first angle adjustment operation on the driverless vehicle according to the first angle adjustment information; or, generate second angle adjustment information for the driverless vehicle according to the angle, and feedback the second angle adjustment information to the control personnel to trigger the control personnel to perform a second angle adjustment operation on the driverless vehicle according to the second angle adjustment information; After determining that it is not necessary to perform the angle adjustment operation on the driverless vehicle, determine that the current movement condition for the driverless vehicle is satisfied.

[0008] As an optional implementation manner, in the first aspect of the present invention, the first angle adjustment information includes at least one set of sub-adjustment information and the information execution order corresponding to all the sub-adjustment information; each set of the sub-adjustment information includes the offset angle of the wheels on the driverless vehicle and the corresponding wheel movement distance; each of the wheel movement distances matches a wheel movement direction, and the wheel movement direction includes forward or backward; The performing the first angle adjustment operation on the driverless vehicle according to the first angle adjustment information includes: Update the vehicle movement parameters of the driverless vehicle in sequence according to the information execution order corresponding to all the sub-adjustment information, and after each update of the vehicle movement parameters of the driverless vehicle, control the driverless vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters; The controlling the driverless vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters includes: Control the driverless vehicle to perform an angle offset according to the offset angle corresponding to the current vehicle movement parameters, and control the driverless vehicle to perform a vehicle movement according to the wheel movement distance corresponding to the current vehicle movement parameters and the corresponding wheel movement direction.

[0009] As an optional implementation manner, in the first aspect of the present invention, the controlling the driverless vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters includes: Obtain the road surface scanning information obtained after the unmanned vehicle performs scanning on the target area; the target area corresponds to the detection range of the unmanned vehicle; According to the vehicle movement parameters, calculate the predicted movement duration corresponding to the unmanned vehicle moving the to-be-moved distance; According to the to-be-moved distance and the real-time position, calculate the predicted position that the unmanned vehicle finally reaches after moving the to-be-moved distance; Judge whether there is an obstacle avoidance target meeting the preset conditions in the target area according to the road surface scanning information; when it is judged that there is no obstacle avoidance target meeting the preset conditions in the target area, take the real-time position as the starting point, the predicted position as the displacement end point, the to-be-moved distance as the traveling distance of the vehicle, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle reaches the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

[0010] As an optional implementation manner, in the first aspect of the present invention, the controlling the unmanned vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters further includes: When it is judged that there is an obstacle avoidance target meeting the preset conditions in the target area, generate obstacle avoidance movement information for the unmanned vehicle according to the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target; Update the movement route of the unmanned vehicle according to the obstacle avoidance movement information; and take the real-time position as the starting point and the predicted position as the displacement end point, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters in combination with the movement route, and when it is determined that the unmanned vehicle reaches the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

[0011] The second aspect of the present invention discloses an on-site sound and light warning system based on an unmanned vehicle, and the system includes: An acquisition module, configured to obtain movement control information for controlling the unmanned vehicle to move when detecting a start instruction for the unmanned vehicle and determining that the current meets the movement conditions for the unmanned vehicle, and the movement control information at least includes the to-be-moved distance of the unmanned vehicle and vehicle movement parameters for controlling the unmanned vehicle to move; A movement control module, configured to control the unmanned vehicle to perform a movement operation according to the vehicle movement parameters according to the to-be-moved distance; The acoustic - optical warning module is used to control the unmanned vehicle to perform an acoustic - optical warning operation after determining that the unmanned vehicle has traveled to the target position corresponding to the to - be - moved distance, or during the process of controlling the unmanned vehicle to perform a moving operation according to the to - be - moved distance; the acoustic - optical warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is at least equipped with a triangular warning sign, and the triangular warning sign is used to output the warning light source; And, the specific manner of the movement control module includes: The acquisition sub - module is used to collect the vehicle movement information of the unmanned vehicle in real - time, and the vehicle movement information includes the real - time position of the unmanned vehicle; The driving control sub - module is used to control the unmanned vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters, so that the unmanned vehicle travels to the target position corresponding to the to - be - moved distance, and the driving control operation at least includes a linear movement control operation.

[0012] As an optional implementation manner, in the second aspect of the present invention, the unmanned vehicle is further equipped with a sound - amplifying component; The specific manner in which the acoustic - optical warning module controls the unmanned vehicle to perform an acoustic - optical warning operation includes: Judge whether the triangular warning sign meets the preset light warning condition. When it is judged that the triangular warning sign meets the light warning condition, control the triangular warning sign to output a warning light according to the preset light warning program; Determine the sound - amplifying sound source for the sound - amplifying component, where the sound - amplifying sound source includes a first sound source defined by the user or a non - first sound source; and control the sound - amplifying component to output the sound - amplifying sound source according to the preset sound - source output program.

[0013] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the acoustic - optical warning module judges whether the triangular warning sign meets the preset light warning condition includes: Determine the illumination direction corresponding to the light - emitting surface of the triangular warning sign; Judge whether the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position; when it is judged that the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is judged that the illumination direction is inconsistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign does not meet the preset light warning condition; The specific manner in which the acoustic - optical warning module controls the unmanned vehicle to perform an acoustic - optical warning operation further includes: When it is determined that the triangular warning sign does not meet the light warning condition, taking the moving direction as the calibration direction, controlling the light orientation to rotate to be consistent with the moving direction; or generating a light error message for the triangular warning sign and feeding back the light error message to the control personnel to trigger the control personnel to adjust the light orientation of the triangular warning sign to be consistent with the moving direction according to the light error message.

[0014] As an optional implementation manner, in the second aspect of the present invention, the system further includes: An acquisition module, configured to acquire the surrounding road information corresponding to the position where the unmanned vehicle is located before the acquisition module acquires the movement control information for controlling the movement of the unmanned vehicle; A determination module, configured to determine the road side closest to the unmanned vehicle according to the road surrounding information, where the road side includes the leftmost side or the rightmost side of the road; The determination module is further configured to determine the included angle between the advancing direction of the unmanned vehicle and the road side; A judgment module, configured to judge whether an angle adjustment operation needs to be performed on the unmanned vehicle according to the included angle and the distance to be moved; An adjustment module, configured to, when the judgment module determines that an angle adjustment operation needs to be performed on the unmanned vehicle, generate first angle adjustment information for the unmanned vehicle according to the included angle, and perform a first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information; or generate second angle adjustment information for the unmanned vehicle according to the included angle, and feed back the second angle adjustment information to the control personnel to trigger the control personnel to perform a second angle adjustment operation on the unmanned vehicle according to the second angle adjustment information; The determination module is further configured to determine that the current movement condition for the unmanned vehicle is satisfied after determining that no angle adjustment operation needs to be performed on the unmanned vehicle.

[0015] As an optional implementation manner, in the second aspect of the present invention, the first angle adjustment information includes at least one set of sub-adjustment information and the information execution sequence corresponding to all the sub-adjustment information; each set of the sub-adjustment information includes the offset angle of the wheels on the unmanned vehicle and the corresponding wheel movement distance; each of the wheel movement distances matches a wheel movement direction, and the wheel movement direction includes forward or backward; The specific manner in which the adjustment module performs the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information includes: Update the vehicle movement parameters of the driverless vehicle in sequence according to the information execution order corresponding to all the sub-adjustment information, and after each update of the vehicle movement parameters of the driverless vehicle, control the driverless vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters; The manner of controlling the driverless vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters specifically includes: Control the driverless vehicle to perform an angular offset according to the offset angle corresponding to the current vehicle movement parameters, and control the driverless vehicle to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameters.

