On-site sound and light warning method, system and device based on unmanned vehicle

Abstract

The present invention relates to the field of sound and light warning technology, and discloses an on-site sound and light warning method, system, and device based on an unmanned vehicle. By implementing the present invention, by collecting the vehicle movement information of the unmanned vehicle in real time and combining it with preset vehicle movement parameters, it is possible to accurately control the unmanned vehicle in real time to perform movement operations according to the distance to be moved, thereby improving the control accuracy and flexibility of the position movement of the unmanned vehicle; after the unmanned vehicle reaches the target position or during the driving process, it can be immediately controlled to perform sound and light warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is automatically completed through preset programs and algorithms without the need for manual intervention. Different from the traditional manual operation risks that require manual placement of triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the risk of manual placement of triangular warning signs.

Description

Technical Field

[0001] The present invention relates to the field of sound and light warning technology, and in particular to an on-site sound and light warning method, system and device based on an unmanned vehicle. Background Art

[0002] According to traffic laws and regulations, if a motor vehicle breaks down on a highway and is unable to move, a warning sign should be placed 150 meters in the direction of oncoming traffic. Therefore, when drivers stop on highways after a vehicle breakdown, they often use a warning triangle. However, in certain situations, the effectiveness of these reflective warning devices placed on the road surface is questionable. For example, in inclement weather, drivers' vision is obstructed, making it difficult to see the warning sign from a distance. Or, when drivers are fatigued, they often have difficulty noticing the smaller traditional warning triangles. These warning signs lack proactive warnings and are unable to effectively warn following vehicles at the scene of a dangerous traffic accident. Furthermore, after an accident, warning triangles are often not placed at the distance required by traffic regulations, further reducing their effectiveness. Furthermore, the placement of warning triangles on highways also poses safety concerns. Therefore, it is crucial to provide a solution to the problems of poor warning effectiveness and inaccurate placement of warning signs in existing warning sign applications. Summary of the Invention

[0003] The present invention provides an on-site sound and light early warning method, system, and device based on an unmanned vehicle, which can help improve the warning effect of warning signs and at the same time improve the positioning accuracy and intelligence of warning signs.

[0004] The first aspect of the present invention discloses an on-site sound and light warning method based on an unmanned vehicle, the method comprising:

[0005] When a start command for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met, movement control information for controlling the movement of the unmanned vehicle is obtained, the movement control information at least including a distance to be moved for the unmanned vehicle and a vehicle movement parameter for controlling the movement of the unmanned vehicle;

[0006] According to the vehicle movement parameters, the unmanned vehicle is controlled 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 in the process of controlling the unmanned vehicle to perform the movement operation according to the distance to be moved, the unmanned vehicle is controlled to perform an acoustic and visual warning operation; the acoustic and visual warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is equipped with at least a triangular warning sign, and the triangular warning sign is used to output the warning light source;

[0007] Furthermore, controlling the unmanned vehicle to perform a movement operation according to the distance to be moved based on the vehicle movement parameter includes:

[0008] Collecting vehicle movement information of the unmanned vehicle in real time, wherein the vehicle movement information includes the real-time position of the unmanned vehicle;

[0009] According to the vehicle movement information and the vehicle movement parameters, the unmanned vehicle is controlled 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.

[0010] As an optional embodiment, in the first aspect of the present invention, the unmanned vehicle is further equipped with a sound amplification component;

[0011] The controlling the unmanned vehicle to perform the sound and light warning operation includes:

[0012] determining whether the warning triangle meets a preset light warning condition, and when it is determined that the warning triangle meets the light warning condition, controlling the warning triangle to output a warning light according to a preset light warning program;

[0013] Determine a sound source for the sound amplification component, wherein the sound amplification source includes a user-defined first sound source or a non-first sound source; and control the sound amplification component to output the sound source according to a preset sound source output program.

[0014] As an optional implementation, in the first aspect of the present invention, determining whether the warning triangle meets a preset light warning condition includes:

[0015] Determining the lighting direction corresponding to the luminous surface of the triangular warning sign;

[0016] Determine whether the light direction is consistent with the moving direction of the unmanned vehicle to the target position; when it is determined that the light direction is consistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is determined that the light direction is inconsistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign does not meet the preset light warning condition;

[0017] The controlling the unmanned vehicle to perform the sound and light warning operation also includes:

[0018] When it is determined that the triangular warning sign does not meet the light warning condition, the moving direction is used as the calibration direction, and the lighting direction is controlled to rotate to be consistent with the moving direction; or, a lighting error alarm message for the triangular warning sign is generated, and the lighting error alarm message is fed back to the control personnel to trigger the control personnel to adjust the lighting direction of the triangular warning sign to be consistent with the moving direction according to the lighting error alarm message.

[0019] As an optional implementation, in the first aspect of the present invention, before obtaining the movement control information for controlling the movement of the unmanned vehicle, the method further includes:

[0020] Collecting surrounding road information corresponding to the location of the unmanned vehicle, and determining the road side closest to the unmanned vehicle based on the road surrounding information, wherein the road side includes the leftmost side of the road or the rightmost side of the road;

[0021] Determining the angle between the forward direction of the unmanned vehicle and the side of the road;

[0022] Based on the included angle and the distance to be moved, determining 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, generating first angle adjustment information for the unmanned vehicle based on the included angle, and performing the first angle adjustment operation on the unmanned vehicle based on the first angle adjustment information; or generating second angle adjustment information for the unmanned vehicle based on the included angle, and feeding back the second angle adjustment information to a control person to trigger the control person to perform a second angle adjustment operation on the unmanned vehicle based on the second angle adjustment information;

[0023] After determining that the angle adjustment operation does not need to be performed on the unmanned vehicle, it is determined that a movement condition for the unmanned vehicle is currently satisfied.

[0024] As an optional embodiment, in the first aspect of the present invention, the first angle adjustment information includes at least one set of sub-adjustment information and an information execution order corresponding to all the sub-adjustment information; each set of sub-adjustment information includes an offset angle for a wheel on the unmanned vehicle and a corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward;

[0025] The performing a first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information includes:

[0026] Update the vehicle movement parameters of the unmanned 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 unmanned vehicle, control the unmanned vehicle to perform a vehicle adjustment operation that matches the current vehicle movement parameters;

[0027] The controlling the unmanned vehicle to perform a vehicle adjustment operation that matches the current vehicle movement parameters includes:

[0028] The unmanned vehicle is controlled to perform angle offset according to the offset angle corresponding to the current vehicle movement parameter, and the unmanned vehicle is controlled to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameter.