[0016] As an optional implementation manner, in the second aspect of the present invention, the manner in which the driving control sub-module controls the driverless vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters specifically includes: Obtain the road surface scanning information obtained after the driverless vehicle scans the target area; the target area corresponds to the detection range of the driverless vehicle; According to the vehicle movement parameters, calculate the predicted movement duration corresponding to the driverless vehicle moving the to-be-moved distance; According to the to-be-moved distance and the real-time position, calculate the predicted position where the driverless vehicle finally arrives after moving the to-be-moved distance; Judge whether there is an obstacle avoidance target meeting the preset conditions in the target area according to the road surface scanning information; when it is judged that there is no obstacle avoidance target meeting the preset conditions in the target area, take the real-time position as the starting point, the predicted position as the displacement end point, the to-be-moved distance as the traveling distance of the vehicle, and control the driverless vehicle to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the driverless vehicle arrives at the predicted position and / or when it is determined that the driving duration of the driverless vehicle reaches the predicted movement duration, determine that the driving control operation for the driverless vehicle is completed.

[0017] As an optional implementation manner, in the second aspect of the present invention, the manner in which the driving control sub-module controls the driverless vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters specifically further includes: When it is judged that there is an obstacle avoidance target meeting the preset conditions in the target area, generate obstacle avoidance movement information for the driverless vehicle according to the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target; Update the moving route of the unmanned vehicle according to the obstacle avoidance movement information; and taking the real-time position as the starting point and the predicted position as the displacement end point, control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters in combination with the moving route, and determine that the driving control operation for the unmanned vehicle is completed when it is determined that the unmanned vehicle reaches the predicted position and / or it is determined that the driving duration of the unmanned vehicle reaches the predicted moving duration.

[0018] The third aspect of the present invention discloses a on-site sound and light warning device based on an unmanned vehicle, and the device includes: A memory storing executable program codes; A processor coupled to the memory; The processor calls the executable program codes stored in the memory and executes some or all of the steps in any one of the on-site sound and light warning methods based on an unmanned vehicle in the first aspect of the present invention.

[0019] The fourth aspect of the present invention discloses a computer storage medium, and the computer storage medium stores computer instructions, which are used to execute some or all of the steps in any one of the on-site sound and light warning methods based on an unmanned vehicle in the first aspect of the present invention when the computer instructions are called.

[0020] Compared with the prior art, the present invention has the following beneficial effects: In an embodiment of the present invention, a method for on-site acoustic and light warning based on an unmanned vehicle is provided. The method includes: when a start instruction for the unmanned vehicle is detected and it is determined that the current moving condition for the unmanned vehicle is satisfied, obtaining moving control information for controlling the movement of the unmanned vehicle, where the moving control information at least includes the distance to be moved by the unmanned vehicle and vehicle movement parameters for controlling the movement of the unmanned vehicle; according to the vehicle movement parameters, controlling the unmanned vehicle to perform a movement operation according to the distance to be moved, and after determining that the unmanned vehicle has traveled to a target position corresponding to the distance to be moved, or during the process of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved, controlling the unmanned vehicle to perform an acoustic and light warning operation; the acoustic and light warning operation is used to output a warning sound and a warning light source; and the manner of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved according to the vehicle movement parameters specifically includes: collecting the vehicle movement information of the unmanned vehicle in real time, where the vehicle movement information includes the real-time position of the unmanned vehicle; according to the vehicle movement information and the vehicle movement parameters, controlling the unmanned vehicle to perform a driving control operation according to the distance to be moved, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation at least includes a linear movement control operation. It can be seen that by implementing the present invention, by collecting the vehicle movement information of the unmanned vehicle in real time and combining the preset vehicle movement parameters, the movement operation of the unmanned vehicle can be controlled in real time and accurately according to the distance to be moved, improving the control accuracy and flexibility of the position movement of the unmanned vehicle; after the unmanned vehicle travels to the target position or during the driving process, it can immediately control it to perform an acoustic and light warning operation and output a warning sound and a warning light source. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is automatically completed through preset programs and algorithms without manual intervention. Different from the manual operation risks of traditional triangular warning signs that need to be placed manually, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the manual placement risk of triangular warning signs. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a flowchart of a method for on-site acoustic and light warning based on an unmanned vehicle disclosed in an embodiment of the present invention; Figure 2 It is a flowchart of another method for on-site acoustic and light warning based on an unmanned vehicle disclosed in an embodiment of the present invention; Figure 3It is a schematic structural diagram of a on-site sound and light warning system based on an unmanned vehicle according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of another on-site sound and light warning system based on an unmanned vehicle according to an embodiment of the present invention; Figure 5 It is a schematic structural diagram of a on-site sound and light warning device based on an unmanned vehicle according to an embodiment of the present invention. Detailed implementation manners

[0023] 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 with reference to 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 making creative efforts belong to the scope of protection of the present invention.

[0024] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or terminal that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or terminals.

[0025] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0026] The present invention discloses a method, system and device for on-site acoustic and optical warning based on an unmanned vehicle. By collecting the vehicle movement information of the unmanned vehicle in real time and combining with preset vehicle movement parameters, it can control the unmanned vehicle to perform movement operations according to the distance to be moved in real time and accurately, improving the control accuracy and flexibility of the position movement of the unmanned vehicle; when the unmanned vehicle reaches the target position or during its driving process, it can immediately control it to perform acoustic and optical warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning trigger, etc.) is automatically completed through preset programs and algorithms without manual intervention. Different from the manual operation risks existing in the traditional need to manually place triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the manual placement risk of triangular warning signs. The following will be described in detail respectively.

[0027] Embodiment 1 Please refer to Figure 1 , Figure 1 which is a schematic flow chart of a method for on-site acoustic and optical warning based on an unmanned vehicle disclosed in an embodiment of the present invention. Among them, Figure 1 the described method for on-site acoustic and optical warning based on an unmanned vehicle can be applied to an on-site acoustic and optical warning system based on an unmanned vehicle, and the embodiments of the present invention do not make limitations. As Figure 1 shown, the method for on-site acoustic and optical warning based on an unmanned vehicle may include the following operations: 101. When a start instruction for the unmanned vehicle is detected and it is determined that the current movement conditions for the unmanned vehicle are met, obtain movement control information for controlling the movement of the unmanned vehicle.

[0028] In an embodiment of the present invention, the movement control information at least includes the distance to be moved by the unmanned vehicle and vehicle movement parameters for controlling the movement of the unmanned vehicle. Among them, the vehicle movement parameters may include vehicle movement speed and vehicle movement direction.

[0029] 102. Collect the vehicle movement information of the unmanned vehicle in real time, where the vehicle movement information includes the real-time position of the unmanned vehicle.

[0030] In an embodiment of the present invention, a positioning module may be configured on the unmanned vehicle, which can be used for real-time positioning of the vehicle.