[0029] As an optional embodiment, in the first aspect of the present invention, controlling the unmanned vehicle to perform a travel control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters includes:

[0030] Obtaining road surface scanning information obtained after the unmanned vehicle scans a target area; the target area corresponds to a detection range of the unmanned vehicle;

[0031] Calculating a predicted moving time for the unmanned vehicle to move the distance to be moved based on the vehicle movement parameters;

[0032] Calculate the predicted position that the unmanned vehicle will eventually reach after moving the distance to be moved based on the distance to be moved and the real-time position;

[0033] Based on the road surface scanning information, it is determined whether there is an obstacle avoidance target that meets the preset conditions in the target area; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the real-time position is used as the starting point, the predicted position is used as the displacement end point, and the distance to be moved is used as the vehicle's travel distance. The unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0034] As an optional embodiment, in the first aspect of the present invention, controlling the unmanned vehicle to perform a travel control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters further includes:

[0035] 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, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target;

[0036] Based on the obstacle avoidance movement information, the movement route of the unmanned vehicle is updated; and with the real-time position as the starting point and the predicted position as the displacement end point, the unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters combined with the movement route, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0037] The second aspect of the present invention discloses an on-site sound and light warning system based on an unmanned vehicle, the system comprising:

[0038] an acquisition module, configured to, upon detecting a start instruction for the unmanned vehicle and determining that a movement condition for the unmanned vehicle is currently satisfied, acquire movement control information for controlling the movement of the unmanned vehicle, the movement control information including at least a distance to be moved for the unmanned vehicle and vehicle movement parameters for controlling the movement of the unmanned vehicle;

[0039] A movement control module, configured to control the unmanned vehicle to perform a movement operation according to the distance to be moved based on the vehicle movement parameters;

[0040] An acoustic and visual warning module is configured to control the unmanned vehicle to perform an acoustic and visual warning operation after determining that the unmanned vehicle has reached a target position corresponding to the distance to be moved, or while controlling the unmanned vehicle to perform a movement operation according to the distance to be moved; the acoustic and visual warning operation is configured to output an alarm sound and a warning light source; the unmanned vehicle is configured with at least a triangular warning sign, and the triangular warning sign is configured to output the warning light source;

[0041] Furthermore, the method of moving the control module specifically includes:

[0042] A collection submodule, configured to collect the vehicle movement information of the unmanned vehicle in real time, wherein the vehicle movement information includes the real-time position of the unmanned vehicle;

[0043] The driving control submodule is used to control the unmanned vehicle to perform a driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation includes at least a linear movement control operation.

[0044] As an optional embodiment, in the second aspect of the present invention, the unmanned vehicle is further equipped with a sound amplification component;

[0045] The manner in which the sound and light warning module controls the unmanned vehicle to perform the sound and light warning operation specifically includes:

[0046] determining whether the warning triangle meets a preset light warning condition, and when it is determined that the warning triangle meets the light warning condition, controlling the warning triangle to output a warning light according to a preset light warning program;

[0047] Determine a sound source for the sound amplification component, wherein the sound amplification source includes a user-defined first sound source or a non-first sound source; and control the sound amplification component to output the sound source according to a preset sound source output program.

[0048] As an optional embodiment, in the second aspect of the present invention, the manner in which the sound and light warning module determines whether the warning triangle meets the preset light warning condition specifically includes:

[0049] Determining the lighting direction corresponding to the luminous surface of the triangular warning sign;

[0050] Determine whether the light direction is consistent with the moving direction of the unmanned vehicle to the target position; when it is determined that the light direction is consistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is determined that the light direction is inconsistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign does not meet the preset light warning condition;

[0051] The method in which the sound and light warning module controls the unmanned vehicle to perform the sound and light warning operation specifically includes:

[0052] When it is determined that the triangular warning sign does not meet the light warning condition, the moving direction is used as the calibration direction, and the lighting direction is controlled to rotate to be consistent with the moving direction; or, a lighting error alarm message for the triangular warning sign is generated, and the lighting error alarm message is fed back to the control personnel to trigger the control personnel to adjust the lighting direction of the triangular warning sign to be consistent with the moving direction according to the lighting error alarm message.

[0053] As an optional embodiment, in the second aspect of the present invention, the system further includes:

[0054] A collection module, configured to collect surrounding road information corresponding to the location of the unmanned vehicle before the acquisition module acquires the movement control information for controlling the movement of the unmanned vehicle;

[0055] A determination module, configured to determine a side of the road closest to the unmanned vehicle based on the road surrounding information, wherein the side of the road includes the leftmost side of the road or the rightmost side of the road;

[0056] The determination module is further configured to determine an angle between the forward direction of the unmanned vehicle and the side of the road;

[0057] a judgment module, configured to judge whether an angle adjustment operation needs to be performed on the unmanned vehicle based on the included angle and the distance to be moved;

[0058] 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 based on the included angle, and perform the first angle adjustment operation on the unmanned vehicle based on the first angle adjustment information; or, generate second angle adjustment information for the unmanned vehicle based on the included angle, and feed back the second angle adjustment information to a control person, so as to trigger the control person to perform the second angle adjustment operation on the unmanned vehicle based on the second angle adjustment information;

[0059] The determining module is further configured to determine whether a movement condition for the unmanned vehicle is currently satisfied after determining that the angle adjustment operation does not need to be performed on the unmanned vehicle.

[0060] As an optional embodiment, in the second aspect of the present invention, the first angle adjustment information includes at least one set of sub-adjustment information and an information execution order corresponding to all the sub-adjustment information; each set of sub-adjustment information includes an offset angle for a wheel on the unmanned vehicle and a corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward;

[0061] The manner in which the adjustment module performs the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information specifically includes:

[0062] Update the vehicle movement parameters of the unmanned 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 unmanned vehicle, control the unmanned vehicle to perform a vehicle adjustment operation that matches the current vehicle movement parameters;

[0063] The method of controlling the unmanned vehicle to perform the vehicle adjustment operation matching the current vehicle movement parameters specifically includes:

[0064] The unmanned vehicle is controlled to perform angle offset according to the offset angle corresponding to the current vehicle movement parameter, and the unmanned vehicle is controlled to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameter.

[0065] As an optional embodiment, in the second aspect of the present invention, the driving control submodule controls the unmanned vehicle to perform the driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, specifically including:

[0066] Obtaining road surface scanning information obtained after the unmanned vehicle scans a target area; the target area corresponds to a detection range of the unmanned vehicle;

[0067] Calculating a predicted moving time for the unmanned vehicle to move the distance to be moved based on the vehicle movement parameters;

[0068] Calculate the predicted position that the unmanned vehicle will eventually reach after moving the distance to be moved based on the distance to be moved and the real-time position;

[0069] Based on the road surface scanning information, it is determined whether there is an obstacle avoidance target that meets the preset conditions in the target area; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the real-time position is used as the starting point, the predicted position is used as the displacement end point, and the distance to be moved is used as the vehicle's travel distance. The unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0070] As an optional embodiment, in the second aspect of the present invention, the driving control submodule controls the unmanned vehicle to perform the driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, and specifically further includes:

[0071] 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, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target;

[0072] Based on the obstacle avoidance movement information, the movement route of the unmanned vehicle is updated; and with the real-time position as the starting point and the predicted position as the displacement end point, the unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters combined with the movement route, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0073] The third aspect of the present invention discloses an on-site sound and light warning device based on an unmanned vehicle, the device comprising:

[0074] a memory storing executable program code;

[0075] a processor coupled to the memory;

[0076] The processor calls the executable program code stored in the memory to execute some or all of the steps in the on-site sound and light warning method based on the unmanned vehicle as described in any one of the first aspects of the present invention.