[0031] 103. According to the vehicle movement information and vehicle movement parameters, control the unmanned vehicle to perform a driving control operation according to the distance to be moved, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved.

[0032] In the embodiments of the present invention, the driving control operation at least includes a linear movement control operation. The linear movement control operation is used to control the unmanned vehicle to drive along a set route, and the set route is defaulted to a straight line. Optionally, the driving control operation may further include a route adjustment operation, which is used to realize the real-time adjustment of the moving path of the unmanned vehicle.

[0033] 104. After determining that the unmanned vehicle has traveled to the target position corresponding to the distance to be moved, or during the process of controlling the unmanned vehicle to perform the movement operation according to the distance to be moved, control the unmanned vehicle to perform an audible and visual warning operation.

[0034] In the embodiments of the present invention, the audible and visual warning operation is used to output a warning sound and a warning light source. It should be noted that the unmanned vehicle is at least equipped with a triangular warning sign, which is used to output a warning light source. Further, there is an installation interface between the triangular warning sign and the unmanned vehicle, so that the two can be detachably connected.

[0035] In the embodiments of the present invention, the unmanned vehicle may also be equipped with a sound amplification component for outputting a warning sound and a triangular warning sign. Different from the traditional single triangular warning sign, the above triangular warning sign is configured on the unmanned vehicle. Among them, the conventional triangular warning sign is used for lighting warning at some accident scenes, and this triangular warning sign needs to be placed manually. Correspondingly, by combining the triangular warning sign with the unmanned vehicle, when the on-site operator encounters an emergency, such as a traffic accident, by taking out the unmanned vehicle equipped with this triangular warning sign, the unmanned vehicle can be remotely controlled to automatically reach the corresponding warning area (such as 150 meters behind the accident scene); it can also be through the automatic navigation function of the unmanned vehicle. After starting the unmanned vehicle, the unmanned vehicle automatically cruises to the warning area according to the current placement position.

[0036] In the embodiments of the present invention, the unmanned vehicle may be equipped with a detachable user operation panel, which is used to remotely control the movement, steering, activation of the triangular warning light, activation of the subsequent sound amplification component, etc. of the unmanned vehicle.

[0037] In the embodiments of the present invention, the triangular warning sign may be a triangular warning sign with a flashing light, and different warning lights can be output by controlling the flashing light array corresponding to the flashing light through the user control panel.

[0038] It can be seen that the implementation Figure 1The described on-site acoustic and optical warning method based on an unmanned vehicle can, by collecting the vehicle movement information of the unmanned vehicle in real time and combining with preset vehicle movement parameters, control the unmanned vehicle to perform a movement operation according to the distance to be moved in real time and accurately, improving the control accuracy and flexibility of the position movement of the unmanned vehicle; after the unmanned vehicle travels to the target position or during its travel, it can immediately control it to perform an acoustic and optical warning operation, outputting a warning sound and a warning light source. The entire warning process (including movement control, position confirmation, warning trigger, etc.) is automatically completed through preset programs and algorithms without manual intervention. Different from the manual operation risks existing in the traditional need to manually place triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the manual placement risk of triangular warning signs.

[0039] In an alternative embodiment, before step 101 of obtaining the movement control information for controlling the movement of the unmanned vehicle, the method further includes: Collect the surrounding road information corresponding to the location of the unmanned vehicle, and determine the road side closest to the unmanned vehicle according to the surrounding road information, where the road side includes the leftmost or rightmost side of the road; Determine the angle between the forward direction of the unmanned vehicle and the road side; According to the angle and the distance to be moved, determine whether an angle adjustment operation needs to be performed on the unmanned vehicle. When it is determined that an angle adjustment operation needs to be performed on the unmanned vehicle, generate first angle adjustment information for the unmanned vehicle according to the angle, and perform a first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information; or, generate second angle adjustment information for the unmanned vehicle according to the angle, and feedback the second angle adjustment information to the control personnel to trigger the control personnel to perform a second angle adjustment operation on the unmanned vehicle according to the second angle adjustment information; After determining that no angle adjustment operation needs to be performed on the unmanned vehicle, determine that the current movement conditions for the unmanned vehicle are met.

[0040] In this alternative embodiment, by collecting the surrounding road information and determining the road side closest to the unmanned vehicle, accurate perception of the on-site environment is achieved. On this basis, combined with the analysis of the angle between the forward direction of the unmanned vehicle and the road side, the most reasonable movement path can be planned in advance, avoiding low movement efficiency or collision risks caused by angle deviation, realizing the optimization of the subsequent movement control of the unmanned vehicle, and improving the execution efficiency and safety of the movement control of the unmanned vehicle.

[0041] In this alternative embodiment, it should be noted that in addition to the leftmost or rightmost side of the road mentioned above, the road side can also be the remaining lane dividing lines; for example, if the road where the driverless car is located has three lanes, the road side closest to the driverless car can be the left or right dividing line in the middle lane; if the road where the driverless car is located has four lanes, the road side closest to the driverless car can be the left or right dividing line in the lane closest to the car among the middle two lanes. For example, if the four lanes are a, b, c, and d from left to right, and the driverless car is parked in lane b at this time, the determined road side is the left or right dividing line corresponding to lane b.

[0042] In this alternative embodiment, the above real-time calculation based on the angle and the distance to be moved can automatically determine whether an angle adjustment operation needs to be performed on the driverless car. When it is detected that the angle deviation may affect the movement accuracy or warning effect, the system can generate the first angle adjustment information and directly control the driverless car to perform the adjustment, or generate the second angle adjustment information and feedback it to the control personnel to achieve precise control of human-machine cooperation. This hierarchical decision-making mechanism not only ensures the automation efficiency but also improves the adaptability in complex scenarios through manual intervention.

[0043] It can be seen that in this alternative embodiment, through the intelligent angle adjustment decision-making mechanism and the multi-modal control coordination that takes into account both automatic adjustment and manual assistance, the movement accuracy and warning reliability of the driverless car in a complex road environment are improved. At the same time, the control fault tolerance of the driverless car is enhanced through the mode of human-machine cooperation.

[0044] In another alternative embodiment, the first angle adjustment information includes at least one set of sub-adjustment information and the information execution order corresponding to all sub-adjustment information; each set of sub-adjustment information includes the offset angle of the wheels on the driverless car and the corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward; The above method of performing the first angle adjustment operation on the driverless car according to the first angle adjustment information specifically includes: According to the information execution order corresponding to all sub-adjustment information, sequentially update the vehicle movement parameters of the driverless car, and after each update of the vehicle movement parameters of the driverless car, control the driverless car to perform a vehicle adjustment operation matching the current vehicle movement parameters; The above method of controlling the driverless car to perform a vehicle adjustment operation matching the current vehicle movement parameters specifically includes: Control the driverless car to perform an angle offset according to the offset angle corresponding to the current vehicle movement parameters, and control the driverless car to perform vehicle movement according to the wheel movement distance corresponding to the current vehicle movement parameters and its corresponding wheel movement direction.

[0045] In this alternative embodiment, by decomposing the angle adjustment into multiple sets of sub-adjustment information (including offset angle, wheel movement distance, and direction), a decomposed correction of complex angle deviations is achieved. For example, in a narrow space, the system can first complete a preliminary turn through "left front wheel offset by 5° + forward 0.5 m", and then achieve fine-tuning through "right rear wheel offset by 3° + backward 0.2 m", avoiding the collision risk caused by a single large-angle adjustment.

[0046] It can be seen that in this alternative embodiment, by decomposing the angle adjustment into multiple sets of sub-adjustment information, a decomposed correction of complex angle deviations is achieved, improving the operation fineness and accuracy of vehicle adjustment operations for unmanned vehicles.

[0047] In yet another alternative embodiment, the method further includes: Obtaining operation record data corresponding to performing the first angle adjustment operation on the unmanned vehicle, where the operation record data includes first record data and / or second record data; the first record data includes multiple sub-record data, and each sub-record data is used to record the single-time offset angle of the vehicle after performing the vehicle adjustment operation on the unmanned vehicle for the current time; the second record data is used to record the total offset angle of the vehicle after performing all vehicle adjustment operations on the unmanned vehicle; When the operation record data includes first record data, for each recorded sub-record data, determine whether the error value (the error value takes the absolute value) between the single-time offset angle of the vehicle corresponding to the sub-record data and the offset angle corresponding to the sub-record data is within a first preset error threshold; if so, update the current sub-adjustment information to the subsequent sub-adjustment information corresponding to the sub-adjustment information, and trigger the execution of the above control to make the unmanned vehicle perform a vehicle adjustment operation matching the current vehicle movement parameters until it is determined that all vehicle adjustment operations have been performed on the unmanned vehicle; If not, perform information correction on at least one subsequent sub-adjustment information corresponding to the sub-record data according to the single-time offset angle of the vehicle corresponding to the sub-record data and the offset angle corresponding to the sub-record data, where the information correction is used to make the angle between the unmanned vehicle and the roadside after performing all vehicle adjustment operations on the unmanned vehicle less than a preset angle value; When the operation record data includes second record data, determine whether the absolute value of the difference between the total offset angle of the vehicle and the above angle is lower than a second preset error threshold; if so, determine that all vehicle adjustment operations have been performed on the unmanned vehicle; if not, update the first angle adjustment information according to the total offset angle of the vehicle, the above angle, and the second preset error threshold, and re-execute the above operation of performing the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information.

[0048] In this alternative embodiment, specifically, it is assumed that the unmanned vehicle needs to be rotated clockwise by 30° in total, and the first angle adjustment information includes 3 sets of sub-adjustment information, and the offset angle corresponding to each set of sub-adjustment information is 10°. At this time, the actual offset angle of the unmanned vehicle can be recorded after each vehicle adjustment operation, denoted as (X°, Y°, Z°); after each actual offset angle is recorded, the difference between the actual offset angle and its corresponding offset angle can be calculated, and 3 error values can be obtained: |X - 10|, |Y - 10|, |Z - 10|, and it is determined whether each error value is within the first preset error threshold (such as 1°). If so, it proves that the current vehicle adjustment operation is qualified and subsequent operations can be performed; if not, the offset angle corresponding to the subsequent sub-adjustment information and / or the corresponding wheel movement distance need to be corrected again.

[0049] In this alternative embodiment, alternatively, it is also possible to directly record the total vehicle offset angle (N°), calculate the difference |N - θ| between the total vehicle offset angle and the above included angle, and determine whether the difference is within the second preset error threshold (such as 2°). If so, it proves that the current vehicle adjustment operation is qualified and subsequent operations can be performed; if not, the first angle adjustment information needs to be corrected again.

[0050] It can be seen that in this alternative embodiment, each time the first angle adjustment operation is performed on the unmanned vehicle, a verification mechanism for each operation is set up, and the adjustment effect can be verified based on the current vehicle movement parameters (such as real-time posture and position). If the expected angle adjustment effect is achieved, the next set of sub-adjustments can be automatically triggered. If the expected angle adjustment effect is not achieved, the subsequent sub-adjustment information can also be corrected in real time, forming a closed-loop control chain of "adjustment - verification - readjustment" to ensure that the final angle deviation ≤ ±1° (example value); or, directly execute all the sub-adjustment information in sequence according to the information execution order of all the sub-adjustment information, and then verify the final adjustment effect of the unmanned vehicle. Through this verification mechanism, the fineness of the angle adjustment for the unmanned vehicle is greatly improved.

[0051] Embodiment 2 Please refer to Figure 2 , Figure 2 which is a schematic flowchart of another on-site sound and light warning method based on an unmanned vehicle disclosed in the embodiments of the present invention. Among them, Figure 2 the described on-site sound and light warning method based on an unmanned vehicle can be applied to an on-site sound and light warning device based on an unmanned vehicle, which is not limited in the embodiments of the present invention. As Figure 2 shown, the on-site sound and light warning method based on an unmanned vehicle may include the following operations: 201. When a start instruction for the driverless vehicle is detected and it is determined that the current conditions for the movement of the driverless vehicle are met, obtain the movement control information for controlling the movement of the driverless vehicle.

[0052] 202. Real-time collect the vehicle movement information of the driverless vehicle, where the vehicle movement information includes the real-time position of the driverless vehicle.

[0053] 203. According to the vehicle movement information and vehicle movement parameters, control the driverless vehicle to perform a driving control operation according to the distance to be moved, so that the driverless vehicle travels to the target position corresponding to the distance to be moved.

[0054] In the embodiments of the present invention, for other descriptions of steps 201 - 203, please refer to the other specific descriptions of steps 101 - 103 in Embodiment 1, and the embodiments of the present invention will not be elaborated herein.

[0055] In the embodiments of the present invention, the driverless vehicle is further configured with a sound amplification component.

[0056] 204. After determining that the driverless vehicle has traveled to the target position corresponding to the distance to be moved, or during the process of controlling the driverless vehicle to perform a movement operation according to the distance to be moved, determine whether the triangular warning sign meets the preset light warning condition. When it is determined that the triangular warning sign meets the light warning condition, control the triangular warning sign to output a warning light according to the preset light warning program.

[0057] 205. Determine the sound amplification sound source for the sound amplification component, where the sound amplification sound source includes a first sound source customized by the user or a non - first sound source; and control the sound amplification component to output the sound amplification sound source according to the preset sound source output program.

[0058] In the embodiments of the present invention, as another option for the sound amplification sound source, the non - first sound source is usually some general and standardized safety warning voices. These sound sources can ensure that in various common scenarios, the driverless vehicle can provide basic and effective sound warnings, guaranteeing the stability and reliability of the safety warning function. When the user has no specific customization requirements, using the non - first sound source can also timely transmit safety warning information to the surrounding area, avoiding safety risks caused by the absence or inappropriateness of the sound source.

[0059] In the embodiments of the present invention, the sound amplification component includes a directional loudspeaker, a recording module, and a built - in sound source storage module. The directional loudspeaker is used for the final sound source output; the recording module is used to record and store the user - defined audio, corresponding to the above - mentioned first sound source; the built - in sound source storage module is used to store the default sound source of the component, corresponding to the non - first sound source.