[0077] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in the on-site sound and light warning method based on an unmanned vehicle as described in any one of the first aspects of the present invention.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] In an embodiment of the present invention, an on-site sound and light warning method based on an unmanned vehicle is provided, the method comprising: when a start-up instruction for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met, obtaining movement control information for controlling the movement of the unmanned vehicle, the movement control information at least including the distance to be moved of the unmanned vehicle and the 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 in 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 a sound and light warning operation; the sound and light warning operation is used to output a warning sound and a warning light source; and the method of controlling the unmanned vehicle to perform a movement operation according to the distance to be moved according to the vehicle movement parameters specifically comprises: real-time collection of vehicle movement information of the unmanned vehicle, the vehicle movement information including 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 the target position corresponding to the distance to be moved, the driving control operation at least including a linear movement control operation. It can be seen that the implementation of the present invention, through the real-time collection of the vehicle movement information of the unmanned vehicle, combined with the preset vehicle movement parameters, can accurately control the unmanned vehicle in real time to perform movement operations according to the distance to be moved, thereby improving the control accuracy and flexibility of the unmanned vehicle's position movement; after the unmanned vehicle reaches the target position or during the driving process, it can be immediately controlled to perform sound and light warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is automatically completed through preset programs and algorithms without the need for human intervention. Different from the traditional manual operation risks of manually placing triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the risks of manual placement of triangular warning signs. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0081] Figure 1 This is a flow chart of an on-site sound and light warning method based on an unmanned vehicle disclosed in an embodiment of the present invention;

[0082] Figure 2 This is a flow chart of another on-site sound and light warning method based on an unmanned vehicle disclosed in an embodiment of the present invention;

[0083] Figure 3 1 is a schematic structural diagram of an on-site sound and light warning system based on an unmanned vehicle disclosed in an embodiment of the present invention;

[0084] Figure 4 1 is a schematic structural diagram of another on-site sound and light warning system based on an unmanned vehicle disclosed in an embodiment of the present invention;

[0085] Figure 5 The present invention is a schematic structural diagram of an on-site sound and light warning device based on an unmanned vehicle disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0086] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0087] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed therein, or may optionally include other steps or elements inherent to such process, method, product, or end.

[0088] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0089] The present invention discloses an on-site sound and light warning method, system and device based on an unmanned vehicle. By collecting the vehicle movement information of the unmanned vehicle in real time and combining it with preset vehicle movement parameters, the unmanned vehicle can be accurately controlled in real time to perform movement operations according to the distance to be moved, thereby improving the control accuracy and flexibility of the position movement of the unmanned vehicle; after the unmanned vehicle reaches the target position or during its driving process, it can be immediately controlled to perform sound and light warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is automatically completed through preset programs and algorithms without the need for human intervention. Different from the traditional manual operation risks that require manual placement of triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the risk of manual placement of triangular warning signs. The following are detailed descriptions.

[0090] Example 1

[0091] See also Figure 1 , Figure 1 This is a flow chart of an on-site sound and light warning method based on an unmanned vehicle disclosed in an embodiment of the present invention. Figure 1 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 system based on an unmanned vehicle, and the embodiments of the present invention do not limit this. Figure 1 As shown, the on-site sound and light warning method based on the unmanned vehicle may include the following operations:

[0092] 101. When a start command for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met, movement control information for controlling the movement of the unmanned vehicle is obtained.

[0093] In an embodiment of the present invention, the movement control information includes at least the distance to be moved of the unmanned vehicle and vehicle movement parameters for controlling the movement of the unmanned vehicle. The vehicle movement parameters may include vehicle speed and vehicle movement direction.

[0094] 102. Collect the vehicle movement information of the unmanned vehicle in real time, including the real-time location of the unmanned vehicle.

[0095] In an embodiment of the present invention, the unmanned vehicle may be equipped with a positioning module, which can be used to perform real-time positioning of the vehicle.

[0096] 103. Based on the vehicle movement information and vehicle movement parameters, the unmanned vehicle is controlled 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.

[0097] In an embodiment of the present invention, the driving control operation includes at least a linear movement control operation. The linear movement control operation is used to control the unmanned vehicle to travel along a set route, which is a straight line by default. Optionally, the driving control operation may also include a route adjustment operation, which is used to achieve real-time adjustment of the unmanned vehicle's movement path.

[0098] 104. After determining that the unmanned vehicle has traveled to the target position corresponding to the distance to be moved, or while controlling the unmanned vehicle to perform a moving operation according to the distance to be moved, control the unmanned vehicle to perform an audible and visual warning operation.

[0099] In this embodiment of the present invention, the sound and light warning operation is used to output a warning sound and a warning light source. It should be noted that the unmanned vehicle is equipped with at least a warning triangle, which is used to output a warning light source. Furthermore, a mounting interface is provided between the warning triangle and the unmanned vehicle, allowing for a detachable connection between the two.

[0100] In an embodiment of the present invention, the unmanned vehicle can also be equipped with a sound amplification component for outputting warning sounds and a triangular warning sign. Different from the traditional single triangular warning sign, the above-mentioned triangular warning sign is configured on the unmanned vehicle. Among them, conventional triangular warning signs are used as light warnings at some accident scenes, while this triangular warning sign needs to be placed manually. Correspondingly, by combining the triangular warning sign with the unmanned vehicle, after encountering an emergency, such as a traffic accident, the on-site operator can take out the unmanned vehicle equipped with the triangular warning sign and remotely control the unmanned vehicle to automatically go to the corresponding warning area (such as 150 meters behind the accident scene); or through the automatic navigation function of the unmanned vehicle, after starting the unmanned vehicle, the unmanned vehicle will automatically cruise to the warning area according to the current placement position.

[0101] In an embodiment of the present invention, the unmanned vehicle may be configured with a separate user operation panel, which is used to remotely control the movement, steering, activation of the triangular warning light, activation of subsequent sound amplification components, etc. of the unmanned vehicle.

[0102] In an embodiment of the present invention, the triangular warning sign may be a triangular warning sign with a strobe light, and the strobe light array corresponding to the strobe light may be controlled by a user control panel to output different warning lights.

[0103] It can be seen that implementation Figure 1The described on-site sound and light warning method based on an unmanned vehicle, by collecting the vehicle's movement information in real time and combining it with preset vehicle movement parameters, can accurately control the unmanned vehicle in real time to execute movement operations according to the distance to be moved, thereby improving the accuracy and flexibility of the control of the unmanned vehicle's position movement. After the unmanned vehicle reaches the target location or during its driving process, it can be immediately controlled to execute sound and light warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is completed automatically through preset programs and algorithms, without the need for human intervention. Unlike the traditional manual operation risks associated with the manual placement of triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the risks of manual placement of triangular warning signs.

[0104] In an optional embodiment, before the above step 101 obtains the movement control information for controlling the movement of the unmanned vehicle, the method further includes:

[0105] Collect surrounding road information corresponding to the location of the unmanned vehicle, and determine the road side closest to the unmanned vehicle based on the road surrounding information, which includes the leftmost side of the road or the rightmost side of the road;

[0106] Determine the angle between the unmanned vehicle's forward direction and the side of the road;

[0107] Based on the included angle and the distance to be moved, it is determined 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, first angle adjustment information for the unmanned vehicle is generated based on the included angle, and the first angle adjustment operation is performed on the unmanned vehicle based on the first angle adjustment information; alternatively, second angle adjustment information for the unmanned vehicle is generated based on the included angle, and the second angle adjustment information is fed back to the control personnel to trigger the control personnel to perform the second angle adjustment operation on the unmanned vehicle based on the second angle adjustment information;

[0108] After determining that no angle adjustment operation needs to be performed on the unmanned vehicle, it is determined that the movement conditions for the unmanned vehicle are currently met.