[0060] In the embodiments of the present invention, in addition to the triangular warning signs conventionally configured at the accident scene, a sound amplification component is additionally configured. By determining the sound amplification sound source for the sound amplification component (including the first sound source defined by the user or a non-first sound source), and controlling it to output the sound source according to a preset program. This way of sound warning can directly transmit clear voice information to the surrounding. For example, voice prompts such as "Danger ahead, please detour" and "Pay attention to safety, slow down" can be output, enabling the surrounding people to more intuitively and accurately understand the dangerous situation at the scene and take corresponding measures in a timely manner. For some people with limited vision or insensitive to light, this way of sound warning can further improve the comprehensiveness and effectiveness of safety warning.

[0061] In the embodiments of the present invention, in practical applications, the surrounding people may first be attracted by the warning lights of the triangular warning signs, and then understand the detailed dangerous situation through the voice information output by the sound amplification component. This multi-sensory warning method can more effectively arouse the vigilance of the surrounding people and ensure that the safety warning information can be received and understood in a timely and accurate manner.

[0062] It can be seen that implementing Figure 2 The described on-site sound and light warning method based on the unmanned vehicle forms a set of safety warning systems that work together by coordinating the light warning and the sound warning. The light warning attracts attention visually, and the sound warning transmits specific information aurally. The two complement each other's advantages, improving the effectiveness and reliability of safety warning based on the unmanned vehicle, while also improving the reliability of on-site safety protection and reducing the probability of secondary safety accidents to a certain extent.

[0063] In an optional embodiment, the method for determining whether the triangular warning sign meets the preset light warning condition in step 204 specifically includes: Determine the illumination direction corresponding to the light-emitting surface of the triangular warning sign; Judge whether the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position; when it is judged that the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is judged that the illumination direction is inconsistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign does not meet the preset light warning condition; The method for controlling the unmanned vehicle to perform the sound and light warning operation specifically further includes: When it is judged that the triangular warning sign does not meet the light warning condition, taking the moving direction as the calibration direction, controlling the illumination direction to rotate to be consistent with the moving direction; or, generating an illumination error message for the triangular warning sign and feeding back the illumination error message to the control personnel to trigger the control personnel to adjust the illumination direction of the triangular warning sign to be consistent with the moving direction according to the illumination error message.

[0064] It can be seen that in this optional embodiment, a verification mechanism for the illumination orientation of the triangular warning sign is set up, which can timely detect possible installation or setting problems of the triangular warning sign, thereby identifying and warning such potential problems in advance. Further, after determining that the triangular warning sign meets the light warning conditions, it can use the moving direction as the calibration direction and control the illumination orientation to rotate to be consistent with the moving direction. During the movement of the unmanned vehicle, if the illumination orientation of the triangular warning sign is shifted due to external factors (such as vibration, collision, etc.), this automatic calibration function can timely and automatically adjust it to ensure that the warning light always maintains the best irradiation direction, without frequent manual intervention, improving the convenience and accuracy of the warning function, and ensuring the continuous effectiveness of the light warning during the movement of the unmanned vehicle. In addition, it can also generate an illumination error message for the triangular warning sign and feedback the message to the control personnel to trigger the control personnel to adjust the illumination orientation of the triangular warning sign to be consistent with the moving direction according to the error message. This manual adjustment method provides a double guarantee for the system. When the automatic calibration function fails or cannot meet the requirements of the complex field environment, the control personnel can timely perform manual intervention according to the error message to ensure that the illumination orientation of the triangular warning sign is accurate. At the same time, the manual adjustment also enables the control personnel to flexibly adjust the warning strategy according to the actual field situation, enhancing the reliability and controllability of the system, and improving the applicability of the unmanned vehicle in diverse application scenarios.

[0065] In another optional embodiment, the specific method of step 203 for controlling the unmanned vehicle to perform a driving control operation according to the vehicle movement information and vehicle movement parameters includes: Obtain the road surface scanning information obtained after the unmanned vehicle scans the target area; the target area corresponds to the detection range of the unmanned vehicle; According to the vehicle movement parameters, calculate the predicted movement duration corresponding to the unmanned vehicle moving the to-be-moved distance; According to the to-be-moved distance and the real-time position, calculate the predicted position where the unmanned vehicle finally arrives after moving the to-be-moved distance; Judge whether there is an obstacle avoidance target meeting the preset conditions in the target area according to the road surface scanning information; when it is judged that there is no obstacle avoidance target meeting the preset conditions in the target area, starting from the real-time position, taking the predicted position as the displacement end point, taking the to-be-moved distance as the traveling distance of the vehicle, control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle arrives at the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

[0066] In this alternative embodiment, by obtaining the road surface scanning information obtained after the unmanned vehicle scans the target area, a detailed and accurate environmental data basis is provided for subsequent driving control. Subsequently, the road surface scanning information is used to determine whether there is an obstacle avoidance target that meets the preset conditions in the target area, and this function endows the unmanned vehicle with the ability of intelligent obstacle avoidance. When it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the unmanned vehicle is controlled to perform the driving control operation according to the calculated parameters. This driving decision-making mechanism based on real-time environmental information can timely detect and avoid potential obstacles, greatly reducing the risk of safety accidents such as collisions during the driving process of the unmanned vehicle, effectively ensuring the safety of the unmanned vehicle itself and the surrounding environment, and improving the adaptability and reliability of the unmanned vehicle in a complex on-site environment.

[0067] In this alternative embodiment, when determining that the unmanned vehicle has completed the driving control operation, two termination conditions are adopted, namely, determining that the unmanned vehicle has reached the predicted position and / or determining that the driving duration of the unmanned vehicle has reached the predicted moving duration. This multi-dimensional judgment method fully considers various situations that may occur during the actual driving process. For example, when the unmanned vehicle fails to reach the predicted position strictly according to the predicted duration due to certain special reasons (such as encountering slight resistance but not triggering emergency braking, etc.), but the driving duration has reached the predicted duration, the system can still accurately judge that the driving task has been completed, avoiding misjudgment or operation delay that may be caused by a single-condition judgment, ensuring the integrity and reliability of the driving control operation, and enabling the unmanned vehicle to better adapt to the complex and changeable on-site operation environment.

[0068] It can be seen that in this alternative embodiment, by comprehensively applying technical means such as obtaining road surface scanning information, accurately calculating prediction parameters, intelligent obstacle avoidance judgment, and multi-dimensional driving completion judgment, the accurate planning, efficient execution, and safety guarantee of the unmanned vehicle driving task are realized. That is to say, the obstacle avoidance reliability, driving safety, and control flexibility of the unmanned vehicle in on-site operations are effectively improved.

[0069] In another alternative embodiment, the specific manner of controlling the unmanned vehicle to perform the driving control operation according to the vehicle movement information and vehicle movement parameters in step 203 further includes: When it is determined that there is an obstacle avoidance target that meets the preset conditions in the target area, obstacle avoidance movement information for the unmanned vehicle is generated according to the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target. The obstacle avoidance movement information includes sub-obstacle avoidance movement routes for each obstacle avoidance target. Update the moving route of the unmanned vehicle according to the obstacle avoidance moving information; and use the real-time position as the starting point and the predicted position as the displacement end point. According to the vehicle moving parameters and in combination with the moving route, control the unmanned vehicle to perform driving control operations, and determine that the driving control operation for the unmanned vehicle is completed when it is determined that the unmanned vehicle reaches the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted moving duration.

[0070] It can be seen that in this optional embodiment, a response scheme for the presence of obstacle avoidance targets in the target area is set, and accurate obstacle avoidance moving information can be quickly generated based on the real-time position of the unmanned vehicle and the obstacle avoidance positions corresponding to each obstacle avoidance target. When the unmanned vehicle faces a complex and changeable on-site environment, it can independently plan a reasonable path to avoid obstacles without pausing operations and waiting for manual intervention. For example, if there are suddenly stacked materials at a construction site, or obstacles such as stones and vehicle fragments at an accident site, the unmanned vehicle can quickly plan a detour route, further improving the driving intelligence of the unmanned vehicle and enhancing the driving safety and stability of the unmanned vehicle.

[0071] Embodiment III Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a on-site sound and light warning system based on an unmanned vehicle disclosed in an embodiment of the present invention. As Figure 3 shown, the on-site sound and light warning system based on an unmanned vehicle may include an acquisition module 301, a movement control module 302, and a sound and light warning module 303, where: The acquisition module 301 is configured to obtain movement control information for controlling the movement of the unmanned vehicle when detecting a start instruction for the unmanned vehicle and determining that the current movement conditions for the unmanned vehicle are met. The movement control information at least includes the distance to be moved by the unmanned vehicle and the vehicle movement parameters for controlling the movement of the unmanned vehicle.

[0072] The movement control module 302 is configured to control the unmanned vehicle to perform a movement operation according to the vehicle movement parameters and the distance to be moved.

[0073] The sound and light warning module 303 is configured to control the unmanned vehicle to perform a sound and light warning operation after determining that the unmanned vehicle has traveled to a target position corresponding to the distance to be moved, or during the process of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved; the sound and light warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is at least equipped with a triangular warning sign, and the triangular warning sign is used to output a warning light source; In addition, the movement control module 302 may include an acquisition sub-module 3021 and a driving control sub-module 3022, where: The acquisition sub-module 3021 is configured to collect the vehicle movement information of the unmanned vehicle in real time, and the vehicle movement information includes the real-time position of the unmanned vehicle; A driving control sub-module 3022, configured to control the driverless vehicle to perform a driving control operation according to the vehicle movement information and vehicle movement parameters, so that the driverless vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation at least includes a linear movement control operation.

[0074] It can be seen that implementing Figure 3 the described on-site sound and light warning system based on a driverless vehicle can, by collecting the vehicle movement information of the driverless vehicle in real time and combining with preset vehicle movement parameters, control the driverless vehicle to perform a movement operation according to the distance to be moved in real time and accurately, improving the control accuracy and flexibility for the position movement of the driverless vehicle; after the driverless vehicle travels to the target position or during its travel, it can immediately control it to perform a sound and light warning operation, outputting a warning sound and a warning light source. The entire warning process (including movement control, position confirmation, warning trigger, etc.) is automatically completed through preset programs and algorithms without manual intervention. Different from the manual operation risks existing in the traditional need to manually place triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the manual placement risk of triangular warning signs.

[0075] In an alternative embodiment, please refer to Figure 4 , Figure 4 which is a schematic structural diagram of another on-site sound and light warning system based on a driverless vehicle disclosed in an embodiment of the present invention. As Figure 4 shown, the system further includes a collection module 304, a determination module 305, a judgment module 306, and an adjustment module 307, where: The collection module 304 is configured to collect the surrounding road information corresponding to the position of the driverless vehicle before the acquisition module 301 acquires the movement control information for controlling the movement of the driverless vehicle; The determination module 305 is configured to determine the road side closest to the driverless vehicle according to the surrounding road information, and the road side includes the leftmost side or the rightmost side of the road; The determination module 305 is further configured to determine the angle between the forward direction of the driverless vehicle and the road side; The judgment module 306 is configured to judge whether an angle adjustment operation needs to be performed on the driverless vehicle according to the angle and the distance to be moved; The adjustment module 307 is configured to, when the judgment module 306 determines that an angle adjustment operation needs to be performed on the driverless vehicle, generate first angle adjustment information for the driverless vehicle according to the angle, and perform a first angle adjustment operation on the driverless vehicle according to the first angle adjustment information; or generate second angle adjustment information for the driverless vehicle according to the angle, and feedback the second angle adjustment information to the control personnel to trigger the control personnel to perform a second angle adjustment operation on the driverless vehicle according to the second angle adjustment information; The determination module 305 is further configured to determine that the current movement condition for the driverless vehicle is satisfied after determining that no angle adjustment operation needs to be performed on the driverless vehicle.

[0076] It can be seen that in this alternative embodiment, through the cooperation of the intelligent angle adjustment decision-making mechanism and the multi-modal control that takes into account both automatic adjustment and manual assistance, the movement accuracy and warning reliability of the driverless vehicle in a complex road environment are improved. At the same time, the control fault tolerance of the driverless vehicle is enhanced through the mode of human-machine cooperation.

[0077] In another alternative embodiment, the first angle adjustment information includes at least one set of sub-adjustment information and the information execution order corresponding to all sub-adjustment information; each set of sub-adjustment information includes the offset angle of the wheels on the driverless vehicle and the corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward; The specific manner in which the adjustment module 307 performs the first angle adjustment operation on the driverless vehicle according to the first angle adjustment information includes: According to the information execution order corresponding to all sub-adjustment information, the vehicle movement parameters of the driverless vehicle are updated in sequence, and after each update of the vehicle movement parameters of the driverless vehicle, the driverless vehicle is controlled to perform a vehicle adjustment operation matching the current vehicle movement parameters; The specific manner of controlling the driverless vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters includes: Controlling the driverless vehicle to perform an angle offset according to the offset angle corresponding to the current vehicle movement parameters, and controlling the driverless vehicle to perform vehicle movement according to the wheel movement distance corresponding to the current vehicle movement parameters and its corresponding wheel movement direction.

[0078] It can be seen that in this alternative embodiment, by decomposing the angle adjustment into multiple sets of sub-adjustment information, a decomposed correction of complex angle deviations is achieved, improving the operation fineness and accuracy of performing vehicle adjustment operations on the driverless vehicle.

[0079] In yet another alternative embodiment, the specific manner in which the driving control sub-module 3022 controls the driverless vehicle to perform a driving control operation according to the vehicle movement information and vehicle movement parameters includes: Obtaining the road surface scanning information obtained after the driverless vehicle scans the target area; the target area corresponds to the detection range of the driverless vehicle; Calculating the predicted movement duration corresponding to the driverless vehicle moving the to-be-moved distance according to the vehicle movement parameters; Calculating the predicted position where the driverless vehicle finally arrives after moving the to-be-moved distance according to the to-be-moved distance and the real-time position; Determine whether there is an obstacle avoidance target that meets the preset conditions in the target area according to the road surface scanning information; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, use the real-time position as the starting point, the predicted position as the displacement end point, and the distance to be moved as the traveling distance of the vehicle, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle arrives at the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

[0080] It can be seen that in this alternative embodiment, by comprehensively applying technical means such as road surface scanning information acquisition, accurate calculation of prediction parameters, intelligent obstacle avoidance judgment, and multi-dimensional driving completion judgment, accurate planning, efficient execution, and safety guarantee of the unmanned vehicle driving task are achieved. That is, the obstacle avoidance reliability, driving safety, and control flexibility of the unmanned vehicle in on-site operations are effectively improved.