[0109] In this optional embodiment, accurate perception of the on-site environment is achieved by collecting surrounding road information and determining the roadside closest to the unmanned vehicle. Based on this, combined with analysis of the angle between the unmanned vehicle's forward direction and the roadside, the most reasonable movement path can be planned in advance, avoiding inefficient movement or collision risks caused by angular deviations. This optimizes the unmanned vehicle's subsequent movement control, improving the efficiency and safety of the unmanned vehicle's movement control.

[0110] In this optional embodiment, it should be noted that, in addition to the leftmost or rightmost side of the road mentioned above, the road side may also be the remaining lane dividing lines; for example, if the road where the unmanned vehicle is located is a three-lane road, then the road side closest to the unmanned vehicle may be the left or right dividing line in the middle lane; if the road where the unmanned vehicle is located is a four-lane road, then the road side closest to the unmanned vehicle may be the left or right dividing line in the lane closest to the vehicle in the two middle lanes. For example, the four lanes from left to right are lanes a, b, c, and d. At this time, the unmanned vehicle is parked in lane b, and the determined road side is the left or right dividing line corresponding to lane b.

[0111] In this optional embodiment, the real-time calculation based on the angle and the distance to be moved can automatically determine whether the unmanned vehicle needs to be adjusted in angle. When it is detected that the angle deviation may affect the movement accuracy or warning effect, the system can generate a first angle adjustment information and directly control the unmanned vehicle to perform the adjustment, or generate a second angle adjustment information and feed it back to the control personnel to achieve precise control of human-machine collaboration. This hierarchical decision-making mechanism not only ensures automation efficiency, but also improves adaptability in complex scenarios through human intervention.

[0112] It can be seen that in this optional embodiment, the intelligent angle adjustment decision-making mechanism and the multimodal control coordination that takes into account both automatic adjustment and manual assistance are used to improve the movement accuracy and warning reliability of the unmanned vehicle in complex road environments. At the same time, the control fault tolerance of the unmanned vehicle is enhanced through the human-machine collaboration mode.

[0113] In another optional embodiment, the first angle adjustment information includes at least one set of sub-adjustment information and an information execution order corresponding to all the sub-adjustment information; each set of sub-adjustment information includes an offset angle for a wheel on the unmanned vehicle and a corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward;

[0114] The above-mentioned method of performing the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information specifically includes:

[0115] Update the vehicle movement parameters of the unmanned vehicle in sequence according to the information execution order corresponding to all sub-adjustment information, and after each update of the vehicle movement parameters of the unmanned vehicle, control the unmanned vehicle to perform the vehicle adjustment operation that matches the current vehicle movement parameters;

[0116] The above-mentioned method of controlling the unmanned vehicle to perform vehicle adjustment operations that match the current vehicle movement parameters specifically includes:

[0117] The unmanned vehicle is controlled to perform angle offset according to the offset angle corresponding to the current vehicle movement parameters, and the unmanned vehicle is controlled to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameters.

[0118] This optional embodiment breaks down the angle adjustment into multiple sub-adjustment information sets (including offset angle, wheel movement distance, and direction), enabling decomposition-based correction for complex angle deviations. For example, in a confined space, the system can first perform a preliminary turn by offsetting the left front wheel by 5° and moving forward by 0.5m, then fine-tune the steering by offsetting the right rear wheel by 3° and moving backward by 0.2m, thus avoiding the risk of collision caused by a single large angle adjustment.

[0119] It can be seen that in this optional embodiment, by decomposing the angle adjustment into multiple groups of sub-adjustment information, a decomposed correction of complex angle deviations is achieved, thereby improving the operational precision and accuracy of vehicle adjustment operations performed on the unmanned vehicle.

[0120] In yet another optional embodiment, the method further comprises:

[0121] Obtaining operation record data corresponding to the first angle adjustment operation performed on the unmanned vehicle, the operation record data including first record data and / or second record data; the first record data including multiple sub-record data, each sub-record data being used to record a single vehicle offset angle after the vehicle adjustment operation is performed on the unmanned vehicle for the current number of times; the second record data being used to record a total vehicle offset angle after all vehicle adjustment operations are performed on the unmanned vehicle;

[0122] When the operation record data includes first record data, for each sub-record data recorded, determine whether the error value (the absolute value of the error value) between the vehicle single offset angle 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 above-mentioned control of the unmanned vehicle to perform the vehicle adjustment operation matching the current vehicle movement parameters until it is determined that all vehicle adjustment operations for the unmanned vehicle have been performed;

[0123] If not, performing information correction on at least one subsequent sub-adjustment information corresponding to the sub-record data based on the vehicle single offset angle corresponding to the sub-record data and the offset angle corresponding to the sub-record data, wherein the information correction is used to make the angle between the unmanned vehicle and the road side less than a preset angle value after the unmanned vehicle completes all vehicle adjustment operations;

[0124] When the operation record data includes the second record data, determine whether the difference between the total offset angle of the vehicle and the above-mentioned included angle (the absolute value of the difference) is lower than the 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 based on the total offset angle of the vehicle, the above-mentioned included angle, and the second preset error threshold, and re-execute the above-mentioned first angle adjustment operation on the unmanned vehicle based on the first angle adjustment information.

[0125] In this optional embodiment, specifically, assume that the unmanned vehicle needs to be rotated 30° clockwise in total, and the first angle adjustment information includes 3 groups of sub-adjustment information, and the offset angle corresponding to each group of sub-adjustment information is 10°. At this time, after each vehicle adjustment operation is performed on the unmanned vehicle, the actual offset angle of the unmanned vehicle can be recorded and recorded as (X°, Y°, Z°); after each actual offset angle is recorded, the difference between the actual offset angle and the corresponding offset angle is calculated, and 3 error values ​​can be calculated: |X-10|, |Y-10|, |Z-10|, and it is determined whether each error value is within a first preset error threshold (such as 1°). If so, it is proved that the current vehicle adjustment operation is qualified and subsequent operations can be performed; if not, it is necessary to re-correct the offset angle corresponding to the subsequent sub-adjustment information and or the corresponding wheel movement distance.

[0126] In this optional embodiment, 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-mentioned angle, and determine whether the difference is within a second preset error threshold (such as 2°). If so, it is proved that the current vehicle adjustment operation is qualified and subsequent operations can be performed; if not, it is necessary to re-correct the first angle adjustment information.

[0127] As can be seen, in this optional embodiment, each time the first angle adjustment operation is performed on the unmanned vehicle, a verification mechanism is set up for each operation. 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-re-adjustment" to ensure that the final angle deviation is ≤±1° (example value). Alternatively, all sub-adjustment information can be executed at once according to the information execution order of all sub-adjustment information, and the final adjustment effect of the unmanned vehicle can be verified afterwards. Through this verification mechanism, the precision of the angle adjustment of the unmanned vehicle is greatly improved.

[0128] Example 2

[0129] See also Figure 2 , Figure 2 This is a flow chart of another on-site sound and light warning method based on an unmanned vehicle disclosed in an embodiment of the present invention. 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, and the embodiments of the present invention do not limit this. Figure 2 As shown, the on-site sound and light warning method based on the unmanned vehicle may include the following operations:

[0130] 201. When a start command for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met, movement control information for controlling the movement of the unmanned vehicle is obtained.

[0131] 202. Collect the vehicle movement information of the unmanned vehicle in real time, the vehicle movement information includes the real-time position of the unmanned vehicle.

[0132] 203. Based on the vehicle movement information and the vehicle movement parameters, the unmanned vehicle is controlled 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.

[0133] In the embodiment of the present invention, for other descriptions of steps 201 to 203, please refer to other specific descriptions of steps 101 to 103 in the first embodiment, which will not be repeated in the embodiment of the present invention.

[0134] In the embodiment of the present invention, the unmanned vehicle is further equipped with a sound amplification component.

[0135] 204. After determining that the unmanned vehicle has traveled to the target position corresponding to the distance to be moved, or in the process of controlling the unmanned vehicle to perform a moving operation according to the distance to be moved, 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 a warning light according to the preset light warning program.

[0136] 205. Determine a sound source for the sound amplification component, where the sound amplification source includes a user-defined first sound source or a non-first sound source; and control the sound amplification component to output the sound source according to a preset sound source output program.

[0137] In this embodiment of the present invention, non-primary sound sources serve as an alternative to amplified sound sources, typically common, standardized safety warning sounds. These sound sources ensure that the unmanned vehicle can provide basic and effective sound warnings in a variety of common scenarios, ensuring the stability and reliability of the safety warning function. Even when users do not have specific customization requirements, using non-primary sound sources can still promptly transmit safety warning information to the surrounding environment, avoiding safety risks caused by missing or inappropriate sound sources.

[0138] In an embodiment 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 to output the final sound source; the recording module is used to record and store the user's custom 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.

[0139] In this embodiment of the present invention, in addition to the conventional warning triangle at accident scenes, a sound amplification component is also provided. By determining the amplified sound source for the sound amplification component (including a user-defined primary sound source or a non-primary sound source) and controlling it to output the sound source according to a preset program, this audio warning method can directly convey clear voice information to the surrounding area. For example, voice prompts such as "Danger ahead, please detour" and "Attention, slow down" can be output, allowing nearby personnel to more intuitively and accurately understand the dangerous situation at the scene and take appropriate measures in a timely manner. For some people with limited vision or light sensitivity, this audio warning method can further enhance the comprehensiveness and effectiveness of safety warnings.

[0140] In an embodiment of the present invention, in actual application, people around may first be attracted by the warning light of the triangular warning sign, and then understand the detailed danger situation through the voice information output by the sound amplification component. This multi-sensory early warning method can more effectively alert people around and ensure that safety warning information can be received and understood in a timely and accurate manner.

[0141] It can be seen that implementation Figure 2 The described on-site sound and light warning method based on an unmanned vehicle combines light and sound warnings to form a collaborative safety warning system. Light warnings visually attract attention, while sound warnings convey specific information auditorily. The complementary advantages of these two methods not only improve the effectiveness and reliability of safety warnings provided by the unmanned vehicle, but also enhance the reliability of on-site safety assurance and, to a certain extent, reduce the probability of secondary safety incidents.

[0142] In an optional embodiment, the method of determining whether the warning triangle meets the preset light warning condition in step 204 specifically includes:

[0143] Determine the lighting direction corresponding to the luminous surface of the warning triangle;

[0144] Determine whether the direction of the light is consistent with the direction of movement of the unmanned vehicle to the target position; when it is determined that the direction of the light is consistent with the direction of movement of the unmanned vehicle to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is determined that the direction of the light is inconsistent with the direction of movement of the unmanned vehicle to the target position, determine that the triangular warning sign does not meet the preset light warning condition;

[0145] The above-mentioned method of controlling the unmanned vehicle to perform the sound and light warning operation specifically includes:

[0146] When it is determined that the triangular warning sign does not meet the light warning conditions, the moving direction is used as the calibration direction, and the light direction is controlled to rotate to be consistent with the moving direction; or, a light error message for the triangular warning sign is generated, and the light error message is fed back to the control personnel to trigger the control personnel to adjust the light direction of the triangular warning sign to be consistent with the moving direction according to the light error message.

[0147] As can be seen, in this optional embodiment, a verification mechanism for the warning triangle's lighting orientation is implemented, enabling timely detection of potential installation or setup issues, thereby providing early warning of such potential issues. Furthermore, after determining that the warning triangle meets the light warning requirements, the system can calibrate the lighting orientation to align with the direction of movement, using the direction of movement as the calibration direction. This automatic calibration function automatically adjusts the warning triangle's lighting orientation to ensure it remains in the optimal direction during the unmanned vehicle's movement, eliminating the need for frequent manual intervention. This improves the convenience and accuracy of the warning function and ensures the continued effectiveness of the light warning system during the vehicle's movement. Furthermore, a lighting error message for the warning triangle is generated and fed back to the control personnel, triggering them to adjust the warning triangle's lighting orientation to align with the direction of movement based on the error message. This manual adjustment method provides a dual safeguard for the system. If the automatic calibration function fails or fails to meet the requirements of complex on-site environments, the control personnel can promptly intervene manually based on the error message to ensure the correct lighting orientation of the warning triangle. At the same time, manual adjustments also enable control personnel to flexibly adjust warning strategies according to actual on-site conditions, enhancing the reliability and controllability of the system, and improving the applicability of unmanned vehicles in various application scenarios.

[0148] In another optional embodiment, the above step 203 controls the unmanned vehicle to perform the driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, specifically including:

[0149] Obtaining road scan information obtained after the unmanned vehicle scans the target area; the target area corresponds to the detection range of the unmanned vehicle;

[0150] According to the vehicle movement parameters, the predicted moving time corresponding to the distance to be moved by the unmanned vehicle is calculated;

[0151] Based on the distance to be moved and the real-time position, the predicted position that the unmanned vehicle will eventually reach after moving the distance to be moved is calculated;

[0152] Based on the road surface scanning information, it is determined whether there is an obstacle avoidance target that meets the preset conditions in the target area; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the real-time position is used as the starting point, the predicted position is used as the displacement end point, and the distance to be moved is used as the vehicle's travel distance. The unmanned vehicle is controlled to perform the driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or the driving time of the unmanned vehicle has reached the predicted moving time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0153] In this optional embodiment, by obtaining the road surface scanning information obtained after the unmanned vehicle performs a scan on the target area, a detailed and accurate environmental data basis is provided for subsequent driving control. The road surface scanning information is then used to determine whether there are obstacle avoidance targets that meet the preset conditions in the target area. This function gives the unmanned vehicle the ability to intelligently avoid obstacles. When it is determined that there are no obstacle avoidance targets that meet the preset conditions in the target area, the unmanned vehicle is controlled to perform driving control operations according to the calculated parameters. This driving decision-making mechanism based on real-time environmental information judgment can detect and avoid potential obstacles in a timely manner, greatly reducing the risk of safety accidents such as collisions during driving 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 complex on-site environments.

[0154] In this optional embodiment, when determining that the unmanned vehicle has completed the driving control operation, two termination conditions are used: determining that the unmanned vehicle has arrived at the predicted location and / or determining that the unmanned vehicle's driving time has reached the predicted moving time. This multi-dimensional judgment method fully considers the various situations that may arise during actual driving. For example, if the unmanned vehicle fails to reach the predicted location strictly according to the predicted time due to some special reasons (such as encountering slight resistance but not triggering emergency braking, etc.), but the driving time has reached the predicted time, the system can still accurately determine that the driving task has been completed, avoiding misjudgments or operation delays that may be caused by 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 changing working environment on site.