[0081] In another alternative embodiment, the specific manner in which the driving control sub-module 3022 controls the unmanned vehicle to perform a driving control operation according to the vehicle movement information and vehicle movement parameters further includes: When it is determined that there is an obstacle avoidance target that meets the preset conditions in the target area, generate obstacle avoidance movement information for the unmanned vehicle according to the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target; Update the movement route of the unmanned vehicle according to the obstacle avoidance movement information; and use the real-time position as the starting point and the predicted position as the displacement end point, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters in combination with the movement route, and when it is determined that the unmanned vehicle arrives at the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

[0082] It can be seen that in this alternative embodiment, a response plan for the existence of an obstacle avoidance target in the target area is set, and accurate obstacle avoidance movement information can be quickly generated based on the real-time position of the unmanned vehicle and the obstacle avoidance position corresponding to each obstacle avoidance target. When the unmanned vehicle faces a complex and changeable on-site environment, it can autonomously plan a reasonable path to avoid obstacles without pausing the operation and waiting for manual intervention. For example, if there are suddenly stacked materials on the construction site, or obstacles such as stones and vehicle fragments at the accident site, the unmanned vehicle can quickly plan a detour route, further improving the driving intelligence of the unmanned vehicle and enhancing the driving safety and stability of the unmanned vehicle.

[0083] In yet another alternative embodiment, the unmanned vehicle is further equipped with a sound amplification component; The specific manner in which the sound and light warning module 303 controls the unmanned vehicle to perform a sound and light warning operation specifically includes: Determine whether the triangular warning sign meets the preset light warning conditions. When it is determined that the triangular warning sign meets the light warning conditions, control the triangular warning sign to output warning lights according to the preset light warning procedure; Determine the sound amplification sound source for the sound amplification component. The sound amplification sound source includes a first sound source defined by the user or a non-first sound source; and control the sound amplification component to output the sound amplification sound source according to the preset sound source output procedure.

[0084] It can be seen that in this optional embodiment, by cooperating the light warning and the sound warning with each other, a set of safety warning systems that work together is formed. The light warning attracts attention visually, and the sound warning conveys specific information auditorily. The two complement each other's advantages. While improving the effectiveness and reliability of safety warning based on the unmanned vehicle, it can also improve the reliability of on-site safety protection and reduce the probability of secondary safety accidents to a certain extent.

[0085] In another optional embodiment, the specific manner in which the sound and light warning module 303 determines whether the triangular warning sign meets the preset light warning conditions includes: Determine the illumination direction corresponding to the light-emitting surface of the triangular warning sign; Judge whether the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position; when it is determined that the illumination direction is consistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign meets the preset light warning conditions; when it is determined that the illumination direction is inconsistent with the moving direction of the unmanned vehicle moving to the target position, determine that the triangular warning sign does not meet the preset light warning conditions; The specific manner in which the sound and light warning module 303 controls the unmanned vehicle to perform the sound and light warning operation further includes: When it is determined that the triangular warning sign does not meet the light warning conditions, use the moving direction as the calibration direction and control the illumination direction to rotate to be consistent with the moving direction; or, generate an illumination error message for the triangular warning sign and feedback the illumination error message to the control personnel to trigger the control personnel to adjust the illumination direction of the triangular warning sign to be consistent with the moving direction according to the illumination error message.

[0086] It can be seen that in this alternative embodiment, a verification mechanism for the illumination orientation of the triangular warning sign is set up, which can timely detect possible installation or setting problems of the triangular warning sign, thereby identifying and warning such potential problems in advance. Further, after determining that the triangular warning sign meets the light warning conditions, it can use the moving direction as the calibration direction and control the illumination orientation to rotate to be consistent with the moving direction. During the movement of the unmanned vehicle, if the illumination orientation of the triangular warning sign is shifted due to external factors (such as vibration, collision, etc.), this automatic calibration function can automatically adjust it in a timely manner to ensure that the warning light always maintains the best irradiation direction, without frequent manual intervention, improving the convenience and accuracy of the warning function, and ensuring the continuous effectiveness of the light warning during the movement of the unmanned vehicle. In addition, it can also generate an illumination error message for the triangular warning sign and feedback the message to the control personnel to trigger the control personnel to adjust the illumination orientation of the triangular warning sign to be consistent with the moving direction according to the error message. This manual adjustment method provides a double guarantee for the system. When the automatic calibration function fails or cannot meet the requirements of complex on-site environments, the control personnel can perform manual intervention in a timely manner according to the error message to ensure that the illumination orientation of the triangular warning sign is accurate. At the same time, manual adjustment also enables the control personnel to flexibly adjust the warning strategy according to the actual on-site situation, enhancing the reliability and controllability of the system, and improving the applicability of the unmanned vehicle in diverse application scenarios.

[0087] Embodiment 4 Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a on-site sound and light warning device based on an unmanned vehicle disclosed in an embodiment of the present invention. As Figure 5 shown, the on-site sound and light warning device based on the unmanned vehicle may include: a memory 401 storing executable program codes; a processor 402 coupled to the memory 401; The processor 402 calls the executable program codes stored in the memory 401 and executes some or all of the steps in any one of the on-site sound and light warning methods based on the unmanned vehicle described in Embodiment 1 or Embodiment 2 of the present invention.

[0088] Embodiment 5 An embodiment of the present invention discloses a computer storage medium, which stores computer instructions that, when called, are used to execute some or all of the steps in any one of the on-site sound and light warning methods based on the unmanned vehicle described in Embodiment 1 or Embodiment 2 of the present invention.

[0089] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0090] Through the specific descriptions of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, and the storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium that can be used to carry or store data.

[0091] Finally, it should be noted that: the above embodiments only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention 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 equivalently replace 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 invention.

Claims

1. An on-site acoustic and optical warning method based on an unmanned vehicle, characterized in that The method includes: When a start instruction for the driverless vehicle is detected and it is determined that the current conditions for the movement of the driverless vehicle are met, obtain movement control information for controlling the movement of the driverless vehicle, where the movement control information at least includes the distance to be moved by the driverless vehicle and vehicle movement parameters for controlling the movement of the driverless vehicle; According to the vehicle movement parameters, control the driverless vehicle to perform a movement operation according to the distance to be moved, and after determining that the driverless vehicle has traveled to a target position corresponding to the distance to be moved, or during the process of controlling the driverless vehicle to perform a movement operation according to the distance to be moved, control the driverless vehicle to perform an acoustic and optical warning operation; the acoustic and optical warning operation is used to output a warning sound and a warning light source; the driverless vehicle is at least equipped with a triangular warning sign, and the triangular warning sign is used to output the warning light source; And, the controlling the driverless vehicle to perform a movement operation according to the distance to be moved according to the vehicle movement parameters includes: Real-time collect the vehicle movement information of the driverless vehicle, where the vehicle movement information includes the real-time position of the driverless vehicle; According to the vehicle movement information and the vehicle movement parameters, control the driverless vehicle to perform a driving control operation according to the distance to be moved, so that the driverless vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation at least includes a straight-line movement control operation.