[0155] It can be seen that in this optional embodiment, by comprehensively using technical means such as road scanning information acquisition, accurate calculation of prediction parameters, intelligent obstacle avoidance judgment, and multi-dimensional driving completion judgment, the unmanned vehicle's driving tasks are accurately planned, efficiently executed, and safely guaranteed. That is, the unmanned vehicle's obstacle avoidance reliability, driving safety, and control flexibility in on-site operations are effectively improved.

[0156] In another optional embodiment, the above step 203 controls the unmanned vehicle to perform the driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, and specifically further includes:

[0157] 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 based on the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target. The obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target;

[0158] Based on the obstacle avoidance movement information, the moving route of the unmanned vehicle is updated; and with the real-time position as the starting point and the predicted position as the displacement end point, the unmanned vehicle is controlled to perform driving control operations based on the vehicle movement parameters and the moving route. When it is determined that the unmanned vehicle has arrived at the predicted position and / or the driving time of the unmanned vehicle has reached the predicted moving time, the driving control operation for the unmanned vehicle is determined to be completed.

[0159] It can be seen that in this optional embodiment, a response plan is set up for the presence of obstacle avoidance targets in the target area, which can quickly generate accurate obstacle avoidance movement information based on the real-time position of the unmanned vehicle and the obstacle avoidance position corresponding to each obstacle avoidance target. When faced with complex and changing on-site environments, the unmanned vehicle can autonomously plan a reasonable path to avoid obstacles without having to pause operations and wait for human intervention. For example, if obstacles such as temporarily piled materials, stones, and vehicle debris at the accident scene suddenly appear at the construction site, the unmanned vehicle can quickly plan a detour route, further improving the unmanned vehicle's driving intelligence and improving the unmanned vehicle's driving safety and stability.

[0160] Example 3

[0161] See also Figure 3 , Figure 3 This is a structural diagram of an on-site sound and light warning system based on an unmanned vehicle disclosed in an embodiment of the present invention. Figure 3 As shown, the on-site sound and light warning system based on the unmanned vehicle may include an acquisition module 301, a movement control module 302, and a sound and light warning module 303, wherein:

[0162] The acquisition module 301 is used to obtain the movement control information for controlling the movement of the unmanned vehicle when a start-up instruction for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met. The movement control information includes at least the distance to be moved of the unmanned vehicle and the vehicle movement parameters for controlling the movement of the unmanned vehicle.

[0163] The movement control module 302 is used to control the unmanned vehicle to perform movement operations according to the distance to be moved based on the vehicle movement parameters.

[0164] The sound and light warning module 303 is used to control the unmanned vehicle to perform a sound and light warning operation after determining that the unmanned vehicle has reached the target position corresponding to the distance to be moved, or when the unmanned vehicle is being controlled 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 equipped with at least a triangular warning sign, which is used to output a warning light source.

[0165] Furthermore, the movement control module 302 may include a collection submodule 3021 and a travel control submodule 3022, wherein:

[0166] The collection submodule 3021 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;

[0167] The driving control submodule 3022 is used to control the unmanned vehicle to perform driving control operations according to the distance to be moved based on the vehicle movement information and vehicle movement parameters, so that the unmanned vehicle can travel to the target position corresponding to the distance to be moved. The driving control operation includes at least a linear movement control operation.

[0168] It can be seen that implementation Figure 3 The described on-site sound and light warning system based on an unmanned vehicle, by collecting the vehicle's movement information in real time and combining it with preset vehicle movement parameters, can accurately control the unmanned vehicle in real time to execute movement operations according to the distance to be moved, thereby improving the control accuracy and flexibility of the unmanned vehicle's position movement. After the unmanned vehicle reaches the target position or during its driving process, it can be immediately controlled to perform sound and light warning operations, outputting warning sounds and warning light sources. The entire warning process (including movement control, position confirmation, warning triggering, etc.) is completed automatically through preset programs and algorithms, without the need for human intervention. Unlike the traditional manual operation risks associated with the manual placement of triangular warning signs, this intelligent and automated design not only improves the response speed and efficiency of the warning system, but also reduces the risks of manual placement of triangular warning signs.

[0169] In an alternative embodiment, see Figure 4 , Figure 4 This is a structural diagram of another on-site sound and light warning system based on an unmanned vehicle disclosed in an embodiment of the present invention. Figure 4 As shown, the system further includes a collection module 304, a determination module 305, a judgment module 306 and an adjustment module 307, wherein:

[0170] The acquisition module 304 is used to collect the surrounding road information corresponding to the location of the unmanned vehicle before the acquisition module 301 acquires the movement control information for controlling the movement of the unmanned vehicle;

[0171] A determination module 305 is configured to determine the road side closest to the unmanned vehicle based on the road surrounding information, where the road side includes the leftmost side or the rightmost side of the road;

[0172] The determination module 305 is further used to determine the angle between the forward direction of the unmanned vehicle and the side of the road;

[0173] The judgment module 306 is used to judge whether the unmanned vehicle needs to be adjusted in angle according to the included angle and the distance to be moved;

[0174] The adjustment module 307 is configured to generate first angle adjustment information for the unmanned vehicle based on the included angle when the judgment module 306 determines that an angle adjustment operation needs to be performed on the unmanned vehicle, and perform the first angle adjustment operation on the unmanned vehicle based on the first angle adjustment information; or generate second angle adjustment information for the unmanned vehicle based on the included angle, and feed the second angle adjustment information back to the control personnel to trigger the control personnel to perform the second angle adjustment operation on the unmanned vehicle based on the second angle adjustment information;

[0175] The determination module 305 is further configured to determine whether the movement conditions for the unmanned vehicle are currently met after determining that no angle adjustment operation needs to be performed on the unmanned vehicle.

[0176] It can be seen that in this optional embodiment, the intelligent angle adjustment decision-making mechanism and the multimodal control coordination that takes into account both automatic adjustment and manual assistance are used to improve the movement accuracy and warning reliability of the unmanned vehicle in complex road environments. At the same time, the control fault tolerance of the unmanned vehicle is enhanced through the human-machine collaboration mode.

[0177] In another optional embodiment, the first angle adjustment information includes at least one set of sub-adjustment information and an information execution order corresponding to all the sub-adjustment information; each set of sub-adjustment information includes an offset angle for a wheel on the unmanned vehicle and a corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward;

[0178] The manner in which the adjustment module 307 performs the first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information specifically includes:

[0179] Update the vehicle movement parameters of the unmanned vehicle in sequence according to the information execution order corresponding to all sub-adjustment information, and after each update of the vehicle movement parameters of the unmanned vehicle, control the unmanned vehicle to perform the vehicle adjustment operation that matches the current vehicle movement parameters;

[0180] The specific methods for controlling the unmanned vehicle to perform vehicle adjustment operations that match the current vehicle movement parameters include:

[0181] The unmanned vehicle is controlled to perform angle offset according to the offset angle corresponding to the current vehicle movement parameters, and the unmanned vehicle is controlled to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameters.

[0182] It can be seen that in this optional embodiment, by decomposing the angle adjustment into multiple groups of sub-adjustment information, a decomposed correction of complex angle deviations is achieved, thereby improving the operational precision and accuracy of vehicle adjustment operations performed on the unmanned vehicle.