2. The on-site acoustic-optical warning method based on an unmanned vehicle according to claim 1, wherein The driverless vehicle is also equipped with a sound amplification component; The controlling the driverless vehicle to perform an acoustic and optical warning operation includes: Judge whether the triangular warning sign meets a preset light warning condition, and when it is judged that the triangular warning sign meets the light warning condition, control the triangular warning sign to output a warning light according to a preset light warning program; Determine the sound amplification sound source for the sound amplification component, where the sound amplification sound source includes a first sound source defined by the user or a non-first sound source; and control the sound amplification component to output the sound amplification sound source according to a preset sound source output program.

3. The on-site acoustic-optical warning method based on an unmanned vehicle according to claim 2, wherein The judging whether the triangular warning sign meets a preset light warning condition includes: Determine the illumination orientation corresponding to the light-emitting surface of the triangular warning sign; Judge whether the illumination orientation is consistent with the movement direction of the driverless vehicle moving to the target position; when it is judged that the illumination orientation is consistent with the movement direction of the driverless vehicle moving to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is judged that the illumination orientation is inconsistent with the movement direction of the driverless vehicle moving to the target position, determine that the triangular warning sign does not meet the preset light warning condition; The controlling the driverless vehicle to perform an acoustic and optical warning operation also includes: When it is judged that the triangular warning sign does not meet the light warning condition, use the movement direction as a calibration direction to control the illumination orientation to rotate to be consistent with the movement direction; or generate illumination error information for the triangular warning sign and feedback the illumination error information to the control personnel to trigger the control personnel to adjust the illumination orientation of the triangular warning sign to be consistent with the movement direction according to the illumination error information.

4. The on-site acoustic and optical warning method based on an unmanned vehicle according to any one of claims 1-3, characterized in that, Before obtaining the movement control information for controlling the movement of the unmanned vehicle, the method further includes: Collecting the surrounding road information corresponding to the location of the unmanned vehicle, and determining the road side closest to the unmanned vehicle according to the surrounding road information, where the road side includes the leftmost side or the rightmost side of the road; Determining the angle between the forward direction of the unmanned vehicle and the road side; Judging whether an angle adjustment operation needs to be performed on the unmanned vehicle according to the angle and the distance to be moved. When it is judged that an angle adjustment operation needs to be performed on the unmanned vehicle, generating first angle adjustment information for the unmanned vehicle according to the angle, and performing a first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information; or, generating second angle adjustment information for the unmanned vehicle according to the angle, and feeding back the second angle adjustment information to the control personnel to trigger the control personnel to perform a second angle adjustment operation on the unmanned vehicle according to the second angle adjustment information; After determining that the angle adjustment operation does not need to be performed on the unmanned vehicle, determining that the current movement condition for the unmanned vehicle is satisfied.

5. The on-site acoustic and optical warning method based on an unmanned vehicle according to claim 4, wherein The first angle adjustment information includes at least one set of sub-adjustment information and the information execution order corresponding to all the sub-adjustment information; each set of the sub-adjustment information includes the offset angle of the wheels on the unmanned vehicle and the corresponding wheel movement distance; each of the wheel movement distances matches a wheel movement direction, and the wheel movement direction includes forward or backward; The performing the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information includes: Sequentially updating the vehicle movement parameters of the unmanned vehicle according to the information execution order corresponding to all the sub-adjustment information, and after each update of the vehicle movement parameters of the unmanned vehicle, controlling the unmanned vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters; The controlling the unmanned vehicle to perform a vehicle adjustment operation matching the current vehicle movement parameters includes: Controlling the unmanned vehicle to perform an angle offset according to the offset angle corresponding to the current vehicle movement parameters, and controlling the unmanned vehicle to perform a vehicle movement according to the wheel movement distance corresponding to the current vehicle movement parameters and the corresponding wheel movement direction.

6. The on-site sound and light warning method based on an unmanned vehicle according to claim 1 or 2 or 3 or 5, characterized in that, The controlling the unmanned vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters according to the distance to be moved includes: Obtaining the road surface scanning information obtained after the unmanned vehicle scans the target area; the target area corresponds to the detection range of the unmanned vehicle; Calculating the predicted movement duration corresponding to the unmanned vehicle moving the distance to be moved according to the vehicle movement parameters; Calculating the predicted position where the unmanned vehicle finally arrives after moving the distance to be moved according to the distance to be moved and the real-time position; Determine whether there is an obstacle avoidance target that meets the preset conditions in the target area according to the road surface scanning information; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, use the real-time position as the starting point, the predicted position as the displacement end point, and the distance to be moved as the traveling distance of the vehicle, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle reaches the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

7. The on-site acoustic and optical warning method based on an unmanned vehicle according to claim 6, wherein The controlling the unmanned vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters further includes: When it is determined that there is an obstacle avoidance target that meets the preset conditions in the target area, generate obstacle avoidance movement information for the unmanned vehicle according to the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target, where the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target; Update the movement route of the unmanned vehicle according to the obstacle avoidance movement information; and use the real-time position as the starting point and the predicted position as the displacement end point, and control the unmanned vehicle to perform a driving control operation according to the vehicle movement parameters in combination with the movement route, and when it is determined that the unmanned vehicle reaches the predicted position and / or when it is determined that the driving duration of the unmanned vehicle reaches the predicted movement duration, determine that the driving control operation for the unmanned vehicle is completed.

8. An on-site acoustic and optical warning system based on an unmanned vehicle, characterized in that, The system includes: An acquisition module, configured to acquire movement control information for controlling the movement of the unmanned vehicle when detecting a start instruction for the unmanned vehicle and determining that the current movement conditions for the unmanned vehicle are met, where the movement control information at least includes the distance to be moved by the unmanned vehicle and the vehicle movement parameters for controlling the movement of the unmanned vehicle; A movement control module, configured to control the unmanned vehicle to perform a movement operation according to the vehicle movement parameters according to the distance to be moved; An acoustic and optical warning module, configured to control the unmanned vehicle to perform an acoustic and optical warning operation after determining that the unmanned vehicle has traveled to a target position corresponding to the distance to be moved, or during the process of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved; the acoustic and optical warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is at least equipped with a triangular warning sign, and the triangular warning sign is used to output the warning light source; And, the manner of the movement control module specifically includes: An acquisition sub-module, configured to collect the vehicle movement information of the unmanned vehicle in real time, where the vehicle movement information includes the real-time position of the unmanned vehicle; A driving control sub-module, configured to control the unmanned vehicle to perform a driving control operation according to the vehicle movement information and the vehicle movement parameters according to the distance to be moved, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation at least includes a straight-line movement control operation.

9. An on-site acoustic-optical warning device based on an unmanned vehicle, characterized in that, The device includes: A memory storing executable program code; A processor coupled to the memory; The processor invokes the executable program code stored in the memory and executes the on-site acoustic and optical warning method based on the unmanned vehicle according to any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions which, when invoked, are used to execute the on-site acoustic and optical warning method based on the unmanned vehicle according to any one of claims 1-7.

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