[0183] In another optional embodiment, the driving control submodule 3022 controls the unmanned vehicle to perform driving control operations according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, specifically including:

[0184] Obtaining road scan information obtained after the unmanned vehicle scans the target area; the target area corresponds to the detection range of the unmanned vehicle;

[0185] According to the vehicle movement parameters, the predicted moving time corresponding to the distance to be moved by the unmanned vehicle is calculated;

[0186] Based on the distance to be moved and the real-time position, the predicted position that the unmanned vehicle will eventually reach after moving the distance to be moved is calculated;

[0187] Based on the road surface scanning information, it is determined whether there is an obstacle avoidance target that meets the preset conditions in the target area; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the real-time position is used as the starting point, the predicted position is used as the displacement end point, and the distance to be moved is used as the vehicle's travel distance. The unmanned vehicle is controlled to perform the driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or the driving time of the unmanned vehicle has reached the predicted moving time, it is determined that the driving control operation for the unmanned vehicle is completed.

[0188] It can be seen that in this optional embodiment, by comprehensively using technical means such as road scanning information acquisition, accurate calculation of prediction parameters, intelligent obstacle avoidance judgment, and multi-dimensional driving completion judgment, the unmanned vehicle's driving tasks are accurately planned, efficiently executed, and safely guaranteed. That is, the unmanned vehicle's obstacle avoidance reliability, driving safety, and control flexibility in on-site operations are effectively improved.

[0189] In another optional embodiment, the driving control submodule 3022 controls the unmanned vehicle to perform driving control operations according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, and specifically includes:

[0190] 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 based on the real-time position and the obstacle avoidance position corresponding to each obstacle avoidance target. The obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target;

[0191] Based on the obstacle avoidance movement information, the moving route of the unmanned vehicle is updated; and with the real-time position as the starting point and the predicted position as the displacement end point, the unmanned vehicle is controlled to perform driving control operations based on the vehicle movement parameters and the moving route. When it is determined that the unmanned vehicle has arrived at the predicted position and / or the driving time of the unmanned vehicle has reached the predicted moving time, the driving control operation for the unmanned vehicle is determined to be completed.

[0192] It can be seen that in this optional embodiment, a response plan is set up for the presence of obstacle avoidance targets in the target area, which can quickly generate accurate obstacle avoidance movement information based on the real-time position of the unmanned vehicle and the obstacle avoidance position corresponding to each obstacle avoidance target. When faced with complex and changing on-site environments, the unmanned vehicle can autonomously plan a reasonable path to avoid obstacles without having to pause operations and wait for human intervention. For example, if obstacles such as temporarily piled materials, stones, and vehicle debris at the accident scene suddenly appear at the construction site, the unmanned vehicle can quickly plan a detour route, further improving the unmanned vehicle's driving intelligence and improving the unmanned vehicle's driving safety and stability.

[0193] In another optional embodiment, the unmanned vehicle is further equipped with a sound amplification component;

[0194] The sound and light warning module 303 controls the unmanned vehicle to perform the sound and light warning operation in the following manner:

[0195] Determine whether the triangular warning sign meets the preset light warning conditions, and 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 program;

[0196] Determine a sound source for the sound amplification component, the sound amplification source including a user-defined first sound source or a non-first sound source; and control the sound amplification component to output the sound source according to a preset sound source output program.

[0197] As can be seen, in this optional embodiment, by coordinating light and sound warnings, a collaborative safety warning system is formed. Light warnings visually attract attention, while sound warnings convey specific information auditorily. The two complement each other, improving the effectiveness and reliability of safety warnings from unmanned vehicles while also enhancing the reliability of on-site safety assurance and, to a certain extent, reducing the probability of secondary safety incidents.

[0198] In another optional embodiment, the sound and light warning module 303 determines whether the warning triangle meets the preset light warning condition in the following manner:

[0199] Determine the lighting direction corresponding to the luminous surface of the warning triangle;

[0200] Determine whether the direction of the light is consistent with the direction of movement of the unmanned vehicle to the target position; when it is determined that the direction of the light is consistent with the direction of movement of the unmanned vehicle to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is determined that the direction of the light is inconsistent with the direction of movement of the unmanned vehicle to the target position, determine that the triangular warning sign does not meet the preset light warning condition;

[0201] The sound and light warning module 303 controls the unmanned vehicle to perform the sound and light warning operation, and specifically includes:

[0202] When it is determined that the triangular warning sign does not meet the light warning conditions, the moving direction is used as the calibration direction, and the light direction is controlled to rotate to be consistent with the moving direction; or, a light error message for the triangular warning sign is generated, and the light error message is fed back to the control personnel to trigger the control personnel to adjust the light direction of the triangular warning sign to be consistent with the moving direction according to the light error message.

[0203] As can be seen, in this optional embodiment, a verification mechanism for the warning triangle's lighting orientation is implemented, enabling timely detection of potential installation or setup issues, thereby providing early warning of such potential issues. Furthermore, after determining that the warning triangle meets the light warning requirements, the system can calibrate the lighting orientation to align with the direction of movement, using the direction of movement as the calibration direction. This automatic calibration function automatically adjusts the warning triangle's lighting orientation to ensure it remains in the optimal direction during the unmanned vehicle's movement, eliminating the need for frequent manual intervention. This improves the convenience and accuracy of the warning function and ensures the continued effectiveness of the light warning system during the vehicle's movement. Furthermore, a lighting error message for the warning triangle is generated and fed back to the control personnel, triggering them to adjust the warning triangle's lighting orientation to align with the direction of movement based on the error message. This manual adjustment method provides a dual safeguard for the system. If the automatic calibration function fails or fails to meet the requirements of complex on-site environments, the control personnel can promptly intervene manually based on the error message to ensure the correct lighting orientation of the warning triangle. At the same time, manual adjustments also enable control personnel to flexibly adjust warning strategies according to actual on-site conditions, enhancing the reliability and controllability of the system, and improving the applicability of unmanned vehicles in various application scenarios.

[0204] Example 4

[0205] See also Figure 5 , Figure 5 This is a structural diagram of an on-site sound and light warning device based on an unmanned vehicle disclosed in an embodiment of the present invention. Figure 5 As shown, the on-site sound and light warning device based on the unmanned vehicle may include:

[0206] A memory 401 storing executable program code;

[0207] a processor 402 coupled to the memory 401;

[0208] The processor 402 calls the executable program code stored in the memory 401 to execute part or all of the steps in any one of the on-site sound and light warning methods based on the unmanned vehicle described in the first embodiment of the present invention or the second embodiment of the present invention.

[0209] Example 5

[0210] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in any one of the unmanned vehicle-based on-site sound and light warning methods described in Embodiment 1 or Embodiment 2 of the present invention.

[0211] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0212] Through the detailed description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion 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, such as a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0213] Finally, it should be noted that the above embodiments disclose only preferred embodiments of the present invention and 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 above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An on-site sound and light warning method based on an unmanned vehicle, characterized in that: The method comprises: When a start command for the unmanned vehicle is detected and it is determined that the movement conditions for the unmanned vehicle are currently met, movement control information for controlling the movement of the unmanned vehicle is obtained, the movement control information at least including a distance to be moved for the unmanned vehicle and a vehicle movement parameter for controlling the movement of the unmanned vehicle; According to the vehicle movement parameters, the unmanned vehicle is controlled 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 in the process of controlling the unmanned vehicle to perform the movement operation according to the distance to be moved, the unmanned vehicle is controlled to perform an acoustic and visual warning operation; the acoustic and visual warning operation is used to output a warning sound and a warning light source; the unmanned vehicle is equipped with at least a triangular warning sign, and the triangular warning sign is used to output the warning light source; Furthermore, controlling the unmanned vehicle to perform a movement operation according to the distance to be moved based on the vehicle movement parameter includes: Collecting vehicle movement information of the unmanned vehicle in real time, wherein the vehicle movement information includes the real-time position of the unmanned vehicle; Controlling the unmanned vehicle to perform a travel control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved, wherein the travel control operation includes at least a linear movement control operation; The unmanned vehicle is also equipped with a sound amplification component; The controlling the unmanned vehicle to perform the sound and light warning operation includes: determining whether the warning triangle meets a preset light warning condition, and when it is determined that the warning triangle meets the light warning condition, controlling the warning triangle to output a warning light according to a preset light warning program; determining a sound source for the sound amplification component, the sound amplification source including a user-defined first sound source or a non-first sound source; and controlling the sound amplification component to output the sound source according to a preset sound source output program; The determining whether the triangular warning sign meets the preset light warning condition includes: Determining the lighting direction corresponding to the luminous surface of the triangular warning sign; Determine whether the lighting direction is consistent with the moving direction of the unmanned vehicle to the target position; when it is determined that the lighting direction is consistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign meets the preset light warning condition; when it is determined that the lighting direction is inconsistent with the moving direction of the unmanned vehicle to the target position, determine that the triangular warning sign does not meet the preset light warning condition.

2. The on-site sound and light warning method based on an unmanned vehicle according to claim 1 is characterized in that: The controlling the unmanned vehicle to perform the sound and light warning operation also includes: When it is determined that the triangular warning sign does not meet the light warning condition, the moving direction is used as the calibration direction, and the lighting direction is controlled to rotate to be consistent with the moving direction; or, a lighting error alarm message for the triangular warning sign is generated, and the lighting error alarm message is fed back to the control personnel to trigger the control personnel to adjust the lighting direction of the triangular warning sign to be consistent with the moving direction according to the lighting error alarm message.

3. The on-site sound and light warning method based on an unmanned vehicle according to claim 1 or 2, characterized in that: Before obtaining the movement control information for controlling the movement of the unmanned vehicle, the method further includes: Collecting surrounding road information corresponding to the location of the unmanned vehicle, and determining the road side closest to the unmanned vehicle based on the surrounding road information, wherein the road side includes the leftmost side of the road or the rightmost side of the road; Determining the angle between the forward direction of the unmanned vehicle and the side of the road; Based on the included angle and the distance to be moved, determining 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, generating first angle adjustment information for the unmanned vehicle based on the included angle, and performing the first angle adjustment operation on the unmanned vehicle based on the first angle adjustment information; or generating second angle adjustment information for the unmanned vehicle based on the included angle, and feeding back the second angle adjustment information to a control person to trigger the control person to perform a second angle adjustment operation on the unmanned vehicle based on the second angle adjustment information; After determining that the angle adjustment operation does not need to be performed on the unmanned vehicle, it is determined that a movement condition for the unmanned vehicle is currently satisfied.

4. The on-site sound and light warning method based on an unmanned vehicle according to claim 3 is characterized in that: The first angle adjustment information includes at least one set of sub-adjustment information and an execution order of information corresponding to all the sub-adjustment information; each set of sub-adjustment information includes an offset angle for a wheel on the unmanned vehicle and a corresponding wheel movement distance; each wheel movement distance matches a wheel movement direction, and the wheel movement direction includes forward or backward; The performing a first angle adjustment operation on the unmanned vehicle according to the first angle adjustment information includes: Update the vehicle movement parameters of the unmanned 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 unmanned vehicle, control the unmanned vehicle to perform a vehicle adjustment operation that matches the current vehicle movement parameters; The controlling the unmanned vehicle to perform a vehicle adjustment operation that matches the current vehicle movement parameters includes: The unmanned vehicle is controlled to perform angle offset according to the offset angle corresponding to the current vehicle movement parameter, and the unmanned vehicle is controlled to perform vehicle movement according to the wheel movement distance and the corresponding wheel movement direction corresponding to the current vehicle movement parameter.

5. The on-site sound and light warning method based on an unmanned vehicle according to claim 1, 2 or 4, characterized in that: The step of controlling the unmanned vehicle to perform a travel control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters includes: Obtaining road surface scanning information obtained after the unmanned vehicle scans a target area; the target area corresponds to a detection range of the unmanned vehicle; Calculating a predicted moving time for the unmanned vehicle to move the distance to be moved based on the vehicle movement parameters; Calculate the predicted position that the unmanned vehicle will eventually reach after moving the distance to be moved based on the distance to be moved and the real-time position; Based on the road surface scanning information, it is determined whether there is an obstacle avoidance target that meets the preset conditions in the target area; when it is determined that there is no obstacle avoidance target that meets the preset conditions in the target area, the real-time position is used as the starting point, the predicted position is used as the displacement end point, and the distance to be moved is used as the vehicle's travel distance. The unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

6. The on-site sound and light warning method based on an unmanned vehicle according to claim 5 is characterized in that: The controlling the unmanned vehicle to perform a travel control operation according to the distance to be moved based on 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, 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, and the obstacle avoidance movement information includes a sub-obstacle avoidance movement route for each obstacle avoidance target; Based on the obstacle avoidance movement information, the movement route of the unmanned vehicle is updated; and with the real-time position as the starting point and the predicted position as the displacement end point, the unmanned vehicle is controlled to perform a driving control operation according to the vehicle movement parameters combined with the movement route, and when it is determined that the unmanned vehicle has arrived at the predicted position and / or when it is determined that the driving time of the unmanned vehicle has reached the predicted movement time, it is determined that the driving control operation for the unmanned vehicle is completed.

7. An on-site sound and light warning system based on an unmanned vehicle, characterized in that: The system is used to execute the on-site sound and light warning method based on an unmanned vehicle according to any one of claims 1 to 6, and the system includes: an acquisition module, configured to, upon detecting a start instruction for the unmanned vehicle and determining that a movement condition for the unmanned vehicle is currently satisfied, acquire movement control information for controlling the movement of the unmanned vehicle, the movement control information including at least a distance to be moved for the unmanned vehicle and 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 distance to be moved based on the vehicle movement parameters; An acoustic and visual warning module is configured to control the unmanned vehicle to perform an acoustic and visual warning operation after determining that the unmanned vehicle has reached a target position corresponding to the distance to be moved, or while controlling the unmanned vehicle to perform a movement operation according to the distance to be moved; the acoustic and visual warning operation is configured to output an alarm sound and a warning light source; the unmanned vehicle is configured with at least a triangular warning sign, and the triangular warning sign is configured to output the warning light source; Furthermore, the method of moving the control module specifically includes: A collection submodule, configured to collect the vehicle movement information of the unmanned vehicle in real time, wherein the vehicle movement information includes the real-time position of the unmanned vehicle; The driving control submodule is used to control the unmanned vehicle to perform a driving control operation according to the distance to be moved based on the vehicle movement information and the vehicle movement parameters, so that the unmanned vehicle travels to a target position corresponding to the distance to be moved, and the driving control operation includes at least a linear movement control operation.

8. An on-site sound and light warning device based on an unmanned vehicle, characterized in that: The device comprises: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the on-site sound and light warning method based on the unmanned vehicle as described in any one of claims 1-6.

9. A computer storage medium, characterized in that The computer storage medium stores computer instructions, which, when called, are used to execute the on-site sound and light warning method based on the unmanned vehicle as described in any one of claims 1 to 6.

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